# Twins Planner

Software for planning the motion of the twin printers robot.

The twins are 2 UR5e arms which 3D print in a shared workspace.

Given a valid gcode file, this repo constructs a collision free plan for two arms
to print the object maximising concurrency.

## Building/Installing

#### Install

```bash
# clone
git clone https://code.research.uts.edu.au/bigprint/twins-planner.git
cd twins-planner

# create conda environment containing python packages needed for ros
conda create -n planner python=3.8
conda activate planner
pip install -r requirements.txt

# build ikfastpy
cd src/utils/ikfastpy
python setup.py build_ext --inplace
pip install .
```

#### Running

Create the plan, and enter an interactive shell for viewing it:
```bash
cd src # from repo root
ipython -i greedy.py # quicker plan
```

To inspect the plan in the interactive shell:
```python
# watch the plan created, sped up to complete in 30s
plan.watch(30) #use plan.watch(10,0.5,1) to only watch the last half of the plan in 10 seconds

# plot showing when each arm is printing, when waiting/travelling
plan.visualise()

#plot the contours planned, coloured by the arm they are assigned to
tu.plot_plan_contours(plan, contours)

# save the plan
plan.save("myprint.plan")
```