with open(settings_file, 'r') as f:
data = json.load(f)
brick = Element.from_data(data['brick'])
halfbrick = Element.from_data(data['halfbrick'])
width, length, height = data['brick_dimensions']
# Create assembly
assembly = Assembly()
# ==============================================================================
# Your code goes here.
# HINT: Use the examples to see how to re-use the brick/halfbrick elements
# defined above, and get a transformed instance of each of them as you
# build up your brick wall.
# Your code comes here
# ==============================================================================
# Transform assembly to correct location and adjust if needed
assembly.transform(Translation([-0.26, -0.34, 0]))
# Save assembly to json
assembly.to_json(PATH_TO, pretty=True)
# Run this in rhino
if compas.IPY:
from assembly.rhino import AssemblyArtist
artist = AssemblyArtist(assembly, layer='COMPAS::Assembly')
artist.clear_layer()
artist.draw()
trajectory2 = robot.plan_motion(goal_constraints,
start_configuration,
planner_id='RRT',
attached_collision_meshes=[brick_acm])
# 3. Calculate a cartesian motion to the target_frame
frames = [savelevel_target_frame, target_frame]
start_configuration = trajectory2.points[
-1] # as start configuration take last trajectory's end configuration
trajectory3 = robot.plan_cartesian_motion(
robot.from_attached_tool_to_tool0(frames),
start_configuration,
max_step=0.01,
attached_collision_meshes=[brick_acm])
assert (trajectory3.fraction == 1.)
# 4. Add the brick to the planning scene
brick = CollisionMesh(element.mesh, 'brick_wall')
scene.append_collision_mesh(brick)
# 5. Add trajectories to element and set to 'planned'
element.trajectory = [trajectory1, trajectory2, trajectory3]
assembly.network.set_vertex_attribute(key, 'is_planned', True)
# ==========================================================================
time.sleep(1)
# 6. Save assembly to json
assembly.to_json(PATH_TO)
