README.md

UR Online Control

Getting started

Compas and Compas Fab Installation (via Anaconda Terminal) - Fresh

(base)  conda config --add channels conda-forge
(base)  conda remove --name your_env_name --all
(base)  conda create -n your_env_name python=3.6 compas=0.11.4 compas_fab=0.10.1 --yes
(base)  conda activate your_env_name
(your_env_name) python -m compas_rhino.install
(your_env_name) python -m compas_fab.rhino.install -v 6.0

Compas and Compas Fab Installation (via Anaconda Terminal) - Update

Activate your your_env_name environment and update it as follows:

(base)  conda activate your_env_name
(your_env_name) conda install compas=0.15.6 compas_fab=0.11.0 --yes
(your_env_name) python -m compas_rhino.install
(your_env_name) python -m compas_fab.rhino.install -v 6.0

Verify Installation

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

Iron Python Installation

Install Ironpython 2.7.9. via following this link

UR Online Control Installation

First, clone the current version of the ur_online_control repository into your project folder.

Then, add the following two directories to the Python Path in Rhino via >> EditPythonScript >> Tools >> Options >> Add to search path:

1. Ironpython Path, e.g., C:\Program Files\IronPython 2.7\Lib
2. Parent folder or ur_online_control repository, e.g., C:\Users\yourname\workspace\projects

Example files

You find the grasshopper playground in the rhino folder:

Setup with one robot:

ur_online_control_base_setup_x1.ghx
u10e_setup_x1.3dm

Setup with two robots:

ur_online_control_base_setup_x2.ghx
u10e_setup_x2.3dm

Copy the .3dm and .ghx files of your choice into your own project folder, use and modify it. Voilà!