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https://github.com/gramaziokohler/workshop_michigan

Materials for the Robotic Assembly workshop using COMPAS FAB framework
https://github.com/gramaziokohler/workshop_michigan

assembly compas-fab workshop

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Materials for the Robotic Assembly workshop using COMPAS FAB framework

Host: GitHub
URL: https://github.com/gramaziokohler/workshop_michigan
Owner: gramaziokohler
License: mit
Created: 2020-02-09T15:19:45.000Z (almost 5 years ago)
Default Branch: master
Last Pushed: 2020-02-25T08:54:05.000Z (almost 5 years ago)
Last Synced: 2024-11-06T12:25:19.954Z (3 months ago)
Topics: assembly, compas-fab, workshop
Language: Dockerfile
Homepage:
Size: 47.7 MB
Stars: 2
Watchers: 19
Forks: 0
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

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README

        # Workshop Michigan 24. and 25.02.2020

This workshop is about robotic assembly using the COMPAS framework.

## Overview

* Python programming

* Code management

* COMPAS 101

* COMPAS FAB Intro

* Kinematics and path planning

* Attach/detach tools

* Pick and Place planning

* Brick assembly

* Robot control overview

## Examples

### Day 1

* **Slides**: [session 1](https://docs.google.com/presentation/d/1MwbF9ibyxKD2Nxk989vYtSyW_or0pXSVWBnFI-EQtdM/edit?usp=sharing)

* **Documentation**:

  * [COMPAS API Reference](https://compas-dev.github.io/main/api.html)

  * [COMPAS FAB API Reference](https://gramaziokohler.github.io/compas_fab/latest/reference.html) 

#### Robotic fundamentals

* `Frame` examples:

  * [Several ways to construct a `Frame`](examples/001_several_ways_to_construct_frame.py)

  * [`Point` in `Frame`](examples/002_point_in_frame.py)

  * [`Frame` in `Frame`](examples/003_frame_in_frame.py)

  * [Bring a box from the world coordinate frame into another coordinate frame](examples/004_box_from_the_world_to_local.py)

  * [Use artists to draw the box in Rhino](examples/005_box_from_the_world_to_local_rhino.py)

* `Transformation` examples:

  * [Several ways to construct a `Transformation`](examples/006_examples_transformation.py)

  * [Inverse transformation](examples/007_inverse_transformation.py)

  * [Pre-multiply transformations](examples/008_premultiply_transformations.py)

  * [Pre- vs. post-multiplication](examples/009_pre_vs_post_multiplication.py)

  * [Decompose transformation](examples/010_decompose_transformation.py)

  * [Transform `Point` and `Vector`](examples/011_transform_point_and_vector.py)

  * [Transformation of multiple points](examples/012_transform_multiple.py)

  * [Change-basis transformation vs. transformation between frames](examples/013_change_basis_vs_between_frames.py)

  * [Bring a box from the world coordinate frame into another coordinate frame](examples/014_box_from_the_world_to_local.py)

  * [Use artists to draw the box in Rhino](examples/015_box_from_the_world_to_local_rhino.py)

* `Rotation` examples:

  * [Several ways to construct a `Rotation`](examples/016_several_ways_to_construct_rotation.py)

  * [Different Robot vendors use different conventions to describe TCP orientation](examples/017_robot_tcp_orientations.py)

  * [Euler angles example](examples/018_euler_angles.py)

  * [Axis-angle example](examples/019_axis_angle.py)

  * [Unit Quaternion example](examples/020_quaternion.py)

#### Robot model and ROS

* [Docker configuration to launch ROS & MoveIt](docker/docker-ur5/)

* [Open MoveIt! in your browser](http://localhost:8080/vnc.html?resize=scale&autoconnect=true) (once the UR5 docker compose has been started)

* Basic examples:

  * [Programatically define a robot](examples/021_define_model.py)

