Actin Viz

For training, we've provided source and binaries for ActinViz - a small application where you can load and test out EcScript to control the robot(s) in the simulation. Wath the video below for a quick introduction.

Goals

The goal of this example is to show how its possible to create a user facing application built on Actin motion control and motion scripting. Another goal is to introduce how Actin libraries can work with QML to create an interactive rendering of the Actin model. This also introduces some more advanced EcScript, that shows attachments, collision exclusion, and some natural tasking motions (using point ee to grab a sphere, etc).

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The simulation models used in training are found in:

actin/data/training/models

and the scripts that go with the models are found in:

actin/data/training/scripts

Four different models with matching scripts are provided, progressing from easy to more complex.

Model/Script Name Description
UR10SimpleMotion A UR10 robot on table demonstrating a simple motion.
UR10SimpleGrasping A UR10 robot with suction gripper attaching to a ball and moving the ball.
UR10SimpleWelding A UR10 robot that following a welding toolpath with the end effector.
UR10SimpleAssembly A UR10 robot that assembles three distinct parts.

UR10 = Universal Robots Model 10 (10 kg payload)

These examples scripts show how to refer to different manipulators, change motion constraint sets, attach and detach objects, and change the collision map dynamically when picking up objects. The script examples can help you can quickly learn how to setup and coordinate motion without having to write C++ code.

Overview of EcScript

For a detailed exmplantion of commands, visit the EcScript page

Each of the four scripts, listed above, presents new script commands introducing more complex motion with each example.

Here is a listing of the commands, with links, used in the example scripts.

Motion Commands

Collision Attachments, Tool Offset Commands

Define Commands

Other Commands

The scripts also use boolean and arithmetic operators in a pre-fix format (this is Lisp like

+ - * /

as well as and the assignment operator :

:=

Running ActinViz

(to be added)