collision_avoidance_static_linear.mzn models collision avoidance by statically dividing the workspace, assigning each division to an arm.In this case, we have separated the model into the following files, or modules: The next to last is a separable module defining constraint on the locations, as there will be some constraints on locations depending on the tasks. We hope to create alternatives to the last modules depending on assumptions during development. We separate the model into separate files, as we see these as separable modules. There are many options to be found in the MiniZinc handbok, but a particularly useful command is -t time-in-milliseconds for instances when we cannot wait for all solutions. The flags -s and -a tells the solver to output statistics after finishing the computations, and output all solutions, respectively. The combination -solver Gecode tells minizinc to use Gecode as solver. Typically we separate the data instances and put that into data files (ends with. General UsageĪny MiniZinc model needs model file (ends with. Or simply run the script as-is to get the data files encoded within. To generate data files use the "problem_instance_generator.py" script in the "instance_data" folder as a template. Generating Assembly Instance Data Files Using Python
With the minizinc executable available on your path: run minizinc -solver Gecode YuMiScheduler.mzn collision_avoidance_static_linear.mzn instance_data/example_instance_4_GS_SG.dzn robot_cell_data/yumi_grid_setup_3_3.dzn -s -a.With the minizinc executable available on your path: run minizinc -solver Gecode YuMiScheduler.mzn collision_avoidance_resource_zones.mzn instance_data/example_instance_4_GS_SG.dzn robot_cell_data/yumi_grid_setup_3_3.dzn robot_cell_data/yumi_grid_setup_3_3_zones.dzn -s -aĭynamic (spatio-temporal) collision avoidance:.Once the MiniZinc bundle is installed on your machine, you can start using it.įor the FleetManager to work you need to have the minizinc executable available on your path. The latest release can be found on the MiniZinc These packages are available for machines running Linux, Mac, and
#How to view encoded modules robotstudio install#
The recommended way to install MiniZinc is by the use of the bundled binary
To use the YuMiScheduler follow these simple steps. If you would like this model properly annotated for MiniZinc challenge, and unnecessary python scripts removed, please use the sub-folder minizinc-challenge Getting Started
To use any other solver backend than Gecode, one must remove the "include "gecode.mzn" " line in the YuMiScheduler.mzn file. The model have been tested using the default solver "Gecode". The choice of modeling language allows for use of many different solvers distributed over many solving technologies, such as Constraint Programming, (Mixed) Integer Programming, SAT, and of course combinations thereof. It is also possible to extend the models with new and/or alternative model files.
#How to view encoded modules robotstudio code#
You can use the code by providing it with data files on the appropriate format. It is developed as a part of Johan Ludde Wessén's PhD project at KTH and ABB. Generating Assembly Instance Data Files Using Python.MiniZinc is developed at Monash University in collaboration with Data61 Decision Sciences. This model requires the user to install the MiniZinc compiler, which provides the Constraint Programming solver Gecode, which is the default solver for this project. YuMi Scheduler+ - A Dual Arm Robot Assembly Scheduler and Workspace DesignerĪ scheduler to manage a multi tool dual arm robot.ĭue to workspace data and assumptions on tool configuration it is a ABB YuMi that is used, but the model is otherwise not bound to any specific robot.