  * [Load robots from Github](examples/022_robot_from_github.py)

  * [Load robots from ROS](examples/023_robot_from_ros.py)

  * [Visualize robots in Rhino](examples/024_robot_artist_rhino.py)

  * [Visualize robots in Grasshopper](examples/025_robot_artist_grasshopper.ghx)

  * [Build your own robot](examples/026_build_your_own_robot.py)

* Basic ROS examples:

  * [Verify connection](examples/027_check_connection.py)

  * The cannonical example of ROS: chatter nodes

    * [Talker node](examples/028_ros_hello_world_talker.py)

    * [Listener node](examples/029_ros_hello_world_listener.py)

* Examples of ROS & MoveIt planning with UR5:

  * [Forward Kinematics](examples/030_forward_kinematics_ros_loader.py)

  * [Inverse Kinematics](examples/031_inverse_kinematics_ros_loader.py)

  * [Cartesian motion planning](examples/032_plan_cartesian_motion_ros_loader.py)

  * [Free space motion planning](examples/033_plan_motion_ros_loader.py)

  * Planning scene management:

    * [Add objects to the scene](examples/034_add_collision_mesh.py)

    * [Append nested objects to the scene](examples/035_append_collision_meshes.py)

    * [Remove objects from the scene](examples/036_remove_collision_mesh.py)

* [Grasshopper Playground](examples/038_robot_playground_ur5.ghx)

### Day 2

* **Slides**:  [session 2](https://docs.google.com/presentation/d/1QBu-4BhnLEOkrOvZf9PoX-m2dYAtTzfMFgFJ7Bw6VFY/edit#slide=id.g7054e0e0c8_0_5)

* **Documentation**:

  * [COMPAS API Reference](https://compas-dev.github.io/main/api.html)

  * [COMPAS FAB API Reference](https://gramaziokohler.github.io/compas_fab/latest/reference.html) 

#### Path planning and assembly processes

* [Docker configuration to launch ROS & MoveIt](docker/docker-ur5/)

* [Assembly Playground](examples/050_robot_assembly.ghx)

* Attaching gripper/tool:

  * [Attach tool to last link of the robot](examples/041_attach_tool.py)

  * [Plan cartesian motion with attached tool](examples/042_plan_cartesian_motion_with_attached_tool.py)

* Assembly elements (e.g. bricks):

  * [Add assembly element to planning scene](examples/043_create_element_and_add_to_planning_scene.py)

  * [Attach assembly element to gripper](examples/044_add_element_as_attached_collision_object.py)

* Pick and place examples:

  * [Pick and place](examples/045_pick_and_place.py)

  * [Pick and place Stack](examples/046_pick_and_place_stack.py)

## Requirements

* Minimum OS: Windows 10 Pro or Mac OS Sierra 10.12

* [Anaconda 3](https://www.anaconda.com/distribution/)

* [Docker Desktop](https://www.docker.com/products/docker-desktop) Docker Toolbox would also work but it's a bit more annoying. After installation on Windows, it is required to enable "Virtualization" on the BIOS of the computer.

* [Rhino 6 & Grasshopper](https://www.rhino3d.com/download)

* [Visual Studio Code](https://code.visualstudio.com/): Any python editor works, but we recommend VS Code + extensions [as mentioned in our docs](https://gramaziokohler.github.io/compas_fab/latest/getting_started.html#working-in-visual-studio-code-1)

## Installation

Create conda environment:

    (base) conda config --add channels conda-forge

    (base) conda create -n um20 python=3.6 compas_fab=0.10 python.app --yes

    (base) conda activate um20

### Verify installation

    (um20) pip show compas_fab

    Name: compas-fab

    Version: 0.10.2

    Summary: Robotic fabrication package for the COMPAS Framework

    ...

### Install on Rhino

    (um20) python -m compas_fab.rhino.install

NOTE: This installs to Rhino 6.0, use `-v 5.0` if needed.