The ADEPT Viper 900 Robot has been added.

Support to draw different equipments at the same time has been added. Thus, we can move boxes, pieces or whatever we want by changing the corresponding T0 during simulation.
robot.equipment is now an array of structures.
See RAPID/programs/advanced_examples/viper900_feeds_cat.m for an example. A bowl, a box and a cat are moved during the simulation. Thanks to Vicente Tormo, Alejandro Cazorla y Miriam Plaza.

RAPID/programs/practice_1_packaging.m → RAPID/programs/advanced_examples/practice_1_packaging.m

@@ -10,7 +10,7 @@
 %       OR
 %       >> robot = load_robot('abb','irb52');
 %   B) NEXT, LOAD SOME EQUIPMENT.
-%       >> robot.equipment = load_robot('equipment','tables/table_two_areas');
+%       >> robot.equipment{1} = load_robot('equipment','tables/table_two_areas');
 %      
 %   C) NOW, LOAD AN END TOOL
 %       >> robot.tool= load_robot('equipment','end_tools/parallel_gripper_0');
@@ -68,7 +68,8 @@
 %please: comment the following lines to avoid loading the robot and equipment in every simulation.
 %Feel free to load other robots/equipments... etc.
 robot = load_robot('abb','irb140');
-robot.equipment = load_robot('equipment','tables/table_two_areas');
+%load static equipment, such as tables or 
+robot.equipment{1} = load_robot('equipment','tables/table_two_areas');
 robot.tool= load_robot('equipment','end_tools/parallel_gripper_0');
 robot.piece=load_robot('equipment','cylinders/cylinder_tiny');
 

RAPID/programs/practice_1_programming.m → RAPID/programs/advanced_examples/practice_1_programming.m

@@ -10,7 +10,7 @@
 %       OR
 %       robot = load_robot('abb','irb52');
 %   B) NEXT, LOAD SOME EQUIPMENT.
-%       robot.equipment = load_robot('equipment','tables/table_two_areas');
+%       robot.equipment{1} = load_robot('equipment','tables/table_two_areas');
 %      
 %   C) NOW, LOAD AN END TOOL
 %       robot.tool= load_robot('equipment','end_tools/parallel_gripper_0');
@@ -50,7 +50,7 @@
 
 %Comment the following lines to avoid loading the robot at every simulation
 robot = load_robot('abb','irb140');
-robot.equipment = load_robot('equipment','tables/table_two_areas');
+robot.equipment{1} = load_robot('equipment','tables/table_two_areas');
 robot.tool= load_robot('equipment','end_tools/parallel_gripper_0');
 robot.piece=load_robot('equipment','cylinders/cylinder_tiny');
 

RAPID/programs/three_in_a_row.m → RAPID/programs/advanced_examples/three_in_a_row.m

@@ -10,7 +10,7 @@
 %       OR
 %       robot = load_robot('abb','irb52');
 %   B) NEXT, LOAD SOME EQUIPMENT.
-%       robot.equipment = load_robot('equipment','tables/table_two_areas');
+%       robot.equipment{1} = load_robot('equipment','tables/table_two_areas');
 %      
 %   C) NOW, LOAD AN END TOOL
 %       robot.tool= load_robot('equipment','end_tools/parallel_gripper_0');
@@ -115,15 +115,15 @@ function COGER_PIEZA()
 
 %!Ahora abrir pinza
 simulation_open_tool; %Reset do1; 
-Waittime(0.1);!esperar apertura
+WaitTime(0.1);!esperar apertura
 %!Coger
 MoveL(RT_pos_rec,'vmax','fine',TD_gripper, 'wobj0');
 
 %!Ahora cerrar pinza
 simulation_close_tool; %Set do1;
 simulation_grip_piece;
 
-Waittime(0.1); !esperar cierre
+WaitTime(0.1); !esperar cierre
 %!Subir por seguridad antes de ir al siguiente punto
 MoveL(RT_aprox_rec,'vmax','z50',TD_gripper, 'wobj0');
 
@@ -153,7 +153,7 @@ function  METER_EN_CAJA()
 
 plot_points;
 
