public static async Task <Program> CreateAsync()
{
var robot = await GetRobotAsync();
var planeA = Plane.WorldYZ;
var planeB = Plane.WorldYZ;
planeA.Origin = new Point3d(300, 200, 610);
planeB.Origin = new Point3d(300, -200, 610);
var speed = new Speed(300);
var targetA = new CartesianTarget(planeA, RobotConfigurations.Wrist, Motions.Joint);
var targetB = new CartesianTarget(planeB, null, Motions.Linear, speed: speed);
var toolpath = new SimpleToolpath()
{
targetA, targetB
};
return(new Program("TestProgram", robot, new[] { toolpath }));
}
public TestProgram()
{
var robot = RobotSystem.Load("Bartlett-IRB120", Plane.WorldXY);
var planeA = Plane.WorldYZ;
var planeB = Plane.WorldYZ;
planeA.Origin = new Point3d(300, 200, 610);
planeB.Origin = new Point3d(300, -200, 610);
var speed = new Speed(300);
var targetA = new CartesianTarget(planeA, RobotConfigurations.Wrist, Motions.Joint);
var targetB = new CartesianTarget(planeB, null, Motions.Linear, speed: speed);
var toolpath = new SimpleToolpath()
{
targetA, targetB
};
Program = new Program("TestProgram", robot, new[] { toolpath });
}
public URTests()
{
const string xml = "<RobotCell name=\"UR10\" manufacturer=\"UR\"><Mechanisms><RobotArm model=\"UR10\" manufacturer=\"UR\" payload=\"10\"><Base x=\"0.000\" y=\"0.000\" z=\"0.000\" q1=\"1.000\" q2=\"0.000\" q3=\"0.000\" q4=\"0.000\"/><Joints><Revolute number=\"1\" a =\"0\" d =\"127.3\" minrange = \"-360\" maxrange =\"360\" maxspeed =\"120\"/><Revolute number=\"2\" a =\"-612\" d =\"0\" minrange = \"-360\" maxrange =\"360\" maxspeed =\"120\"/><Revolute number=\"3\" a =\"-572.3\" d =\"0\" minrange = \"-360\" maxrange =\"360\" maxspeed =\"180\"/><Revolute number=\"4\" a =\"0\" d =\"163.941\" minrange = \"-360\" maxrange =\"360\" maxspeed =\"180\"/><Revolute number=\"5\" a =\"0\" d =\"115.7\" minrange = \"-360\" maxrange =\"360\" maxspeed =\"180\"/><Revolute number=\"6\" a =\"0\" d =\"92.2\" minrange = \"-360\" maxrange =\"360\" maxspeed =\"180\"/></Joints></RobotArm></Mechanisms><IO><DO names=\"0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16\"/><DI names=\"0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16\"/><AO names=\"0,1\"/><AI names=\"0,1\"/></IO></RobotCell>";
var robot = FileIO.ParseRobotSystem(xml, Plane.WorldXY);
var planeA = Plane.WorldZX;
var planeB = Plane.WorldZX;
planeA.Origin = new Point3d(200, 100, 600);
planeB.Origin = new Point3d(700, 250, 600);
var speed = new Speed(300);
var targetA = new CartesianTarget(planeA, RobotConfigurations.Wrist, Motions.Joint);
var targetB = new CartesianTarget(planeB, null, Motions.Linear, speed: speed);
var toolpath = new SimpleToolpath()
{
targetA, targetB
};
_program = new Program("URTest", robot, new[] { toolpath });
}
public ABBTests()
{
