Simulation¶
Attaching and Detaching¶
Object Simulation - Attach¶
Attaches movable objects to a given frame, if they are in range.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Frame | String | The frame to attach the objects to. All objects closer than their attach range are attached to this frame. |
| Snap Object | Boolean | True: Objects attached to the gripper are snapped to the tool center point. This means each offset transformation from the attaching frame to the respective object becomes zero. False: Attached objects keep their relative transformations to the attaching frame. |
|
| Outputs | - |
Object Simulation - Attach by ID¶
Attaches all stated movable objects to a given frame, ignoring their individual attach range.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Frame | String | The frame to attach the objects to. |
| Object List | List of Strings | List of Object IDs, which are going to be attached to the given frame. | |
| Outputs | - |
Object Simulation - Detach¶
Detaches all movable objects from a given frame.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Frame | String | The frame to detach all the attached objects from. |
| Outputs | - |
Object Simulation - Get Attached Object ID¶
Returns the Object ID of the first object attached to a given frame.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Frame | String | The frame to check for attached objects. |
| Outputs | Found Object | Boolean | True, if at least one object is attached to the given frame. False otherwise. |
| Object ID | String | The Object ID of the first object attached to the frame. Empty string if no object is attached. |
Object Simulation - Reattach All¶
Attaches all objects currently attached to one source frame to a different target frame.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Source Frame | String | The frame to detach all the attached objects from. |
| Target Frame | String | The frame to attach all the detached objects from the source frame. | |
| Outputs | - |
Manipulation of Objects Poses¶
Object Simulation - Get Object Pose¶
Returns the pose of an object in world coordinate system.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Object ID | String | The Object ID of the object to get the pose for. |
| Outputs | Pose | Pose | The pose of this object in world coordinate system. |
| Exceptions | ERROR_ID_NOT_FOUND | - | The exception is raised if the given Object ID is not known. |
Object Simulation - Move Object¶
Places a given object at a given pose relative to its parent frame.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Object ID | String | The Object ID of the object to set the pose. |
| Pose | Pose | The new pose of the object relative to its parent frame. | |
| Outputs | - | ||
| Exceptions | ERROR_UNKNOWN_OBJECT | - | The exception is raised if the given Object ID is not known. |
Object Simulation - Set Object Frame¶
Changes the parent frame of a given object.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Object ID | String | The Object ID of the object to change the parent frame. |
| Frame | String | The new parent frame of the object. | |
| Keep World Transform | Boolean | True: The pose of the object in its parent frame is recalculated such that the absolute pose in world coordinate system does not change. False: The pose is not recalculated. In this case the object might jump as the pose stays constant while the parent frame changes. | |
| Outputs | - | ||
| Exceptions | ERROR_UNKNOWN_OBJECT | - | The exception is raised if the given Object ID is not known. |
| ERROR_RECALCULATING_TRANSFORMATION | - | The exception is raised if the recalculation could not be performed, usually because the original frame has no connection to the new frame in the frame tree. |
Object Simulation - Shift Object¶
Moves a given object relative to its current pose within its parent frame.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Object ID | String | The Object ID of the object to set the pose. |
| Pose | Pose | The pose of the object relative to its current pose within its parent frame. | |
| Outputs | - | ||
| Exceptions | ERROR_UNKNOWN_OBJECT | - | The exception is raised if the given Object ID is not known. |
Simulator Objects - Shift¶
Deprecated
This function block is deprecated and should not be used any more. Instead use the Object Simulation - Shift Object function block described above.
Moves a list of given objects relative to its current pose within its parent frame.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | List of Object IDs | List of Strings | The Object ID of the object to set the pose. |
| Pose | Pose | The pose of the object relative to its current pose within its parent frame. | |
| Outputs | Success | Boolean | True if shifting all objects was successful. False otherwise |
Defining, Spawning and Despawning Objects¶
All simulated objects created with drag&bot are defined in to steps: The first step is the model, which contains all the visual aspects of the object. The second step is the positional part, which is the pose and the parent frame of the object. By separating the model part from the object part it is possible to use the same model for several objects.
