def get_frame_axes_as_lines(self):
''' this method allows you to visualize the tool axes as lines and gh colors '''
tool_axes = self.frame.get_axes_as_lines(length=100)
tool_axes_colors = [
ghcomp.ColourRGB(255, 255, 0, 0),
ghcomp.ColourRGB(255, 0, 255, 0),
ghcomp.ColourRGB(255, 0, 0, 255)
]
return tool_axes, tool_axes_colors
def __init__(self, geo, tool_plane, cam_plane):
Tool.__init__(self, geo, tool_plane)
self.p1_fixed, self.p2_rotfront, self.p3_rotback_frame, self.p3_rotback_gripper_ret, self.p3_rotback_gripper_ext, self.collision_geo = self.geo
#self.p1_fixed_wcs, self.p2_rotfront_wcs, self.p3_rotback_frame_wcs, self.p3_rotback_gripper_ret_wcs, self.p3_rotback_gripper_ext_wcs, self.collision_geo_wcs = self.geo_WCS
self.cam_plane = cam_plane
self.colors = [
ghcomp.ColourRGB(100, 100, 100 + i * 20, 150 + i * 20)
for i, part in enumerate(self.geo)
]
self.colors[-1] = ghcomp.ColourRGB(100, 255, 80, 110)
def __init__(self, geo, tool_plane):
Tool.__init__(self, geo, tool_plane)
self.collision_geo = self.geo
self.colors = [
ghcomp.ColourRGB(100, 100, 150, 200)
for i, part in enumerate(self.geo)
]
def __init__(self,
link_geo,
base_geo,
joint_planes,
ip_abb='192.168.125.1',
tool=None):
''' the robot class, it contains:
1) the geometry of the robot
2) the communication modules to send commands to the ABB arm.
'''
self.link_geo = link_geo
self.base_geo = base_geo
self.joint_planes = joint_planes
self.tool = tool # has to be set with the Tool class
self.origin_plane = rg.Plane.WorldXY
self.joint_values = [0, 0, 0, 0, 0, 0]
# transform world to robot origin
self.T_W_R = rg.Transform.PlaneToPlane(rg.Plane.WorldXY,
self.origin_plane)
# transform robot to world
self.T_R_W = rg.Transform.PlaneToPlane(self.origin_plane,
rg.Plane.WorldXY)
geo = self.get_geo_with_rotated_joints_in_world(self.joint_values)
# --> then self.T_R_TOOL0 and self.T_W_TOOL0 are set
self.comm = ABBCommunication("ABB",
ip_abb,
port_snd=30003,
port_rcv=30004)
self.colors_links = [
ghcomp.ColourRGB(150, 220, 220, 220) for part in link_geo
]
self.colors_base = [
ghcomp.ColourRGB(150, 220, 220, 220) for part in base_geo
]
def colorMeshFromRoom(_room):
"""Returns a mesh, colored by some logic
Takes in a room, converts it to
a mesh and colors it depending on the type of
fresh-air venilation flow (Sup, Ext, Mixed)
"""
room_srfcs_colored = []
for srfcCount, srfc in enumerate(_room.TFAsurface):
if _room.V_sup > 0 and _room.V_eta == 0:
color = ghc.ColourRGB(255, 183, 227, 238) # Blueish
elif _room.V_sup == 0 and _room.V_eta > 0:
color = ghc.ColourRGB(255, 246, 170, 154) # Redish
elif _room.V_sup > 0 and _room.V_eta > 0:
color = ghc.ColourRGB(255, 234, 192, 240) # White
else:
color = ghc.ColourRGB(255, 235, 235, 235) # White
room_srfcs_colored.append(ghc.MeshColours(srfc, color))
return room_srfcs_colored
def colorMeshFromRoom(_room):
"""Returns a mesh, colored by some logic
Takes in a room, converts it to
a mesh and colors it depending on the srfcs TFA
"""
room_srfcs_colored = []
for srfcCount, srfc in enumerate(_room.TFAsurface):
srfc_tfaFactor = _room.TFAfactors[srfcCount]
if srfc_tfaFactor > 0.6:
color = ghc.ColourRGB(255, 255, 255, 17)
elif srfc_tfaFactor <= 0.6 and srfc_tfaFactor > 0.5:
color = ghc.ColourRGB(255, 189, 103, 107)
#color = ghc.ColourRGB(255,189,103,107)
elif srfc_tfaFactor <= 0.5 and srfc_tfaFactor > 0.3:
color = ghc.ColourRGB(255, 154, 205, 50)
elif srfc_tfaFactor <= 0.5 and srfc_tfaFactor > 0.3:
color = ghc.ColourRGB(255, 0, 255, 127)
elif srfc_tfaFactor == 0:
color = ghc.ColourRGB(255, 238, 130, 238)
else:
