session2.md

Assignments

Module 2: Session 2

1. Create a brick assembly with a single flemish bond and save into flemish_bond.py (check example nr. 27). Serialise your assembly into 00_flemish_bond.json.
2. In GhPython load the assembly from the saved json file and visualise it to check if all bricks are where they should be (use ghx file example nr. 20).
3. Now transform the assembly a location where it is a) still within robot reach and b) not too close to the robot to avoid collisions.
4. After transformation save the assembly into 01_flemish_bond_transformed.json
5. Create a new file flemish_bond_planning.py in which you create the assembly from 01_flemish_bond_transformed.json.
6. Here create a planning scene, add floor, define/load picking_frame, etc. from settings (check example nr. 26.).
7. Iterate over all brick in the assembly and for each brick calculate pick and place paths and append brick to planning scene.
8. Save all paths in the element
9. Serialise assembly into 02_flemish_bond_planned.json