const string xml = "<RobotCell name=\"IRB120\" manufacturer=\"ABB\"><Mechanisms><RobotArm model=\"IRB120\" manufacturer=\"ABB\" payload=\"3\"><Base x=\"0.000\" y=\"0.000\" z=\"0.000\" q1=\"1.000\" q2=\"0.000\" q3=\"0.000\" q4=\"0.000\"/><Joints><Revolute number=\"1\" a =\"0\" d =\"290\" minrange = \"-165\" maxrange =\"165\" maxspeed =\"250\"/><Revolute number=\"2\" a =\"270\" d =\"0\" minrange = \"-110\" maxrange =\"110\" maxspeed =\"250\"/><Revolute number=\"3\" a =\"70\" d =\"0\" minrange = \"-110\" maxrange =\"70\" maxspeed =\"250\"/><Revolute number=\"4\" a =\"0\" d =\"302\" minrange = \"-160\" maxrange =\"160\" maxspeed =\"320\"/><Revolute number=\"5\" a =\"0\" d =\"0\" minrange = \"-120\" maxrange =\"120\" maxspeed =\"320\"/><Revolute number=\"6\" a =\"0\" d =\"72\" minrange = \"-400\" maxrange =\"400\" maxspeed =\"420\"/></Joints></RobotArm></Mechanisms><IO><DO names=\"DO10_1,DO10_2\"/><DI names=\"DI10_1,DI10_2\"/></IO></RobotCell>";
var robot = FileIO.ParseRobotSystem(xml, Plane.WorldXY);
var planeA = Plane.WorldYZ;
var planeB = Plane.WorldYZ;
planeA.Origin = new Point3d(300, 200, 610);
planeB.Origin = new Point3d(300, -200, 610);
var speed = new Speed(300);
var targetA = new CartesianTarget(planeA, RobotConfigurations.Wrist, Motions.Joint);
var targetB = new CartesianTarget(planeB, null, Motions.Linear, speed: speed);
var toolpath = new SimpleToolpath()
{
targetA, targetB
};
_program = new Program("TestProgram", robot, new[] { toolpath });
}
public GH_Toolpath()
{
Value = new SimpleToolpath();
}
protected override void SolveInstance(IGH_DataAccess DA)
{
string name = null;
GH_RobotSystem robotSystem = null;
var initCommandsGH = new List <GH_Command>();
var toolpathsA = new List <GH_Toolpath>();
var toolpathsB = new List <GH_Toolpath>();
var multiFileIndices = new List <int>();
double stepSize = 1;
if (!DA.GetData(0, ref name))
{
return;
}
if (!DA.GetData(1, ref robotSystem))
{
return;
}
if (!DA.GetDataList(2, toolpathsA))
{
return;
}
DA.GetDataList(3, toolpathsB);
DA.GetDataList(4, initCommandsGH);
DA.GetDataList(5, multiFileIndices);
if (!DA.GetData(6, ref stepSize))
{
return;
}
var initCommands = initCommandsGH.Count > 0 ? new Robots.Commands.Group(initCommandsGH.Select(x => x.Value)) : null;
var toolpaths = new List <IToolpath>();
var toolpathA = new SimpleToolpath(toolpathsA.Select(t => t.Value));
toolpaths.Add(toolpathA);
if (toolpathsB.Count > 0)
{
var toolpathB = new SimpleToolpath(toolpathsB.Select(t => t.Value));
toolpaths.Add(toolpathB);
}
var program = new Program(name, robotSystem.Value, toolpaths, initCommands, multiFileIndices, stepSize);
DA.SetData(0, new GH_Program(program));
if (program.Code != null)
{
var path = DA.ParameterTargetPath(2);
var structure = new GH_Structure <GH_String>();
for (int i = 0; i < program.Code.Count; i++)
{
var tempPath = path.AppendElement(i);
for (int j = 0; j < program.Code[i].Count; j++)
{
structure.AppendRange(program.Code[i][j].Select(x => new GH_String(x)), tempPath.AppendElement(j));
}
}
DA.SetDataTree(1, structure);
}
DA.SetData(2, program.Duration);
if (program.Warnings.Count > 0)
{
DA.SetDataList(3, program.Warnings);
this.AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Warnings in program");
}
if (program.Errors.Count > 0)
{
DA.SetDataList(4, program.Errors);
this.AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Errors in program");
}
}
