nonplanar 0.1.1__py3-none-any.whl

nonplanar/__init__.py

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+"""The minimal ``nonplanar`` library: load → compute (slice + path) → visualise → export, with every call
+recorded in an on-disk history. Sections: Nonplanar (``library``, ``history``, ``geometry``, ``results``,
+``conventions``), Load (``load``), Compute (``compute``), Visualise (``visualise``) and Export (``export``).
+
+The prototype's standard-only packages (physics, simulation, compensation, …) are not imported here.
+"""
+
+from nonplanar.compute import (
+    BeadParameters,
+    ComputeRequest,
+    ComputeResult,
+    ConformalStrategy,
+    Criteria,
+    FixedOrientation,
+    IsolineStrategy,
+    MotionPlan,
+    MoveParameters,
+    OrientationParameters,
+    PrintParameters,
+    SamplingOptions,
+    SearchOptions,
+    StackOrientation,
+    StressAlignedStrategy,
+    StressCriterion,
+    StressField,
+    StressSample,
+    StressTensor,
+    TweenStrategy,
+)
+from nonplanar.export import (
+    ExportedFile,
+    ExportRequest,
+    ExportResult,
+    ExportSettings,
+    ExportTarget,
+    ExtrusionMapping,
+    ExtrusionMode,
+)
+from nonplanar.geometry import (
+    BoxShape,
+    CapsuleShape,
+    CylinderShape,
+    Direction,
+    Interval,
+    MeshGeometry,
+    ParametricGeometry,
+    Point,
+    Points,
+    PrintGeometry,
+    Rotation,
+    Shape,
+    Transformation,
+    Triangle,
+    TriangleMesh,
+)
+from nonplanar.history import History, RecordRef, RecordType
+from nonplanar.library import Dependencies, Nonplanar
+from nonplanar.load import (
+    AllowedPair,
+    Catalogue,
+    Cell,
+    CollisionBody,
+    CollisionSettings,
+    ControllerFamily,
+    ControllerModel,
+    Joint,
+    JointConfiguration,
+    LoadRequest,
+    LoadResult,
+    OPWParameters,
+    PrintModel,
+    RobotModel,
+    Setup,
+    StressFieldLoader,
+    ToolModel,
+)
+from nonplanar.results import ClearResult, Diagnostic, NonplanarError, Result, Status
+from nonplanar.visualise import VisualiseRequest, VisualiseResult, VisualLayer
+
+__all__ = [
+    "AllowedPair",
+    "BeadParameters",
+    "BoxShape",
+    "CapsuleShape",
+    "Catalogue",
+    "Cell",
+    "ClearResult",
+    "CollisionBody",
+    "CollisionSettings",
+    "ComputeRequest",
+    "ComputeResult",
+    "ConformalStrategy",
+    "ControllerFamily",
+    "ControllerModel",
+    "Criteria",
+    "CylinderShape",
+    "Dependencies",
+    "Diagnostic",
+    "Direction",
+    "ExportRequest",
+    "ExportResult",
+    "ExportSettings",
+    "ExportTarget",
+    "ExportedFile",
+    "ExtrusionMapping",
+    "ExtrusionMode",
+    "FixedOrientation",
+    "History",
+    "Interval",
+    "IsolineStrategy",
+    "Joint",
+    "JointConfiguration",
+    "LoadRequest",
+    "LoadResult",
+    "MeshGeometry",
+    "MotionPlan",
+    "MoveParameters",
+    "Nonplanar",
+    "NonplanarError",
+    "OPWParameters",
+    "OrientationParameters",
+    "ParametricGeometry",
+    "Point",
+    "Points",
+    "PrintGeometry",
+    "PrintModel",
+    "PrintParameters",
+    "RecordRef",
+    "RecordType",
+    "Result",
+    "RobotModel",
+    "Rotation",
+    "SamplingOptions",
+    "SearchOptions",
+    "Setup",
+    "Shape",
+    "StackOrientation",
+    "Status",
+    "StressAlignedStrategy",
+    "StressCriterion",
+    "StressField",
+    "StressFieldLoader",
+    "StressSample",
+    "StressTensor",
+    "ToolModel",
+    "Transformation",
+    "Triangle",
+    "TriangleMesh",
+    "TweenStrategy",
+    "VisualLayer",
+    "VisualiseRequest",
+    "VisualiseResult",
+]

