DRDA – [D]ynamic [R]obotic [D]esign [A]ctivities

DRDA is a modular robotic framework for dual-robot pick-and-place tasks, designed for architectural and fabrication workflows using ABB IRB 6700 robots.

It combines COMPAS RRC with Docker, Jupyter, and parametric frame exports from Grasshopper to enable a full digital-to-robotic pipeline.

🛠️ Based on: COMPAS RRC and compas_rrc_start

Features

• Dual ABB robot control
• COMPAS RRC integration
• Dockerized ROS setup
• Modular Python scripts
• Jupyter-based debugging
• Parametric frame control

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📦 Repo Structure

├── notebooks/ # Jupyter Notebooks for simulations, tests
├── src/robot/ # Python modules and robotic control logic
├── docker/ # Docker setup for ROS & COMPAS RRC
│ └── compas_rrc_driver/ # Driver container files (adapted or copied)
├── external/compas_rrc/ # Git submodule of official COMPAS RRC (optional)
├── .gitignore
├── requirements.txt
└── README.md

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Getting Started

1. Clone the Repo

git clone https://github.com/nurbsmachine/DRDA.git

cd DRDA

2. Initialize Submodules

git submodule update --init --recursive

> ℹ️ If `external/compas_rrc/` is included, it contains the official [COMPAS RRC](https://github.com/compas-rrc/compas_rrc) as a Git submodule. Run the command above to initialize it.

3. Install Dependencies (Recommended via Conda)

If using Anaconda:

conda create -n drda python=3.9
conda activate drda
pip install compas compas_rrc jupyterlab ipywidgets

if using pip:

python -m venv .venv
source .venv/bin/activate  # or .venv\Scripts\activate on Windows
pip install -r requirements.txt

4. Launch Docker Environment

This will launch : ROS Master, Compas RRC Drivers for /rob1 and /rob2

cd docker
docker compose up --build

This will start:

• ROS Master node
• COMPAS RRC drivers for /rob1 and /rob2
• It connects to ABB OmniCore via IP and streaming ports (e.g., 30101, 30201) Make sure your RobotStudio simulation or real robot is reachable at the configured IP.

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🤖 Robot Workflow Overview

• Hardware: ABB IRB 6700 (dual robot setup)
• Controller: OmniCore
• Control via: COMPAS RRC, ROS (Docker), Python
• Frame logic: Frames are exported from Grasshopper, structured in JSON, and used for pick/place paths
• Gripper control: Via SetDigital I/O commands
• Motion execution: MoveToFrame, Translation.from_vector(...) for approach/retreat logic

📚 Example Notebooks

Check the notebooks/ folder for Jupyter-based control logic.

• rrc_picknplace altpunk.ipynb: Executes dual-robot pick-and-place cycle using predefined frames.

Tips

💡 Tip: Always test movements in RobotStudio before executing on real robots.

Credits

This repo builds upon the following open-source projects:

• COMPAS RRC – Remote robot control framework by ETH Zurich
• compas_rrc_start – Starter environment with Docker integration

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🙌 Acknowledgements

This project was made possible through the support and mentorship of two key individuals:

🎓 Thesis Advisor: Júlia Marsal Perendreu (GitHub)

For guiding the research direction of DRDA and helping shape the architectural and robotic vision
that drives this system. Their insights into fabrication logic, design constraints, and modularity
pushed this project to operate not just technically — but intelligently.

👨‍🏫 Faculty Advisor: Huanyu Li (GitHub)

For being the backbone of the execution. From hands-on debugging of ROS-Docker systems
to helping structure the motion logic, signal synchronization, and simulation pipelines,
this project wouldn’t have run — literally — without their relentless support.

Their mentorship transformed this workflow from a set of ideas into a working robotic system.

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🙏 To both: thank you for believing in this work and pushing me to take it further.

License

This project is licensed under the MIT License.
See the LICENSE file for details.