https://github.com/gramaziokohler/integral_timber_joints
Robotic Assembled Timber Structures with Integral Timber Joints
https://github.com/gramaziokohler/integral_timber_joints
270 clamps python timber
Last synced: 7 months ago
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Robotic Assembled Timber Structures with Integral Timber Joints
- Host: GitHub
- URL: https://github.com/gramaziokohler/integral_timber_joints
- Owner: gramaziokohler
- License: mit
- Created: 2019-09-03T11:30:30.000Z (about 6 years ago)
- Default Branch: master
- Last Pushed: 2023-10-15T11:08:50.000Z (about 2 years ago)
- Last Synced: 2025-04-06T10:41:11.647Z (7 months ago)
- Topics: 270, clamps, python, timber
- Language: Python
- Homepage:
- Size: 148 MB
- Stars: 11
- Watchers: 13
- Forks: 0
- Open Issues: 15
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.rst
- Contributing: CONTRIBUTING.rst
- License: LICENSE
- Authors: AUTHORS.rst
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README
# integral_timber_joints
Python library for designing timber structures with integral timber joints.
This repo is part of the [Robotic Assembled Timber Structures with Integral Timber Joints](https://github.com/gramaziokohler/integral_timber_joints) project.
## Design Goals
The goal of the python library is to be able to achieve the following high-level functions:
- Classes and Data Structure for describing:
- Timber elements
- Integral joints (Subtractive machining joint)
- Process tools (Grippers, Clamps, Pickup Station)
- Process action (Actions and Movements)
- Algorithms for assembly design
- Creating beams from Rhino geometry
- Creating joint pairs from beam intersection
- Algorithms for process design
- Computing assembly process information (assembly sequence, gripper type, clamp type, grasp pose, clamp attachment pose)
- From user input as guide
- Automatic deduction (Auto Sequence, Auto Lap Joint Direction)
- Computing robotic movements
- Key positions
- Robotic Path (Path Planning)
## Installation (library)
### Conda environment (optional)
Create a new environment with python 3.7 and install this package in the new environment
```bash
conda create --name itj python=3.7
conda activate itj
```
One of the dependency from `compas` is planarity, which depends of `cython`. You will need to install this manually:
```bash
pip install cython --install-option="--no-cython-compile"
```
or
```bash
conda install cython
```
### Clone and update submodules
Install this library from source by cloning this repo to local and install from source.
```bash
git clone --recursive https://github.com/gramaziokohler/integral_timber_joints.git
cd integral_timber_joints
```
The `--recursive` flag when cloning above is used for initializing all the git submodules. You can learn more about submodules [here](https://git-scm.com/book/en/v2/Git-Tools-Submodules).
Later in the development, whenever you need to update the submodules, issue the following:
```bash
git submodule update --init --recursive
```
### Install libraries
Run this the following in terminal from the root folder of this repo. All libraries are installed from source (in the [editable mode](https://pip.pypa.io/en/stable/reference/pip_install/#install-editable)).
```bash
# Install the submodule libraries from source
pip install -e .\external\compas
pip install -e .\external\compas_fab
pip install -e .\external\compas_fab_pychoreo
# install `integral_timber_joints` from source
pip install -e .
# Run the following code add the python library paths to Rhino / Grasshopper:
python -m compas_rhino.install -p compas compas_fab compas_ghpython roslibpy compas_rhino jsonpickle integral_timber_joints geometric_blocking
```
Alternatively if development is intended you can install with developer tools:
```bash
# replace `pip install -e .` above with
pip install -r requirements-dev.txt
invoke add-to-rhino
```
⚠ when used in rhino, please start the RPC proxy beforehand by: `compas_rpc start`
#### Python dependencies, explained
The following python dependency are installed in the above process. See [requirements.txt](https://github.com/gramaziokohler/integral_timber_joints/blob/master/requirements.txt) for more info on the specific versions pinned.
The following libraries are installed "automatically" (via pip or conda, learn about their difference [here](https://www.anaconda.com/blog/understanding-conda-and-pip#:~:text=Pip%20installs%20Python%20packages%20whereas,software%20written%20in%20any%20language.&text=Another%20key%20difference%20between%20the,the%20packages%20installed%20in%20them.))
- `compas` (Library for geometrical modeling and graph relationship)
- `compas_fab` (Library for modelling Tools and Robots, functions to call ROS backend for path planning)
- `jsonpickle` (Serialization library for Tools, Assembly, Process)
- `trimesh` (Call Openscad in the background to perform Mesh Boolean)
- `pycddlib` (Computation of blocking direction analysis)
- `CGAL` (SWIG bindings for remeshing operations)
The CGAL bindings are best installed from conda: `conda install -c conda-forge cgal`. Otherwise, you have to be brave enough to build from source following instructions [here](https://github.com/CGAL/cgal-swig-bindings/wiki/Installation).
The following two libraries are installed manually from git submodules, to better keep track of our development cycles:
- `pybullet_planning` (Library for planning utilities in pybullet)
- `compas_fab_pychoreo` (Library for providing `pybullet_planning` functionalities through a `compas_fab`-friendly API)
## Installation (external software dependency)
Install the following software:
- Rhino V6 (Design interface for demo file)
- Grasshopper plugin
- [Elefront](https://www.food4rhino.com/app/elefront) (Handles clickable mesh interface)
- [Openscad](https://www.openscad.org/downloads.html) (This will be running in the background. Start the software at least once after installing)
## Module Structure
See [this markdown file](src/Module_Structure.md) regarding the organization of the code and how it relates to dependency and `compas` core libraries.
## Sequence and Motion Planning
See [this file](./planning_instructions.md) for instructions on running the planning.
Credits
-------------
This repository was created by Pok Yin Victor Leung () [@yck011522](https://github.com/yck011522) at [@gramaziokohler](https://github.com/gramaziokohler), with the help of other [contributors](https://github.com/gramaziokohler/integral_timber_joints/blob/master/AUTHORS.rst).