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20_assembly_viewer.ghx
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<?xml version="1.0" encoding="utf-8" standalone="yes"?>
<Archive name="Root">
<!--Grasshopper archive-->
<!--Grasshopper and GH_IO.dll are copyrighted by Robert McNeel & Associates-->
<!--Archive generated by GH_IO.dll file utility library {0.2.0002}-->
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<item name="CodeInput" type_name="gh_string" type_code="10">import Grasshopper
import System
from ghpythonlib.componentbase import executingcomponent as component
from scriptcontext import sticky as st
from compas_fab.backends import RosClient
from compas_fab.ghpython.components import create_id
class ROSConnect(component):
def SetUpParam(self, p, name, nickname, description):
p.Name = name
p.NickName = nickname
p.Description = description
p.Optional = True
def RegisterInputParams(self, pManager):
p = Grasshopper.Kernel.Parameters.Param_String()
self.SetUpParam(p, "ip", "ip", "The ip address of ROS master. Defaults to 127.0.0.1")
p.Access = Grasshopper.Kernel.GH_ParamAccess.item
self.Params.Input.Add(p)
p = Grasshopper.Kernel.Parameters.Param_Integer()
self.SetUpParam(p, "port", "port", "The port of ROS master. Defaults to 9090.")
p.Access = Grasshopper.Kernel.GH_ParamAccess.item
self.Params.Input.Add(p)
p = Grasshopper.Kernel.Parameters.Param_Boolean()
self.SetUpParam(p, "connect", "connect", "If `True`, connect to ROS. If `False`, disconnect from ROS. Defaults to False.")
p.Access = Grasshopper.Kernel.GH_ParamAccess.item
self.Params.Input.Add(p)
def RegisterOutputParams(self, pManager):
p = Grasshopper.Kernel.Parameters.Param_GenericObject()
self.SetUpParam(p, "ros_client", "ros_client", "The ROS client.")
self.Params.Output.Add(p)
def SolveInstance(self, DA):
p0 = self.marshal.GetInput(DA, 0)
p1 = self.marshal.GetInput(DA, 1)
p2 = self.marshal.GetInput(DA, 2)
result = self.RunScript(p0, p1, p2)
if result is not None:
self.marshal.SetOutput(result, DA, 0, True)
def RunScript(self, ip, port, connect):
ros_client = None
ip = ip or '127.0.0.1'
port = port or 9090
key = create_id(self, 'ros_client')
ros_client = st.get(key, None)
if ros_client:
st[key].close()
if connect:
st[key] = RosClient(ip, port)
st[key].run(5)
ros_client = st.get(key, None)
self.Message = 'Connected' if ros_client and ros_client.is_connected else 'Not connected'
return ros_client
</item>
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<Y>390</Y>
</item>
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<W>684</W>
<H>571</H>
</item>
<item name="HideInput" type_name="gh_bool" type_code="1">true</item>
<item name="HideOutput" type_name="gh_bool" type_code="1">true</item>
<item name="IconDisplay" type_name="gh_int32" type_code="3">1</item>
<item name="InstanceGuid" type_name="gh_guid" type_code="9">5605a477-89f6-44bd-aa0f-ad30514daf26</item>
<item name="IsAdvancedMode" type_name="gh_bool" type_code="1">true</item>
<item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
<item name="Name" type_name="gh_string" type_code="10">GhPython Script</item>
<item name="NickName" type_name="gh_string" type_code="10">ROS Connect</item>
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</item>
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</item>
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<item name="CodeInput" type_name="gh_string" type_code="10">import Grasshopper
import System
from ghpythonlib.componentbase import executingcomponent as component
from scriptcontext import sticky as st
import compas
from compas_fab.ghpython.components import create_id
from compas_fab.ghpython.components.icons import ros_robot_icon
from compas_ghpython.artists import RobotModelArtist
class ROSRobot(component):
def SetUpParam(self, p, name, nickname, description):
p.Name = name
p.NickName = nickname
p.Description = description
p.Optional = True
def RegisterInputParams(self, pManager):
p = Grasshopper.Kernel.Parameters.Param_GenericObject()
self.SetUpParam(p, "ros_client", "ros_client", "The ROS client.")
p.Access = Grasshopper.Kernel.GH_ParamAccess.item
self.Params.Input.Add(p)
p = Grasshopper.Kernel.Parameters.Param_Boolean()
self.SetUpParam(p, "load", "load", "If `True`, loads the robot from ROS. Defaults to False.")
p.Access = Grasshopper.Kernel.GH_ParamAccess.item
self.Params.Input.Add(p)
def RegisterOutputParams(self, pManager):
p = Grasshopper.Kernel.Parameters.Param_GenericObject()
self.SetUpParam(p, "robot", "robot", "The robot.")
self.Params.Output.Add(p)
def SolveInstance(self, DA):
p0 = self.marshal.GetInput(DA, 0)
p1 = self.marshal.GetInput(DA, 1)
result = self.RunScript(p0, p1)
if result is not None:
self.marshal.SetOutput(result, DA, 0, True)
def get_Internal_Icon_24x24(self):
return ros_robot_icon
def RunScript(self, ros_client, load):
self.Message = "Loading..."
