first brick example created (new pack&go, new viewer and new python code)

Author: fleischp

Python/examples/COMPAS_RRC_IRB-910SC-3_0.65.py

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+import compas_rrc as rrc
+from compas.geometry import Frame 
+from compas.geometry import Point
+from compas.geometry import Vector
+
+if __name__ == '__main__':
+
+    # Create Ros Client
+    ros = rrc.RosClient()
+    ros.run()
+
+    # Create ABB Client
+    abb = rrc.AbbClient(ros, '/rob1')
+    print('Connected.')
+
+    # Reset signals 
+    abb.send(rrc.SetDigital('doNewBrick',0))
+    abb.send(rrc.SetDigital('doVacuumOn',0))
+
+    # Set tool
+    abb.send(rrc.SetTool('t_RRC_Vacuum_Gripper'))
+
+    # Set work object
+    abb.send(rrc.SetWorkObject('ob_RRC_Brick_Pallet'))
+
+    # Create a new brick
+    done = abb.send_and_wait(rrc.PulseDigital('doNewBrick',0.2))
+
+    # Define pick positions 
+    pre_pick_position = Frame(Point(68.5, 48.5, 50), Vector(0, -1, 0), Vector(-1, 0, 0))
+    pick_position = Frame(Point(68.5, 48.5, 36), Vector(0, -1, 0), Vector(-1, 0, 0))
+
+    # Define speeds
+    speed = 100
+
+    # Move over pick postion
+    abb.send(rrc.MoveToFrame(pre_pick_position, speed, rrc.Zone.Z10))
+
+    # Move to pick postion
+    abb.send(rrc.MoveToFrame(pick_position, speed, rrc.Zone.FINE))
+
+    # Vacuum on 
+    abb.send(rrc.SetDigital('doVacuumOn',1))
+
+    # Move over pick postion
+    abb.send(rrc.MoveToFrame(pre_pick_position, speed, rrc.Zone.Z10))
+
+    # Set work object
+    abb.send(rrc.SetWorkObject('ob_RRC_Build_Space'))
+
+    # Define pick positions 
+    pre_place_position = Frame(Point(50, 50, 50), Vector(0, -1, 0), Vector(-1, 0, 0))
+    place_position = Frame(Point(50, 50, 12), Vector(0, -1, 0), Vector(-1, 0, 0))
+
+    # Move over place postion
+    abb.send(rrc.MoveToFrame(pre_place_position, speed, rrc.Zone.Z10))
+
+    # Move to pick postion
+    abb.send(rrc.MoveToFrame(place_position, speed, rrc.Zone.FINE))
+
+    # Vacuum on 
+    abb.send(rrc.SetDigital('doVacuumOn',0))
+
+    # Move over place postion
+    abb.send(rrc.MoveToFrame(pre_place_position, speed, rrc.Zone.Z10))
+
+    # End of Code
+    print('Finished')
+
+    # Close client
+    ros.close()
+    ros.terminate()