-Waittime(0.5);
+WaitTime(0.5);
 %Subir por seguridad antes de ir al siguiente punto
 MoveL(Offs(RT_pos_dej,0,0,0.105),'v1000','z10',TD_gripper, 'wobj0');
 

RAPID/programs/advanced_examples/viper900_feeds_cat.m

@@ -0,0 +1,140 @@
+% Matlab script for RAPID equivalent commands
+% please note that variables should be
+% declared as global as in RAPID syntaxis
+% this script demonstrates the use of functions in the matlab script. This
+% script can be translated to RAPID by means of the matlab2RAPID script.
+%
+% This script includes all the robot, equipment, pieces and end tool
+% loading necessary. It can't be used with another robot without modifying
+% this script.
+% For the proper functioning of this script you shall use the modified
+% function drawrobot3d so two extra equipment can be added.
+% The authors of this scripts are:
+%   Miriam Plaza Carrasco
+%   Alejandro Cazorla Sánchez
+%   Vicente Tormo Moragues
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+function viper900_feeds_cat
+global robot TD_gripper Pinic Pprec1 PCcaja Pcaja PPcaja Pn1 Pi1 Pi2 PCcuenco Pcuenco PSgato PCgato Pgato1 Pgato2 Pgato3 Pgato4
+
+%Comment the following lines to avoid loading the robot at every simulation
+robot = load_robot('ADEPT','Viper_900');
+robot.equipment{1} = load_robot('equipment','tables/table_two_areas');
+robot.equipment{2} = load_robot('equipment','miscelanea/cat_bowl');
+robot.equipment{2}.T0(1:3,4)=[0.5 0.25 0]';
+robot.equipment{3} = load_robot('equipment','miscelanea/pink_cat');
+robot.equipment{3}.T0(1:3,4)=[1.3 0 0]';
+robot.tool= load_robot('equipment','end_tools/parallel_gripper_0');
+robot.piece=load_robot('equipment','miscelanea/cereal_box');
+
+%init the position of the piece at the beginning of the simulation
+robot.piece.T0(1:3,4)=[0.2 -0.3 0.2]';
+%%robot.equipment.cat.T0(1:3,4)=[1.3 0 0]';
+%robot.tool.piece_gripped=0;
+drawrobot3d(robot, robot.q);
+adjust_view(robot)
+%mover gato %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+drawrobot3d(robot, robot.q);
+%define the tool
+%In RAPID this is done by means of the tooldata structure
+TD_gripper=[1,[[0,0,0.125],[1,0,0,0]],[0.1,[0,0,0.100],[1,0,0,0],0,0,0]];
+
+%define target points FOR SIMULATION
+Pinic=[[0.6880, -0.0000, 0.8100],[0.7071, -0.0000, 0.7071, -0.0000], [0, -1, 0, 0], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
+Pprec1=[[0.0880, -0.3000, 0.5100],[0.7071, -0.0000, 0.7071, 0.0000], [-1, -1, 0, 1], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
+PCcaja=[[0.0891, -0.2969, 0.2947],[0.7159, 0.0255, 0.6972, 0.0255], [-1, -1, 0, 1], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
+Pcaja=[[0.2159, -0.2980, 0.2980],[0.7147, -0.0215, 0.6978, 0.0418], [-1, -1, 0, 1], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
+PPcaja=[[0.2159, -0.2980, 0.3980],[0.7147, -0.0215, 0.6978, 0.0418], [-1, -1, 0, 1], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
+Pn1=[[0.2319, -0.2830, 0.3999],[0.6885, 0.0136, 0.7248, -0.0221], [-1, -1, 0, 1], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
+Pi1=[[0.4819, -0.0830, 0.3999],[0.6885, 0.0136, 0.7248, -0.0221], [-1, -1, 0, 1], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
+Pi2=[[0.5319, 0.2170, 0.3999],[0.6885, 0.0136, 0.7248, -0.0221], [0, 0, -1, 1], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
+PCcuenco=[[0.4732, 0.2653, 0.2871],[0.6701, -0.0386, 0.7410, 0.0199], [0, 0, -1, 1], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
