Step 0 - Install Docker (https://www.docker.com/products/docker-desktop)
Step 1 - Install Git (https://git-scm.com/downloads) and clone the robots-gis repository using terminal or unzip it from usb file:
git clone https://github.com/GIS-EPFL/Robots.git
Step 2 - Install Anaconda (https://www.anaconda.com/products/distribution) and install it, during installation mark the option to add the path to the environment variables:
Step 3 - run the Anacond Prompt terminal using Administrative rights
Step 4 - update conda
conda config --add channels conda-forge
Step 5 - using Anaconda Prompt write a series commands to create an environment:
conda create -c conda-forge -n robots-gis compas_rrc python=3.8
Step 6 - Install compas packages for rhino:
conda install COMPAS
conda activate robots-gis
python -m compas_rhino.install -v 7.0
Step 6 - install VSCode (https://code.visualstudio.com/download)
Step 7 - install Python and Docker extensions in VScode
Step 8 - change default terminal to “Command Line”, type “Ctrl+Shift+P” and type “Select Default Shell” and select “Command Prompt”
Step 9 - change the environment to “robots-gis”, type “Ctrl+Shift+P” and type “Python: Select Interpreter” and select “wood-dev”. Finally go to tests folder, open any file, right click on the canvas and click “Run Python file in Terminal”
Step 10 - Open the folder of the "Robots" cloned from github on Visual Studio Code:
Step11 - Open Docker for the first time and install WSL if needed:
- Get the 💰 compas_rrc 💰 using Anaconda prompt:
conda create -c conda-forge -n robots-gis compas_rrc python=3.8
-
Go to folder via Visual Studio Code: *Robots\robot_files\abb_irb_6700_track_irtb_6004\4_urdfs*
-
Open file and right click to compose up: docker-compose.yml
- Troubleshoot: if you have previous docker images running compose them down or use Docker desktop:
- After opening the file: \Robots\robot_files\abb_irb_6700_track_irtb_6004\4_urdfs\abb_irb_6700_track_irtb_6004.gh , you should see a similar robot configuration:
- also try the IK setup constrained with linear axis: \Robots\robot_files\abb_irb_6700_track_irtb_6004\4_urdfs\abb_irb_6700_rrc_motion_planning.gh
This is a documentation for the robot ABB IRB 6700 with a track motion IRBT 6004
- Get the 💰 compas_rrc 💰 using Anaconda prompt:
conda create -c conda-forge -n robots-gis compas_rrc python=3.8
-
Configure 🌐 IP address of the pc matching the driver ip of the robot, with a different ending e.g. xxx.xxx.xxx.2 instead of 1:
- In VSCode right click "compose-up", while the docker-compose.yml. Before doing that, be sure that previous docker instances are composed down 💻 use this file: \Robots\robot_files\abb_irb_6700_track_irtb_6004\2_docker\docker-compose.yml :
- In teach pendant 🎮 the new message should look like this, else you are not connected and see only the previous screenshot 🎮 :
Setup the VSCode interface:
- In VSCode choose Command Prompt as a default profile (CTRL+SHIFT+P -> Terminal: Select Default Profile ) 💻
- In VSCode select the correct python environment "robots-gis" (CTRL+SHIFT+P -> Python: Select Interpreter ) 💻
- Right click on the Python code -> Run Python File in Terminal 💻
Examples \Robots\robot_files\abb_irb_6700_track_irtb_6004\5_playgrounds\python
- get current robot position and move by 100 mm in X-Axis get_and_move_to_target.py
- get current robot position and rotate 1st axis by 15 degrees get_and_move_to_joints.py
-
Go to folder via Visual Studio Code: \Robots\robot_files\abb_irb_6700_track_irtb_6004\4_urdfs
-
Open file and right click to compose up: docker-compose.yml
- Troubleshoot: if you have previous docker images running compose them down or use Docker desktop:
- After opening the file: \Robots\robot_files\abb_irb_6700_track_irtb_6004\4_urdfs\abb_irb_6700_track_irtb_6004.gh , you should see a similar robot configuration: