COMPAS FAB: Hands-on intro.md

COMPAS FAB: Hands-on intro

During this session we will install and play around with COMPAS core framework and its robotic fabrication extension: COMPAS FAB. The goal is to end up with the tools ready to do kinematics and planning on any supported robot.

Requirements

Please make sure you have the following software installed on your laptop before the session:

1. Minimum OS: Windows 10 Pro or Mac OS Sierra 10.12

2. Anaconda 3: https://www.anaconda.com/distribution/

3. Docker Desktop: https://www.docker.com/products/docker-desktop

   NOTE: After installation on Windows, it is required to enable Virtualization on the BIOS of the computer. If you don't know how to do this, please ask on the Discord channel!

4. Rhino 6 & Grasshopper: https://www.rhino3d.com/download

5. Visual Studio Code: https://code.visualstudio.com/

   Any python editor works, but we recommend VS Code + extensions, see doc: https://gramaziokohler.github.io/compas_fab/latest/getting_started.html#working-in-visual-studio-code-1

6. Once installation is done, pull one of our docker images. To do that, open the Anaconda prompt or Terminal and execute the following:

    docker pull gramaziokohler/ros-ur-planner
   

Overview / Agenda

• Intro & Session goals
• COMPAS 101
• COMPAS FAB
• Robotic fundamentals
• Robot models
• Robot backends
• ROS primer
• Kinematics & path planning
• Motion & Path planning
• What's next?