compas.PRECISION = '12f'
key = create_id(self, 'robot')
if ros_client and ros_client.is_connected and load:
# Load URDF from ROS
robot = ros_client.load_robot(load_geometry=True)
robot.artist = RobotModelArtist(robot.model)
self.Message = "{} loaded".format(robot.name)
st[key] = robot
else:
if st.get(key):
self.Message = "{} loaded".format(st.get(key).name)
else:
self.Message = "No robot"
robot = st.get(key, None)
if robot: # client sometimes need to be restarted, without needing to reload geometry
robot.client = ros_client
return robot
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<item name="CodeInput" type_name="gh_string" type_code="10">import Grasshopper
import System
from ghpythonlib.componentbase import executingcomponent as component
from scriptcontext import sticky as st
from compas.geometry import Frame
from compas.geometry import Transformation
from compas_ghpython.artists import MeshArtist
from compas_ghpython import draw_frame
from compas_fab.ghpython.components import create_id
from compas_fab.ghpython.components.icons import robot_visualize_icon
class RobotVisualize(component):
def SetUpParam(self, p, name, nickname, description):
p.Name = name
p.NickName = nickname
p.Description = description
p.Optional = True
def RegisterInputParams(self, pManager):
p = Grasshopper.Kernel.Parameters.Param_GenericObject()
self.SetUpParam(p, "robot", "robot", "The robot.")
p.Access = Grasshopper.Kernel.GH_ParamAccess.item
self.Params.Input.Add(p)
p = Grasshopper.Kernel.Parameters.Param_String()
self.SetUpParam(p, "group", "group", "The planning group used for end-effector and base visualization.")
p.Access = Grasshopper.Kernel.GH_ParamAccess.item
self.Params.Input.Add(p)
p = Grasshopper.Kernel.Parameters.Param_GenericObject()
self.SetUpParam(p, "configuration", "configuration", "The robot's full configuration.")
p.Access = Grasshopper.Kernel.GH_ParamAccess.item
self.Params.Input.Add(p)
p = Grasshopper.Kernel.Parameters.Param_Boolean()
self.SetUpParam(p, "reload_scene", "reload_scene", "Whether or not to reload the scene information from the client.")
p.Access = Grasshopper.Kernel.GH_ParamAccess.item
self.Params.Input.Add(p)
def RegisterOutputParams(self, pManager):
p = Grasshopper.Kernel.Parameters.Param_GenericObject()
self.SetUpParam(p, "visual", "visual", "The robot's visual meshes.")
self.Params.Output.Add(p)
p = Grasshopper.Kernel.Parameters.Param_GenericObject()
self.SetUpParam(p, "frames", "frames", "The robot's joint frames.")
self.Params.Output.Add(p)
p = Grasshopper.Kernel.Parameters.Param_GenericObject()
self.SetUpParam(p, "attached_collision_meshes", "attached_collision_meshes", "Attached collision meshes in the scene.")
self.Params.Output.Add(p)
p = Grasshopper.Kernel.Parameters.Param_GenericObject()
self.SetUpParam(p, "collision_meshes", "collision_meshes", "Collision meshes in the scene.")
self.Params.Output.Add(p)
def SolveInstance(self, DA):
p0 = self.marshal.GetInput(DA, 0)
p1 = self.marshal.GetInput(DA, 1)
p2 = self.marshal.GetInput(DA, 2)
p3 = self.marshal.GetInput(DA, 3)
result = self.RunScript(p0, p1, p2, p3)
if result is not None:
if not hasattr(result, '__getitem__'):
self.marshal.SetOutput(result, DA, 0, True)
else:
self.marshal.SetOutput(result[0], DA, 0, True)
self.marshal.SetOutput(result[1], DA, 1, True)
self.marshal.SetOutput(result[2], DA, 2, True)
self.marshal.SetOutput(result[3], DA, 3, True)
def get_Internal_Icon_24x24(self):
return robot_visualize_icon
def RunScript(self, robot, group, configuration, reload_scene):
visual = None
frames = None
collision_meshes = []
attached_collision_meshes = []
if robot:
configuration = configuration or robot.zero_configuration()
robot.update(configuration, visual=True, collision=False)
frames = [draw_frame(f) for f in robot.transformed_frames(configuration, group)]
visual = robot.artist.draw_visual()
scene_key = create_id(self, 'scene')
if robot and (reload_scene or scene_key not in st):
st[scene_key] = robot.client.get_planning_scene()
scene = st.get(scene_key, None)
if scene:
scene_key_co = scene_key + '_co'
if reload_scene or scene_key_co not in st:
for co in scene.world.collision_objects:
# HACK: Little workaround to a bug in to_collision_meshes()
header = co.header
frame_id = header.frame_id
co.header = dict(frame_id=frame_id)
cms = co.to_collision_meshes()
# HACK: Restore proper header
co.header = header
for cm in cms:
if frame_id != '/world':
raise NotImplementedException('Only world-referenced collision meshes are supported')
if cm.frame != Frame.worldXY():
t = Transformation.from_frame(cm.frame)
mesh = cm.mesh.transformed(t)
else:
mesh = cm.mesh
rhino_mesh = MeshArtist(mesh).draw()
collision_meshes.append(rhino_mesh)
st[scene_key_co] = collision_meshes
collision_meshes = st.get(scene_key_co, None)
for aco in scene.robot_state.attached_collision_objects:
for acm in aco.to_attached_collision_meshes():
frame_id = aco.object['header']['frame_id']
frame = robot.forward_kinematics(configuration, options=dict(link=frame_id))
t = Transformation.from_frame(frame)
# Local CM frame
if acm.collision_mesh.frame and acm.collision_mesh.frame != Frame.worldXY():
t = t * Transformation.from_frame(acm.collision_mesh.frame)
mesh = acm.collision_mesh.mesh.transformed(t)
rhino_mesh = MeshArtist(mesh).draw()
attached_collision_meshes.append(rhino_mesh)
return (visual, frames, attached_collision_meshes, collision_meshes)
</item>
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