color = ghc.ColourRGB(255, 238, 130, 238)
room_srfcs_colored.append(ghc.MeshColours(srfc, color))
return room_srfcs_colored
def __init__(self, geo, tool_plane):
''' tool class for the robot
geo = tool geometry as list
plane = defined tool plane
geo_trfd = tool geometry transformed that the defined tool plane is aligned with the world xy plane
'''
self.geo = geo
self.plane = tool_plane
self.frame = Frame(self.plane, draw_geo=True)
self.T = rg.Transform.PlaneToPlane(self.plane, rg.Plane.WorldXY)
self.geo_WCS = ghcomp.Transform(self.geo,
self.T) # tool aligned_with_WCS
self.plane_WCS = ghcomp.Transform(self.plane,
self.T) # should be WorldXY plane
self.collision_geo = self.geo
self.colors = [
ghcomp.ColourRGB(100, 100, 150, 200)
for i, part in enumerate(self.geo)
]
ghenv.Component.Message = 'JUN_07_2020'
ghenv.Component.IconDisplayMode = ghenv.Component.IconDisplayMode.application
ghenv.Component.Category = "BT"
ghenv.Component.SubCategory = "03 | PDF"
from System import Object
from Grasshopper import DataTree
from Grasshopper.Kernel.Data import GH_Path
import ghpythonlib.components as ghc
geom_ = DataTree[Object]()
pageLabels_ = DataTree[Object]()
filenames_ = []
rad = highlightSize_ if highlightSize_ else 0.1
highlightC = highlightColor_ if highlightColor_ else ghc.ColourRGB(255,255,255,183)
if len(_thermalBridges) > 0:
for i, tb in enumerate(_thermalBridges):
if tb.geometry == None:
break
# Add the highlight Geometry to the Tree
geom = ghc.Pipe(tb.geometry, rad, 2)
geom = ghc.MeshColours(geom, highlightC)
geom_.Add(geom, GH_Path(i))
# Add the Text
txt = []
txt.append('{}-{}'.format(tb.IDNumber, tb.Name))
def __init__(self,
link_geo,
base_geo,
joint_planes,
ip_abb='192.168.125.1',
tool=None,
gantry=None):
''' the robot class, it contains:
1) the geometry of the robot
2) the communication modules to send commands to the ABB arm.
'''
self.link_geo = link_geo
self.base_geo = base_geo
self.joint_planes = joint_planes
self.tool = tool # has to be set with the Tool class
self.gantry = gantry # has to be set with the Gantry class
self.origin_plane_1 = rg.Plane.WorldXY
self.origin_plane_2 = rg.Plane.WorldXY
self.origin_plane_3 = rg.Plane.WorldXY
self.origin_plane_4 = rg.Plane.WorldXY
self.joint_values = [0 for i in range(36)]
# transform world to robot origin
self.T_W_R_1 = rg.Transform.PlaneToPlane(rg.Plane.WorldXY,
self.origin_plane_1)
self.T_W_R_2 = rg.Transform.PlaneToPlane(rg.Plane.WorldXY,
self.origin_plane_2)
self.T_W_R_3 = rg.Transform.PlaneToPlane(rg.Plane.WorldXY,
self.origin_plane_3)
self.T_W_R_4 = rg.Transform.PlaneToPlane(rg.Plane.WorldXY,
self.origin_plane_4)
# transform robot to world
self.T_R_W_1 = rg.Transform.PlaneToPlane(self.origin_plane_1,
rg.Plane.WorldXY)
self.T_R_W_2 = rg.Transform.PlaneToPlane(self.origin_plane_2,
rg.Plane.WorldXY)
self.T_R_W_3 = rg.Transform.PlaneToPlane(self.origin_plane_3,
rg.Plane.WorldXY)
self.T_R_W_4 = rg.Transform.PlaneToPlane(self.origin_plane_4,
rg.Plane.WorldXY)
geo_1 = self.get_geo_with_rotated_joints_in_world(
self.joint_values[0:6], 1)
geo_2 = self.get_geo_with_rotated_joints_in_world(
self.joint_values[9:15], 2)
geo_3 = self.get_geo_with_rotated_joints_in_world(
self.joint_values[18:24], 3)
geo_4 = self.get_geo_with_rotated_joints_in_world(
self.joint_values[27:33], 4)
# --> then self.T_R_TOOL0 and self.T_W_TOOL0 are set
self.comm = ABBCommunication("ABB",
ip_abb,
port_snd=30003,
port_rcv=30004)
self.colors_links = [
ghcomp.ColourRGB(150, 220, 220, 220) for part in link_geo
]
self.colors_base = [
ghcomp.ColourRGB(150, 220, 220, 220) for part in base_geo
]