nonplanar/catalogue/cells/irb6700_150_320_cell_mock.yaml

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+# MOCK cell for the IRB 6700-150/3.20 + PE320 (world frame = robot base on the floor, mm). A placeholder until
+# the client's bed data arrive: a 1.5 m square table whose top (the print frame) is 2 m in front of the robot.
+name: irb6700_150_320_cell_mock
+mock: true
+note: "placeholder table and build plate; replace with the client's measured cell and bed data"
+robot_base: {xyz: [0.0, 0.0, 0.0]}
+print_frame: {xyz: [2000.0, 0.0, 600.0]}
+build_plate:
+  name: build_plate
+  shapes:
+    - {kind: box, size: [1500.0, 1500.0, 20.0], transform: {xyz: [2000.0, 0.0, 590.0]}}
+obstacles:
+  - name: table
+    shapes:
+      - {kind: box, size: [1500.0, 1500.0, 580.0], transform: {xyz: [2000.0, 0.0, 290.0]}}

nonplanar/catalogue/controllers/abb_irc5.yaml

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+# Controller defaults (placeholder software version; confirm the client's controller and RobotWare/KSS release).
+name: abb_irc5
+mock: true
+note: "software version is a placeholder; max_moves_per_module is the design default"
+family: IRC5
+software_version: "RobotWare 6.x (placeholder)"
+max_moves_per_module: 5000

nonplanar/catalogue/controllers/abb_omnicore.yaml

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+# Controller defaults (placeholder software version; confirm the client's controller and RobotWare/KSS release).
+name: abb_omnicore
+mock: true
+note: "software version is a placeholder; max_moves_per_module is the design default"
+family: OMNICORE
+software_version: "RobotWare 7.x (placeholder)"
+max_moves_per_module: 5000

nonplanar/catalogue/controllers/kuka_krc4.yaml

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+# Controller defaults (placeholder software version; confirm the client's controller and RobotWare/KSS release).
+name: kuka_krc4
+mock: true
+note: "software version is a placeholder; max_moves_per_module is the design default"
+family: KRC4
+software_version: "KSS 8.x (placeholder)"
+max_moves_per_module: 5000

nonplanar/catalogue/controllers/kuka_krc5.yaml

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+# Controller defaults (placeholder software version; confirm the client's controller and RobotWare/KSS release).
+name: kuka_krc5
+mock: true
+note: "software version is a placeholder; max_moves_per_module is the design default"
+family: KRC5
+software_version: "KSS 8.x (placeholder)"
+max_moves_per_module: 5000

nonplanar/catalogue/extrusion/pe320_mock.yaml

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+# MOCK extrusion I/O mapping for the PE320 driven through the Epicurus controller. The client's Epicurus I/O map
+# is not known yet: every name and number here is a PLACEHOLDER (design: doExtOn, aoExtFlow, range 0 to 10,
+# lag 0 s, update period 0.05 s). signal_per_flow assumes 10 signal units = 5000 mm³/s.
+name: pe320_mock
+mock: true
+note: "placeholder signal names, range and scale; replace with the client's Epicurus I/O map"
+mode: TCP_PROPORTIONAL
+enable_signal: doExtOn
+flow_signal: aoExtFlow
+signal_range: [0.0, 10.0]
+signal_per_flow: 0.002
+lag: 0.0
+dip_lag: 0.0
+update_period: 0.05