Models and objects created by function blocks are considered to be temporary. They are not saved in the scenario and are not listed in the Scenario Designer. In opposite to persistent objects they are deleted when the scenario is resetted by the function block or when the reset button in the 3D visualization is used.
Object Simulation - Define Basic Shape Model¶
Defines (creates or updates) a model for basic shapes, which can be used to spawn objects. Models created by functions blocks are not saved in the scenario.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Model ID | String | The ID of the new model. |
| Shape | Select | The shape of the new model. Available are: Cube, Cylinder Sphere | |
| Size | Float | The size of the model in meters for each axis. | |
| Color RGB | Integer | The color of the object for red, green and blue channel. Each value ranges from 0 to 255. | |
| Moveable | Boolean | True: Specifies whether an object of this model can be moved or gripped. The attach range defines a sphere around the object frame in which the object can be gripped. | |
| Attach Range | Float | The attach range defines a sphere around the object in which the object can be gripped. | |
| Outputs | - | ||
| Exceptions | ERROR_INVALID_ID | - | The exception is raised if the given Model ID is invalid. The name must not be empty and must not contain spaces. |
Object Simulation - Define CAD Shape Model¶
Defines (creates or updates) a model for a mesh shape, which can be used to spawn objects. Models created by functions blocks are not saved in the scenario.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Model ID | String | The ID of the new model. |
| Mesh File | String | The mesh file of the model located inside ~/.dnb/data/meshes, e.g. parts/part1.dae | |
| Scale Factor | Float | The scale factor to scale the mesh. | |
| Moveable | Boolean | True: Specifies whether an object of this model can be moved or gripped. The attach range defines a sphere around the object frame in which the object can be gripped. | |
| Attach Range | Float | The attach range defines a sphere around the object in which the object can be gripped. | |
| Outputs | - | ||
| Exceptions | ERROR_INVALID_ID | - | The exception is raised if the given Model ID is invalid. The name must not be empty and must not contain spaces. |
Object Simulation - Hide/Show Object¶
Hides or shows an existing object.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Object ID | String | The Object ID of the object to hide or show. |
| Hide | String | True: The object is hided. False: The object is shown. | |
| Outputs | - | ||
| Exceptions | ERROR_ID_NOT_FOUND | - | The exception is raised if the given Object ID is not found. |
Object Simulation - Despawn Object¶
Removes an existing object from the scene.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Object ID | String | The Object ID of the object to despawn. |
| Outputs | - | ||
| Exceptions | ERROR_ID_NOT_FOUND | - | The exception is raised if the given Object ID is not found. |
Object Simulation - Set Object Model¶
Changes the model of an existing object.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Object ID | String | The Object ID of the object to change the model. |
| Model ID | String | The new Model ID for the object. | |
| Outputs | - | ||
| Exceptions | ERROR_ID_NOT_FOUND | - | The exception is raised if the given Object ID is not found. |
| ERROR_INVALID_MODEL | - | The exception is raised if the given Model ID is not found. |
Object Simulation - Spawn Object¶
Creates a new object defined by a model and adds it to the scene at a specified pose. Objects spawned by functions blocks are not saved in the scenario.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Model ID | String | The used Model ID for the new object. |
| Parent Frame | String | The parent frame of the object. | |
| Pose | Pose | The pose of the object within its parent frame. | |
| Outputs | Object ID | String | The autogenerated Object ID for the spawned object. |
| Exceptions | ERROR_INVALID_MODEL | - | The exception is raised if the given Model ID is not found. |
Scenario¶
Scenario - Reset and Reload¶
Resets the simulated robot to the initial joints and reloads the complete scenario.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | - | ||
| Outputs | - |
Scenario - Reset Objects¶
Resets all movable objects to their initial state in the scenario. Deletes all temporary objects.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | - | ||
| Outputs | - |