314_planning_scene.ghx

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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

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 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 and robot and robot.client and robot.client.is_connected:

            scene_key_co = scene_key + '_co'
            if reload_scene or scene_key_co not in st:
                for co in scene.world.collision_objects:
                    header = co.header
                    frame_id = header.frame_id
                    cms = co.to_collision_meshes()

                    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)
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                    </item>
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              <items count="3">
                <item name="GUID" type_name="gh_guid" type_code="9">410755b1-224a-4c1e-a407-bf32fb45ea7e</item>
                <item name="Lib" type_name="gh_guid" type_code="9">00000000-0000-0000-0000-000000000000</item>
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                  <items count="13">
                    <item name="CodeInput" type_name="gh_string" type_code="10">"""
Connect or disconnect to ROS.

COMPAS FAB v0.19.1
"""
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 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)
        is_connected = ros_client.is_connected if ros_client else False
        return (ros_client, is_connected)
</item>
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COMPAS FAB v0.19.1</item>
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                  </items>
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                    </chunk>
                    <chunk name="ParameterData">
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                          </chunks>
                        </chunk>
                        <chunk name="OutputParam" index="1">
                          <items count="6">
                            <item name="Description" type_name="gh_string" type_code="10">True if connection established.</item>
                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">a4d56304-e4cb-48c1-80b9-dff6a5e267a9</item>
                            <item name="Name" type_name="gh_string" type_code="10">is_connected</item>
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                          </items>
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                  </chunks>
                </chunk>
              </chunks>
            </chunk>
            <chunk name="Object" index="5">
              <items count="3">
                <item name="GUID" type_name="gh_guid" type_code="9">410755b1-224a-4c1e-a407-bf32fb45ea7e</item>
                <item name="Lib" type_name="gh_guid" type_code="9">00000000-0000-0000-0000-000000000000</item>
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              </items>
              <chunks count="1">
                <chunk name="Container">
                  <items count="13">
                    <item name="CodeInput" type_name="gh_string" type_code="10">"""
Load robot directly from ROS.

COMPAS FAB v0.19.1
"""
from compas_ghpython.artists import RobotModelArtist
from ghpythonlib.componentbase import executingcomponent as component
from scriptcontext import sticky as st

from compas_fab.ghpython.components import create_id


class ROSRobot(component):
    def RunScript(self, ros_client, load):
        key = create_id(self, 'robot')

        if ros_client and ros_client.is_connected and load:
            # Load URDF from ROS
            st[key] = ros_client.load_robot(load_geometry=True, precision='12f')
            st[key].artist = RobotModelArtist(st[key].model)

        robot = st.get(key, None)
        if robot:  # client sometimes need to be restarted, without needing to reload geometry
            robot.client = ros_client
        return robot
</item>
                    <item name="Description" type_name="gh_string" type_code="10">Load robot directly from ROS.
COMPAS FAB v0.19.1</item>
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                      <X>96</X>
                      <Y>96</Y>
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                    </item>
                    <item name="HideInput" type_name="gh_bool" type_code="1">true</item>
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                    <item name="IconOverride" type_name="gh_drawing_bitmap" type_code="37">
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                    </item>
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                    <item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
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</bitmap>
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