def robot_script():
sel_pt = rs.GetPoint("select point")
#1) Use 6 values
pose1 = urs.pose(sel_pt.X, sel_pt.Y, sel_pt.Z, 0, 0, 0)
#2) Use two tuples - vector and orientation
pose2_pos = (sel_pt.X, sel_pt.Y, sel_pt.Z + 0.15)
pose2 = urs.pose_by_vectors(pose2_pos, (0, 0, 0))
#3) Use a Rhino plane
plane3 = rg.Plane(sel_pt, rg.Vector3d.ZAxis)
pose3 = urs.pose_by_plane(plane3)
#4) Use an origin and 2 vectors - same as a plane
pose4_pos = (sel_pt.X, sel_pt.Y - 0.15, sel_pt.Z + 0.15)
pose4 = urs.pose_by_origin_axis(pose4_pos, (1, 0, 0), (0, 1, 0))
#5) Use a listened pose
pose5_vals = comm.listen(ip)['tool_pose']
pose5 = urs.pose(*pose5_vals)
#Create a list of statements
commands = []
poses = (pose1, pose2, pose3, pose4)
#Go through all poses
for i in range(len(poses)):
#Add a comment
commands.append(urs.comment("Movement {}".format(i)))
#Add a command
commands.append(urs.movel(poses[i]))
# return to pose 5 via movej
commands.append(urs.movej(pose5))
#3) Create a program using commands as argument
my_program = urs.create_function("main", commands)
return my_program
"""
Sample 1 : A barebones script
Loading : 1)Referencing folder or 2)importing ur.dll
"""
#1) Import
import urscript as urs
import comm
#2) Create a command
command = urs.popup("hi students", "title is title")
#3) Create a program
my_program = urs.create_function('main', [command])
print my_program
#4) Send the program
comm.send_script(my_program, "192.168.10.13")
functions (in, optional) [Generic Data] - Optional. Custom UR Script functions to include in the program
Returns:
out [Text] - The execution information, as output and error streams
a [Generic Data] - Script variable Python
"""
import comm
import urscript as ur
from Grasshopper.Kernel import GH_RuntimeMessageLevel as gh_msg
error_inputs = []
if not send: error_inputs.append('send')
if not id: error_inputs.append('id')
if not commands: error_inputs.append('commands')
if not error_inputs:
ip = '192.168.10.%d' % (10 * int(id) + 3)
script = ""
statements = statements if hasattr(commands,
'__iter__') else list(commands)
statements.insert(0, ur.popup('Running script'))
if functions and not None in functions:
script += ur.create_function('main', statements, functions)
else:
script += ur.create_function('main', statements)
a = script
if _send:
comm.send_script(script, ip)
else:
error_message = 'Failed to collect data for {0} required input(s): {1}'.format(
len(error_inputs), ','.join(error_inputs))
ghenv.Component.AddRuntimeMessage(gh_msg.Warning, error_message)
def place_script(target):
place_pose = ur.pose(*target),
place = ur.statements(ur.comment('placing now'),
ur.action(place_pose, 1, False))
return ur.create_function('place', place)
def pick_script(target):
pick_pose = ur.pose(*target)
pick = ur.statements(ur.comment('picking now'),
ur.action(pick_pose, 1, True))
return ur.create_function('pick', pick)
pick_pose = ur.pose(*target)
pick = ur.statements(ur.comment('picking now'),
ur.action(pick_pose, 1, True))
return ur.create_function('pick', pick)
# Return a place function
def place_script(target):
place_pose = ur.pose(*target),
place = ur.statements(ur.comment('placing now'),
ur.action(place_pose, 1, False))
return ur.create_function('place', place)
# Listen to robot
safety = comm.listen(ip)['actual_joints_pos']
# Create body of main program
main_statements = ur.statements(ur.popup("starting now"), ur.movej(safety),
ur.custom_function('pick'), ur.movej(safety),
ur.custom_function("place"), ur.movej(safety))
# Create pick and place functions
pick_function = pick_script(pick_target)
place_function = place_script(place_target)
main_script = ur.create_function("main", main_statements,
[pick_script(), place_script()])
print main_script
#comm.send_script(main_script,ip)