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620_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}-->
<items count="1">
<item name="ArchiveVersion" type_name="gh_version" type_code="80">
<Major>0</Major>
<Minor>2</Minor>
<Revision>2</Revision>
</item>
</items>
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</item>
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<ARGB>100;150;0;0</ARGB>
</item>
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<ARGB>100;0;150;0</ARGB>
</item>
</items>
</chunk>
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<item name="Name" type_name="gh_string" type_code="10">620_assembly_viewer.ghx</item>
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<item name="CodeInput" type_name="gh_string" type_code="10"># Mac will not automatically do this so, here we go
import os
import sys
HERE = os.path.dirname(ghenv.Component.OnPingDocument().FilePath)
if HERE not in sys.path: sys.path.append(HERE)
# Load assembly
import compas
assembly = compas.json_load(os.path.join(HERE, filename))
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<item name="Name" type_name="gh_string" type_code="10">robot</item>
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<item name="Name" type_name="gh_string" type_code="10">assembly</item>
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<item name="CodeInput" type_name="gh_string" type_code="10">from compas_fab.robots import JointTrajectory
from compas_ghpython.artists import MeshArtist
#from helpers import traversal_buildup_sequence
#from helpers import traversal_breadth_first_ordering
from helpers import traversal_linearly_ordered
if assembly:
# Load trajectory
trajectory = assembly.element(i).trajectory
if trajectory:
trajectory = JointTrajectory(trajectory)
ghenv.Component.Message = "Element {} loaded".format(i) if trajectory else 'Element {} has no trajectory'.format(i)
elements = []
for j, n in enumerate(traversal_linearly_ordered(assembly)):
geom = assembly.element(n).geometry_at_placement
mesh = MeshArtist(geom).draw()
elements.append(mesh)
if j == i: break
pick_trajectory = assembly.pick_trajectory</item>
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<item name="CodeInput" type_name="gh_string" type_code="10">"""
Visualizes a trajectory.
COMPAS FAB v0.19.1
"""
from compas_ghpython import draw_frame
from compas_ghpython import list_to_ghtree
from ghpythonlib.componentbase import executingcomponent as component
class TrajectoryVisualize(component):
def RunScript(self, robot, group, trajectory):
start_configuration = None
configurations = []
fraction = 0.
time = 0.
planes = []
positions = []
velocities = []
accelerations = []
if robot and trajectory:
group = group or robot.main_group_name
for c in trajectory.points:
configurations.append(robot.merge_group_with_full_configuration(c, trajectory.start_configuration, group))
frame = robot.forward_kinematics(c, group, options=dict(solver='model'))
planes.append(draw_frame(frame))
positions.append(c.positions)
velocities.append(c.velocities)
accelerations.append(c.accelerations)
start_configuration = trajectory.start_configuration
fraction = trajectory.fraction
time = trajectory.time_from_start
P = list_to_ghtree(list(zip(*positions)))
V = list_to_ghtree(list(zip(*velocities)))
A = list_to_ghtree(list(zip(*accelerations)))
# return outputs if you have them; here I try it for you:
return (start_configuration, configurations, fraction, time, planes, P, V, A)
</item>
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COMPAS FAB v0.19.1</item>
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<item name="InstanceGuid" type_name="gh_guid" type_code="9">8f769f88-2ce5-4010-af59-b01290754f9a</item>
<item name="Name" type_name="gh_string" type_code="10">group</item>
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<item name="Name" type_name="gh_string" type_code="10">configurations</item>
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<item name="InstanceGuid" type_name="gh_guid" type_code="9">4f51cfe7-b289-44b4-a95b-bcfdc49b84d2</item>
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<item name="Name" type_name="gh_string" type_code="10">planes</item>
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