+Pcuenco=[[0.3761, 0.2804, 0.1386],[0.2670, -0.0933, 0.9575, 0.0560], [0, 0, 0, 1], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
+PSgato=[[0.5417, 0.3480, 0.6089],[0.0030, 0.0030, 0.7091, 0.7051], [0, 1, -1, 0], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
+PCgato=[[0.5917, 0.3480, 0.4589],[0.6401, -0.6462, -0.2920, -0.2958], [0, 1, 0, 0], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
+Pgato1=[[0.5917, 0.3480, 0.4089],[0.6401, -0.6462, -0.2920, -0.2958], [0, 1, 0, 0], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
+Pgato2=[[0.6284, 0.3449, 0.3425],[0.6429, -0.6557, -0.2795, -0.2803], [0, 1, 0, 0], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
+Pgato3=[[0.6784, 0.3449, 0.2925],[0.6429, -0.6557, -0.2795, -0.2803], [0, 1, 0, 0], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
+Pgato4=[[0.6784, 0.3449, 0.3425],[0.6429, -0.6557, -0.2795, -0.2803], [0, 1, 0, 0], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
+
+main
+end
+
+function main()
+
+global robot TD_gripper Pinic Pprec1 PCcaja Pcaja PPcaja Pn1 Pi1 Pi2 PCcuenco Pcuenco PSgato PCgato Pgato1 Pgato2 Pgato3 Pgato4
+%open the tool
+simulation_open_tool; %Set do1;
+
+%move to the initial point
+MoveJ(Pprec1, 'vmax' , 'fine' , TD_gripper, 'wobj0');
+MoveL(PCcaja, 'vmax' , 'fine' , TD_gripper, 'wobj0');
+MoveL(Pcaja, 'v1000' , 'fine' , TD_gripper, 'wobj0');
+
+% Now open the tool
+simulation_close_tool; %Reset do1; 
+simulation_grip_piece;
+
+MoveL(PPcaja, 'vmax' , 'fine' , TD_gripper, 'wobj0');
+MoveL(Pn1, 'vmax' , 'fine' , TD_gripper, 'wobj0');
+MoveC(Pi1, Pi2, 'vmax' , 'fine' , TD_gripper, 'wobj0');
+
+
+%semueve a cuenco
+MoveJ(PCcuenco, 'vmax' , 'fine' , TD_gripper, 'wobj0');
+MoveL(Pcuenco, 'vmax' , 'fine' , TD_gripper, 'wobj0');
+MoveL(PCcuenco, 'vmax' , 'fine' , TD_gripper, 'wobj0');
+
+%camino inverso
+MoveC(Pi2, Pi1, 'vmax' , 'fine' , TD_gripper, 'wobj0');
+MoveL(Pn1, 'vmax' , 'fine' , TD_gripper, 'wobj0');
+MoveL(PPcaja, 'vmax' , 'fine' , TD_gripper, 'wobj0');
+MoveL(Pcaja, 'vmax' , 'fine' , TD_gripper, 'wobj0');
+%abrir gripper
+simulation_open_tool; %Set do1;
+simulation_release_piece;
+
+MoveL(PCcaja, 'vmax' , 'fine' , TD_gripper , 'wobj0');
+
+MoveL(Pprec1, 'vmax' , 'fine' , TD_gripper , 'wobj0');
+
+%cerrar gripper
+simulation_close_tool; %Set do1;
+%%%EL GATO SE MUEVE!!! TAMOS LOCOS
+robot.equipment{3}.T0(1:3,4)=[1.15 0.05 0]';
+drawrobot3d(robot, robot.q);
+robot.equipment{3}.T0(1:3,4)=[1.05 0.1 0]';
+drawrobot3d(robot, robot.q);
+robot.equipment{3}.T0(1:3,4)=[1 0.12 0]';
+drawrobot3d(robot, robot.q);
+robot.equipment{3}.T0(1:3,4)=[0.9 0.15 0]';
+drawrobot3d(robot, robot.q);
+robot.equipment{3}.T0(1:3,4)=[0.75 0.2 0]';
+drawrobot3d(robot, robot.q);
+robot.equipment{3}.T0(1:3,4)=[0.7 0.25 0]';
+drawrobot3d(robot, robot.q);
+
+
+MoveJ(PSgato, 'vmax' , 'fine' , TD_gripper , 'wobj0');
+MoveL(PCgato, 'vmax' , 'fine' , TD_gripper , 'wobj0');
+
+for i=1:3
+MoveL(Pgato1, 'vmax' , 'fine' , TD_gripper, 'wobj0');
+MoveC(Pgato2, Pgato3 , 'vmax' , 'fine' , TD_gripper, 'wobj0');
+MoveL(Pgato4, 'vmax' , 'fine' , TD_gripper , 'wobj0');
+MoveL(Pgato1, 'vmax' , 'fine' , TD_gripper , 'wobj0');
+end
+
+MoveJ(Pinic, 'vmax' , 'fine', TD_gripper, 'wobj0');
+
+robot.equipment{3}.T0=[1 0 0 0.2;
+                      0 -1 0 0;
+                      0 0 1 0.4
+                      0 0 0 1];
+drawrobot3d(robot, robot.q);
+
+
+
+end

