Workshop TU Munich 5., 6., and 20.11.2020

This workshop is about robotic assembly using the COMPAS framework.

Overview

• COMPAS 101
• COMPAS FAB Intro
• Kinematics and path planning
• Attach/detach tools
• Pick and Place planning
• Brick assembly
• Robot control overview

Examples

Day 1

• Slides: session 1
• Documentation:
  • COMPAS API Reference
  • COMPAS FAB API Reference

Robotic fundamentals

• Frame examples:
  • Several ways to construct a Frame
  • Point in Frame
  • Frame in Frame
  • Bring a box from the world coordinate frame into another coordinate frame
  • Use artists to draw the box in Rhino
• Transformation examples:
  • Several ways to construct a Transformation
  • Inverse transformation
  • Pre-multiply transformations
  • Pre- vs. post-multiplication
  • Decompose transformation
  • Transform Point and Vector
  • Transformation of multiple points
  • Change-basis transformation vs. transformation between frames
  • Bring a box from the world coordinate frame into another coordinate frame
  • Use artists to draw the box in Rhino
• Rotation examples:
  • Several ways to construct a Rotation
  • Different Robot vendors use different conventions to describe TCP orientation
  • Euler angles example
  • Axis-angle example
  • Unit Quaternion example

Robot model and ROS 1

• Docker configuration to launch ROS & MoveIt
• Open MoveIt! in your browser:
  • http://localhost:8080/vnc.html?resize=scale&autoconnect=true
• Basic examples:
  • Programmatically define a robot
  • Load robots from Github
  • Load robots from ROS
  • Visualize robots in Rhino
  • Visualize robots in Grasshopper
  • Build your own robot
• Basic ROS examples:
  • Verify connection
  • The canonical example of ROS: chatter nodes
    • Talker node
    • Listener node

Day 2

• Slides: session 2
• Documentation:
  • COMPAS API Reference
  • COMPAS FAB API Reference

RPC: Remote Procedure Call

• Examples of RPC calls:
  • Simple numpy example
  • Custom function example

Robot model and ROS 2

• Examples of ROS & MoveIt planning with UR10e:
  • Forward Kinematics
  • Inverse Kinematics
  • Cartesian motion planning
  • Free space motion planning
  • Planning scene management:
    • Add objects to the scene
    • Append nested objects to the scene
    • Remove objects from the scene
• Grasshopper Playground

Path planning and assembly processes

• Docker configuration to launch ROS & MoveIt
• Assembly Playground
• Attaching gripper/tool:
  • Attach tool to last link of the robot
  • Plan cartesian motion with attached tool
• Assembly elements (e.g. bricks):
  • Add assembly element to planning scene
  • Attach assembly element to gripper
• Assembly examples:
  • Pick and place example
  • Assembly example
  • Plan assembly paths

Day 3

• Assembly examples with real robot:
  • Assembly Playground
  • Send assembly tasks to robot
  • Subscribe to robot updates
  • Visualize robot updates in Grasshopper
• Robot control:
  • Control services
  • Joint State Publisher

Requirements

• Minimum OS: Windows 10 Pro or Mac OS Sierra 10.12
• Anaconda 3
• Docker Desktop Docker Toolbox would also work but it's a bit more annoying. After installation on Windows, it is required to enable "Virtualization" on the BIOS of the computer.
• Rhino 6 & Grasshopper
• Visual Studio Code: Any python editor works, but we recommend VS Code + extensions as mentioned in our docs

Installation

We use conda to make sure we have clean, isolated environment for dependencies.

First time using conda? Make sure you run this at least once:

(base) conda config --add channels conda-forge

Create a new conda environment:

Windows

(base) conda create -n tum20 python=3.8 compas_fab=0.13 --yes
(base) conda activate tum20

Mac

(base) conda create -n tum20 python=3.8 compas_fab=0.13 python.app --yes
(base) conda activate tum20

Install TUM assembly information model library

(tum20) conda install git
(tum20) python -m pip install git+https://github.com/augmentedfabricationlab/assembly_information_model@compas_upgrade#egg=assembly_information_model
(tum20) python -m compas_rhino.install -p assembly_information_model

Verify installation

(tum20) pip show compas_fab
Name: compas-fab
Version: 0.13.1
Summary: Robotic fabrication package for the COMPAS Framework
...

Install on Rhino

(tum20) python -m compas_rhino.install

NOTE: This installs to Rhino 6.0, use -v 5.0 if needed.