Table of Contents

• About the Project
• Setup
• Usage
• WIP

UR Remote Control w/Speckle

We use the ur_online_control libary with Speckle to control UR3 robotic manipulators. We also use the assembly_information_model library to send more complicated sets of geometry/commands for the robot, as a Compas network class object (Python).

Setup

To get a local copy up and running follow these simple steps.

Prerequisites

• Anaconda (and Python)
• Rhino 6 and Grasshopper
• Compas and Compas_Fab

Installation

2. Install Speckle
   • uncheck the revit and dynamo
   • restart rhino and grasshopper after installing plugin DEFAULT ACCOUNT

Usage

Example files are in the Rhino folder of this repo. Load the UR3_ECL_setup.3dm file to visualize our robot cell setup in the ECL.

Speckle

Log into Speckle via Default Authentification method

• username: [email protected]
• password: arc311_f2020

The speckle components have been already set up in the grasshopper files, you just need

UR Simple Commands

Use the ur_simple_speckle.gh file This sends ur_script commands as strings through Speckle

UR Assemblies

Use the ur_assemply_speckle.gh file This sends an assembly information model through json. The movement planes in this datastructure are interpreted as movement frames for the robot.

WIP

Setup Instructions w/ annotations

1. Compas and Compas_Fab Installation (via Anaconda Terminal); clean install

Run Anaconda prompt as admin

```ruby
(base)  conda config --add channels conda-forge
#--add channels         //puts the conda-forge channel at the top of the channels priority list;
#                       //can also use --prepend; --append adds to bottom of list
#conda config --show    //will show info about conda config, including existing channels
(base)  conda remove --name your_env_name --all
#removes the environment if already exists

(base)  conda create -n your_env_name python=3.8 compas compas_fab --yes
#use newest versions instead
#--yes or -y simply skips confirmation
(base)  conda activate your_env_name
(your_env_name) python -m compas_rhino.install
#from python documentaiton: When called with -m module-name, the given module is located on the Python module path and executed as a script.
(your_env_name) python -m compas_fab.rhino.install -v 6.0
```

2. Verify Installation

```ruby
(your_env_name) python
>>> import compas_fab
>>> compas_fab.__version__
'0.10.1'
>>> exit()
```

3. Iron Python Installation

Install Ironpython 2.7.9. via this link: https://github.com/IronLanguages/ironpython2/releases/tag/ipy-2.7.9
> New version of IronPython is out: 2.7.10; probably unnecessary since it only adds .net support
> For Windows: use the .msi file
> For Apple: use the .pkg file

4. UR Online Control Installation

Clone the current version of the ur_online_control repository onto your computer: https://github.com/augmentedfabricationlab/ur_online_control
> Clone into a git_repositories folder that you have set up, or into your project folder.
> I recommend having a folder called git_repositories (or similar) somewhere on your hard drive and downloading all git repos to that location:
Clone using Github Desktop or the terminal:
instructions 1
instructions 2: https://git-scm.com/book/en/v2/Git-Basics-Getting-a-Git-Repository

5. Link Directories to Rhino Search Path

Add the directories for ur_conline_control and IronPython to Rhino: `Rhino >> EditPythonScript >> Tools >> Options >> Add to search path:`
1. Ironpython install directory, e.g. C:\Program Files\IronPython 2.7\Lib
2. ur_online_control repository or its parent directory, e.g. C:\Users\YourName\Desktop\git_repositories

6. Test w/ robots:

Files are in the rhino folder of ur_online_control repo

Rhino File: ExampleRobotSimple.3dm

Grasshopper File: ExampleRobotSimple.gh

• verify which UR3 has which ip
  • toolbox one is 192.168.10.10
• set the robot ip in the grasshopper script
• choose ip for server (pc) and set it as the computer's ipv4 ip under network adapter properties
• port for the robot is preset: 30002
• port for server (pc) is set to: 30003

ur_online_control_assembly instructions

UR setup example files:

• u10e_setup_x1.3dm
• ur_online_control_assembly.ghx

Setup / Dependency Install

In order for them to work you’ll have to install the following:

1. Install ur_online_control and its dependencies, including compas and compas_fab, by following the readme instructions

   ATTENTION: The compas and compas_fab versions mentioned in the instructions are wrong (old). You will need to install the latest version which you can do by simply not typing a version (example: conda install compas) or using version 0.15.6 for compas and 0.11.0 for compas_fab. When you run the compass_rhino and compass_fab.rhino installs (in python), you will need to have the anaconda prompt open as administrator, so it can make changes to your rhino folders.

2. Clone the assembly_information_model repository to your computer, from here: https://github.com/augmentedfabricationlab/assembly_information_model

   Dependencies (compas) are already installed.

3. Make the assembly_information_model repo accessible from Rhino:

   1. cd to the repository directory in the Anaconda prompt

   2.   pip install -r requirements-dev.txt
        invoke add-to-rhino
        pip install your_filepath_to_assembly_information_model
      

4. Add the src folders from each of the two repositories to your rhino paths: Rhino >> Command:EditPythonScript >> Tools >> Options >> Module Search Paths >> Add to search path >> press Ok >> restart Rhino