RAPID/programs/list_of_files.txt

@@ -1,5 +1,5 @@
-- basic_robot_program.m: Just go to four different target points in simulation.
-- basic.prg: The above script translated to a RAPID program.
+- simple_examples/basic_robot_program.m: Just go to four different target points in simulation.
+- simple_examples/basic.prg: The above script translated to a RAPID program.
 
 - practice_1_programming.m: in order to run the program. Type:
     >> init_lib 

RAPID/programs/basic_robot_program.m → RAPID/programs/simple_examples/basic_robot_program.m

@@ -2,9 +2,9 @@
 %   A) FIRST, LOAD A ROBOT
 %       robot = load_robot('abb','irb140');
 %   B) NEXT, LOAD SOME EQUIPMENT.
-%       robot.equipment = load_robot('equipment','tables/table_small');
+%       robot.equipment{1} = load_robot('equipment','tables/table_small');
 %       OR
-%       robot.equipment = load_robot('equipment','bumper_cutting');
+%       robot.equipment{1} = load_robot('equipment','bumper_cutting');
 %   C) NOW, LOAD AN END TOOL
 %       robot.tool= load_robot('equipment','end_tools/parallel_gripper_0');
 %   D) FINALLY, LOAD A PIECE TO GRAB BY THE ROBOT

demos/manufacturing_demo.m

@@ -47,7 +47,7 @@
 % >> adjust_view(robot);
 %
 % fprintf('\nNOW LOAD AUXILIAR EQUIPMENT')
-% >> robot.equipment=load_robot('equipment', 'bumper_cutting');
+% >> robot.equipment{1}=load_robot('equipment', 'bumper_cutting');
 %
 % >> drawrobot3d(robot, q)
 % 
@@ -73,7 +73,7 @@
 
 
 fprintf('\nNOW LOAD AUXILIAR EQUIPMENT')
-robot.equipment=load_robot('equipment', 'bumper_cutting'); 
+robot.equipment{1}=load_robot('equipment', 'bumper_cutting'); 
 
 %draw the robot
 drawrobot3d(robot, q)

demos/spot_welding_demo.m

@@ -42,7 +42,7 @@
 % adjust_view(robot);
 %
 % fprintf('\nNOW LOAD AUXILIAR EQUIPMENT')
-% robot.equipment=load_robot('equipment', 'bodywork');
+% robot.equipment{1}=load_robot('equipment', 'bodywork');
 %
 % drawrobot3d(robot, q)
 % 
@@ -68,7 +68,7 @@
 
 
 fprintf('\nNOW LOAD AUXILIAR EQUIPMENT')
-robot.equipment=load_robot('equipment', 'bodywork'); 
+robot.equipment{1}=load_robot('equipment', 'bodywork'); 
 
 fprintf('\nNOW LOAD A GRIPPER')
 robot.tool=load_robot('equipment/end_tools', 'spot_welding');