Gcode class

examples/GCodes/gcode_G0.txt

@@ -0,0 +1,48 @@
+% with "%" it is possible to place comments in the G-Code
+
+%Go to default position and adjust the orientation
+G0 X1.9 Y-0.5 Z1.7 A-1.5708 B0 C0
+
+%Approach Gripper
+G0 X2.7
+G0 Z1.3
+
+%Toolchange (if programmed)
+T1
+%Move up and adjust orientation
+G0 Z1.5 A-3.1415 B0 C0
+%Go back to the default position
+G0 X1.9 Y-0.5
+
+%Close the gripper
+M10
+%Open the gripper
+M11
+
+%Approach Toolchange position
+G0 X2.7
+G0 Z0.7
+
+
+%Decouple Gripper (if programmed)
+T0
+
+%Move up and adjust orientation
+G0 Z1.9  A-1.57 B0 C0
+%Go to default position
+G0 X1.9 Y-0.5
+
+
+
+%Zero Offset - Activation
+G54
+%Square movement and orientation flip
+G0 X0.2
+G0 Y0.2
+G0 X0
+G0 Y0
+%Zero Offset - Deactivation
+G500
+
+%Go to default position and adjust the orientation
+G0 X1.9 Y-0.5 Z1.9 A-1.5707 B0 C0

examples/GCodes/gcode_G123.txt

@@ -0,0 +1,56 @@
+% with "%" it is possible to place comments in the G-Code
+
+%Go to default position and adjust the orientation
+G0 X1.9 Y-0.5 Z1.5 A-1.5707 B0 C0
+%Approach Gripper
+G1 X2.7 
+G1 Z1.3
+
+%Toolchange (if programmed)
+T1
+%Move up and adjust orientation 
+G1 Z1.5 A3.1415 B0 C0
+%Go back to the default position
+G1 X1.9 Y-0.5
+
+%Close the gripper
+M10
+%Open the gripper
+M11
+
+%Approach Toolchange position
+G1 X2.7
+G1 Z0.7
+
+
+%Decouple Gripper (if programmed)
+T0
+
+%Move up and adjust orientation
+G1 Z1.9  A-1.5707 B0 C0
+%Go to default position
+G1 X1.9 Y-0.5
+
+
+
+%Zero Offset - Activation
+G54
+%Square movement and orientation flip
+G1 X0.2
+G1 Y0.2
+G1 X0
+G1 Y0
+%Zero Offset - Deactivation
+G500
+
+%Go to default position and adjust the orientation
+G1 X1.9 Y-0.5 Z1.9 A-1.5707 B0 C0
+
+%Circular Interpolation - G2 in X-Y Plane
+G17
+G2 Y0.5 R0.6
+G2 Y-0.5 R0.6
+
+%Circular Interpolation - G3 in X-Y Plane
+G3 Y0.5 R0.6
+G3 Y-0.5 R0.6

examples/GCodes/test.txt

@@ -0,0 +1,3 @@
+G0 X1.9 Y-0.5 Z1.7 A-1.5707 B0 C0
+G54
+G1 X0.1

examples/g_code_processor_dem.py

@@ -0,0 +1,83 @@
+import os
+import pybullet as p
+import pybullet_data
+import pybullet_industrial as pi
+import numpy as np
+
+
+def actuate_gripper(gripper: pi.Gripper, val: int):
+    return gripper.actuate(val)
+
+
+def couple_endeffector(gripper: pi.Gripper, robot: pi.RobotBase, link: chr):
+    return gripper.couple(robot, link)
+
+
+def decouple_endeffector(gripper: pi.Gripper):
+    return gripper.decouple()
+
+
+if __name__ == "__main__":
+
+    dirname = os.path.dirname(__file__)
+    urdf_file1 = os.path.join(dirname,
+                              'robot_descriptions', 'comau_nj290_robot.urdf')
+    urdf_file2 = os.path.join(dirname,
+                              'robot_descriptions', 'gripper_cad.urdf')
+    urdf_file3 = os.path.join(dirname,
+                              'Objects', 'FoFa', 'FoFa.urdf')
+
+    pysics_client = p.connect(p.GUI, options='--background_color_red=1 ' +
+                                             '--background_color_green=1 ' +
+                                             '--background_color_blue=1')
+    p.setPhysicsEngineParameter(numSolverIterations=10000)
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
+    p.setAdditionalSearchPath(pybullet_data.getDataPath())
+    p.setGravity(0, 0, -10)
+
+    p.loadURDF("cube.urdf", [1.9, 0, 0.5], useFixedBase=True)
+
+    p.loadURDF(urdf_file3, [-2, 5, 0], useFixedBase=True, globalScaling=0.001)
+
+    test_robot = pi.RobotBase(urdf_file1, [0, 0, 0], [0, 0, 0, 1])
+
+    test_robot.set_joint_position(({'q2': np.deg2rad(-15.0),
+                                  'q3': np.deg2rad(-90.0)}))
+    for _ in range(100):
+        p.stepSimulation()
+
+    start_orientation = p.getQuaternionFromEuler([np.pi, 0, 0])
+    test_gripper = pi.Gripper(urdf_file2, [2.7, -0.5, 1.2], start_orientation)
+    endeffector_list = []
+    endeffector_list.append(test_gripper)
+
+    # M-Commands have to be added in this convention
+    m_commands = {
+        "10": [lambda: actuate_gripper(test_gripper, 1)],
+        "11": [lambda: actuate_gripper(test_gripper, 0)]
+    }
+
+    # T-Commands have to be added in this convention
+    t_commands = {
+        "0": [lambda: decouple_endeffector(test_gripper)],
+        "1": [lambda: couple_endeffector(test_gripper, test_robot, 'link6')]
+    }
+
+    dirname = os.path.dirname(__file__)
+    textfile = os.path.join(dirname, 'Gcodes', 'gcode_G123.txt')
+
+    with open(textfile, encoding='utf-8') as f:
+        gcode_input = f.read()
+
+    demonstration_object = pi.GCodeProcessor(gcode_input, test_robot,
+                                             endeffector_list,
+                                             m_commands, t_commands)
+
+    # Create an iterator from the demonstration object
+    demonstration_iterator = iter(demonstration_object)
+
+    # Iterate over the demonstration object
+    for _ in demonstration_iterator:
+        # Execute the simulation steps
+        for _ in range(200):
+            p.stepSimulation()

src/pybullet_industrial/__init__.py

@@ -11,3 +11,4 @@
 from pybullet_industrial.interpolation import circular_interpolation, linear_interpolation, spline_interpolation
 from pybullet_industrial.path_builders import *
 from pybullet_industrial.milling_tool import *
+from pybullet_industrial.g_code_processor import *