Pick frame from grid

CHANGELOG.md

@@ -4,6 +4,19 @@ All notable changes to this project will be documented in this file.
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## \[0.1.20\] \[2020-20-25\]
+
+### Added
+
+-   Settings regarding picking grid added to `compas_rcf.fabrication.conf`.
+
+### Changed
+
+-   Function `get_picking_frame` in `compas_rcf.fabrication.abb_runner` reworked into `pick_frame_from_grid` which reads settings from conf to return frames from a grid of picking points.
+-   JSON dump after end of `abb_runner` now dumps original list (`clay_bullets`) instead of a new.
+
+## \[0.1.18\] \[2020-02-20\]
+
 ## \[0.1.19\] \[2020-20-22\]
 
 ### Changed

src/compas_rcf/fabrication/abb_runner.py

@@ -78,13 +78,12 @@ def initial_setup(client):
     ----------
     client : :class:`compas_rrc.AbbClient`
     """
-
     send_grip_release(client, CONF.tool.release_state)
 
     client.send(SetTool(CONF.tool.tool_name))
     logging.debug("Tool {} set.".format(CONF.tool.tool_name))
     client.send(SetWorkObject(CONF.wobjs.placing_wobj_name))
-    logging.debug("Work object {} set.")
+    logging.debug("Work object {} set.".format(CONF.wobjs.placing_wobj_name))
 
     # Set Acceleration
     client.send(SetAcceleration(CONF.speed_values.accel, CONF.speed_values.accel_ramp))
@@ -334,23 +333,33 @@ def get_settings():
         sys.exit()
 
 
-def get_picking_frame(bullet_height):
+def pick_frame_from_grid(index, bullet_height):
     """Get next picking frame.
 
     Parameters
     ----------
+    index : int
+        Counter to iterate through picking positions.
     bullet_height : float
-        Height of bullet to pick up
+        Height of bullet to pick up.
 
     Returns
     -------
-    `class`:compas.geometry.Frame
+    list of `class`:compas.geometry.Frame
     """
-    # TODO: Set up a grid to pick from
-    picking_frame = Frame(Point(0, 0, 0), Vector(0, 1, 0), Vector(1, 0, 0))
+    # If index is larger than amount on picking plate, start from zero again
+    index = index % (CONF.pick.xnum * CONF.pick.ynum)
+
+    xpos = index % CONF.pick.xnum
+    ypos = index // CONF.pick.xnum
+
+    x = CONF.pick.origin_grid.x + xpos * CONF.pick.grid_spacing
+    y = CONF.pick.origin_grid.y + ypos * CONF.pick.grid_spacing
+    z = bullet_height * CONF.pick.compression_height_factor
 
-    # TODO: Make the pressing at picking more configurable
-    return get_offset_frame(picking_frame, bullet_height * 0.95)
+    frame = Frame(Point(x, y, z), Vector(*CONF.pick.xaxis), Vector(*CONF.pick.yaxis))
+    logging.debug("Picking frame {:03d}: {}".format(index, frame))
+    return frame
 
 
 ################################################################################
@@ -450,15 +459,16 @@ def abb_run(cmd_line_args):
     ############################################################################
     # Fabrication loop                                                         #
     ############################################################################
-    placed_bullets = []
+
     for i, bullet in enumerate(clay_bullets):
-        logging.info("Bullet {}/{} with id {}".format(i, len(clay_bullets), bullet.id))
+        logging.info(
+            "Bullet {:03d}/{:03d} with id {}".format(i, len(clay_bullets), bullet.id)
+        )
 
-        picking_frame = get_picking_frame(bullet.height)
-        logging.debug("Picking frame: {}".format(picking_frame))
+        pick_frame = pick_frame_from_grid(i, bullet.height)
 
         # Pick bullet
-        pick_future = send_picking(abb, picking_frame)
+        pick_future = send_picking(abb, pick_frame)
 
         # Place bullet
         place_future = send_placing(abb, bullet)
@@ -469,7 +479,6 @@ def abb_run(cmd_line_args):
         logging.debug("Cycle time was {}".format(bullet.cycle_time))
         bullet.placed = time.time()
         logging.debug("Time placed was {}".format(bullet.placed))
-        placed_bullets.append(bullet)
 
     ############################################################################
     # Shutdown procedure                                                       #
@@ -478,7 +487,7 @@ def abb_run(cmd_line_args):
     done_json = DEFAULT_JSON_DIR / "00_done" / json_path.name
 
     with done_json.open(mode="w") as fp:
-        json.dump(placed_bullets, fp, cls=ClayBulletEncoder)
+        json.dump(clay_bullets, fp, cls=ClayBulletEncoder)
 
     logging.debug("Saved placed bullets.")
 

src/compas_rcf/fabrication/conf.py

@@ -60,6 +60,18 @@ def convert(self, value, view):
         "zone_pick": ZoneDataTemplate(),
         "zone_place": ZoneDataTemplate(),
     },
+    "pick": {
+        "origin_grid": {
+            "x": confuse.Number(default=100),
+            "y": confuse.Number(default=100),
+        },
+        "xnum": int,
+        "ynum": int,
+        "grid_spacing": float,
+        "compression_height_factor": confuse.Number(default=0.95),
+        "xaxis": confuse.Sequence([float] * 3),
+        "yaxis": confuse.Sequence([float] * 3),
+    },
 }
 
 fabrication_conf = confuse.LazyConfig("FabricationRunner", __name__)

src/compas_rcf/fabrication/config_default.yaml

@@ -33,3 +33,13 @@ wobjs:
     # name of work objects as defined in controller
     picking_wobj_name: ob_A057_WobjPicking01
     placing_wobj_name: ob_A057_WobjPlacing01
+pick:
+    origin_grid:  # grid offset from wobj in mm
+        x: 125
+        y: 125
+    xnum: 6  # number of bullets in x direction
+    ynum: 3  # number of bullets in y direction
+    grid_spacing: 125  # distance between grid crossings
+    compression_height_factor: 0.95 # controls compression before lifting
+    xaxis: [0, 1, 0] # x axis as a list
+    yaxis: [1, 0, 0] # y axis as a list