nonplanar/catalogue/parameters/pe320_params_mock.yaml

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+# MOCK print parameters for the PE320 (mm, mm/s, deg). Placeholders until the client's print parameters arrive.
+name: pe320_params_mock
+mock: true
+note: "placeholder bead, speeds and retract; replace with the client's print parameters"
+bead_width: 8.0
+bead_height: 3.0
+nozzle_gap: 0.0
+orientation: {strategy: stack, max_tilt_deg: 15.0}
+print_speed: 50.0
+travel_speed: 250.0
+retract: 10.0
+blend_zone: 1.0
+# the most a bead's stacking direction may lean from up (assumption; set per material)
+max_overhang_deg: 60.0

nonplanar/catalogue/robots/abb_irb6700_150_320.yaml

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+# ABB IRB 6700-150/3.20 — the client's robot (nonplanar catalogue, robot YAML schema 1).
+# Lengths mm, angles deg, joint values in the model convention (= the ABB controller convention here:
+# controller offsets 0, signs +1).
+# VERIFY AGAINST ROBOTSTUDIO BEFORE HARDWARE USE: c2 and c3 come from the product specification 3HAC044265
+# (variant table E = 1280, G = 1592.5); a1, a2, b, c1 and c4 are shared with the other IRB 6700 standard-base
+# variants (ROS-Industrial abb_irb6700_support) and were not confirmed for this variant (the spec's H = 209 mm
+# does not match a2 = 200). No ROS-I URDF exists for this variant. LeanID (option 780-4) would change A5 to
+# ±120° and A6 to ±220° with a coupled A5/A6 chart — ask the client.
+schema_version: 1
+name: abb_irb6700_150_320
+display_name: ABB IRB 6700-150/3.20
+vendor: abb
+model: IRB 6700-150/3.20
+verify: "OPW parameters a1, a2, b, c1, c4 inferred from other IRB 6700 variants; verify against RobotStudio (GetDenavitHartenbergParameters) or the ABB CAD model before hardware use; LeanID option unknown"
+opw:
+  a1: 320
+  a2: -200
+  b: 0
+  c1: 780
+  c2: 1280
+  c3: 1592.5
+  c4: 200
+  offsets_deg: [0, 0, -90, 0, 0, 0]
+  sign_corrections: [1, 1, 1, 1, 1, 1]
+abb_cfx_mode: table
+nominal_reach_mm: 3200
+rated_payload_kg: 150
+home_deg: [0, 0, 0, 0, 30, 0]
+joints:
+  - {name: J1, lower_deg: -170, upper_deg: 170, max_velocity_deg_s: 100}
+  - {name: J2, lower_deg: -65, upper_deg: 85, max_velocity_deg_s: 90}
+  - {name: J3, lower_deg: -180, upper_deg: 70, max_velocity_deg_s: 90}
+  - {name: J4, lower_deg: -300, upper_deg: 300, max_velocity_deg_s: 170}
+  - {name: J5, lower_deg: -130, upper_deg: 130, max_velocity_deg_s: 120}
+  - {name: J6, lower_deg: -360, upper_deg: 360, max_velocity_deg_s: 190}
+controller_offsets_deg: [0, 0, 0, 0, 0, 0]
+controller_signs: [1, 1, 1, 1, 1, 1]
+provenance:
+  kinematics: "ABB product specification IRB 6700, 3HAC044265-001 Rev Z, §1.4.2 variant table (E = c2 = 1280, G = c3 = 1592.5); a1/a2/b/c1/c4 from ros-industrial/abb abb_irb6700_support (other variants)"
+  position_limits: "3HAC044265-001 Rev Z §1.9.1 axis ranges (standard, without LeanID)"
+  velocity_limits: "3HAC044265-001 Rev Z §1.9.3 maximum axis speeds, variant 150/3.20: 100/90/90/170/120/190 deg/s"
+  verification: "not yet verified against RobotStudio or the robot; see verify"