From 0c433c10d51f955058a02b83fdcac857390c9d20 Mon Sep 17 00:00:00 2001 From: brothermechanic Date: Tue, 21 Feb 2023 10:13:11 +0000 Subject: [PATCH] =?UTF-8?q?=D0=94=D0=BE=D1=80=D0=B0=D0=B1=D0=BE=D1=82?= =?UTF-8?q?=D0=B0=D0=BD=20=D0=BF=D0=BB=D0=B0=D0=B3=D0=B8=D0=BD=20=D1=8D?= =?UTF-8?q?=D0=BA=D1=81=D0=BF=D0=BE=D1=80=D1=82=D0=B0=20SDF=20=D0=B4=D0=BB?= =?UTF-8?q?=D1=8F=20FreeCAD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- B.brep | 1839 ------ Init.py | 1 - InitGui.py | 41 - L.brep | 4951 ----------------- P.brep | 1225 ---- R.brep | 4951 ----------------- README.md | 33 - UI/InsertTaskCreator.ui~ | 401 -- ARFrames.py => cg/freecad/Frames/Frames.py | 72 +- .../freecad/Frames/GazeboExport.py | 0 .../freecad/Frames/GraspPose.py | 2 +- cg/freecad/Frames/Init.py | 2 + cg/freecad/Frames/InitGui.py | 70 + LICENSE => cg/freecad/Frames/LICENSE | 0 cg/freecad/Frames/README.md | 34 + ARTools.py => cg/freecad/Frames/Tools.py | 80 +- .../freecad/Frames/UI}/FeatureFrameCreator.ui | 0 {UI => cg/freecad/Frames/UI}/FramePlacer.ui | 0 .../freecad/Frames/UI}/InsertTaskCreator.ui | 0 .../freecad/Frames/UI}/PartFrameCreator.ui | 0 .../freecad/Frames/UI}/ScrewTaskCreator.ui | 0 {UI => cg/freecad/Frames/UI}/icons/Center.svg | 0 .../freecad/Frames/UI}/icons/PickedPoint.svg | 0 .../Frames/UI}/icons/PointOnCenterline.svg | 0 .../freecad/Frames/UI}/icons/PointOnEdge.svg | 0 .../Frames/UI}/icons/PointOnSurface.svg | 0 .../freecad/Frames/UI}/icons/addgrasppose.svg | 0 .../Frames/UI}/icons/allpartframes.svg | 0 .../Frames/UI}/icons/allpartgroups.svg | 0 .../Frames/UI}/icons/featureframecreator.svg | 0 {UI => cg/freecad/Frames/UI}/icons/frame.svg | 0 .../freecad/Frames/UI}/icons/gazeboexport.svg | 0 .../Frames/UI}/icons/github_preview.png | Bin .../freecad/Frames/UI}/icons/inserttask.svg | 0 .../freecad/Frames/UI}/icons/partframe.svg | 0 .../freecad/Frames/UI}/icons/parttojson.svg | 0 .../freecad/Frames/UI}/icons/placetask.svg | 0 .../freecad/Frames/UI}/icons/plasetask.svg | 0 .../freecad/Frames/UI}/icons/screwtask.svg | 0 .../freecad/Frames/UI}/icons/taskcreator.svg | 0 .../Frames/cad_parts_adjacency_matrix.py | 0 example.json | 130 - simgrip.FCStd | Bin 347852 -> 0 bytes 43 files changed, 202 insertions(+), 13630 deletions(-) delete mode 100644 B.brep delete mode 100644 Init.py delete mode 100644 InitGui.py delete mode 100644 L.brep delete mode 100644 P.brep delete mode 100644 R.brep delete mode 100644 UI/InsertTaskCreator.ui~ rename ARFrames.py => cg/freecad/Frames/Frames.py (92%) rename GazeboExport.py => cg/freecad/Frames/GazeboExport.py (100%) rename GraspPose.py => cg/freecad/Frames/GraspPose.py (98%) create mode 100644 cg/freecad/Frames/Init.py create mode 100644 cg/freecad/Frames/InitGui.py rename LICENSE => cg/freecad/Frames/LICENSE (100%) create mode 100644 cg/freecad/Frames/README.md rename ARTools.py => cg/freecad/Frames/Tools.py (93%) rename {UI => cg/freecad/Frames/UI}/FeatureFrameCreator.ui (100%) rename {UI => cg/freecad/Frames/UI}/FramePlacer.ui (100%) rename {UI => cg/freecad/Frames/UI}/InsertTaskCreator.ui (100%) rename {UI => cg/freecad/Frames/UI}/PartFrameCreator.ui (100%) rename {UI => cg/freecad/Frames/UI}/ScrewTaskCreator.ui (100%) rename {UI => cg/freecad/Frames/UI}/icons/Center.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/PickedPoint.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/PointOnCenterline.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/PointOnEdge.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/PointOnSurface.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/addgrasppose.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/allpartframes.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/allpartgroups.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/featureframecreator.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/frame.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/gazeboexport.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/github_preview.png (100%) rename {UI => cg/freecad/Frames/UI}/icons/inserttask.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/partframe.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/parttojson.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/placetask.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/plasetask.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/screwtask.svg (100%) rename {UI => cg/freecad/Frames/UI}/icons/taskcreator.svg (100%) rename cad_parts_adjacency_matrix.py => cg/freecad/Frames/cad_parts_adjacency_matrix.py (100%) delete mode 100644 example.json delete mode 100644 simgrip.FCStd diff --git a/B.brep b/B.brep deleted file mode 100644 index 67f7c0d..0000000 --- a/B.brep +++ /dev/null @@ -1,1839 +0,0 @@ -DBRep_DrawableShape - -CASCADE Topology V1, (c) Matra-Datavision -Locations 102 -1 - 1 0 0 0 - 0 1 0 0 - 0 0 1 -130 -1 - 1 0 0 0 - 0 1 0 0 - 0 0 1 0 -2 2 -1 0 -1 - 1 0 0 0 - 0 1 0 0 - 0 0 1 0 -2 4 -1 2 -1 0 -2 4 -1 0 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-6 89 +4 100 * -So - -0100000 -+3 0 * -Co - -1100000 -+2 1 * - -+1 0 \ No newline at end of file diff --git a/Init.py b/Init.py deleted file mode 100644 index 2b677df..0000000 --- a/Init.py +++ /dev/null @@ -1 +0,0 @@ -#I made this? diff --git a/InitGui.py b/InitGui.py deleted file mode 100644 index cfa408e..0000000 --- a/InitGui.py +++ /dev/null @@ -1,41 +0,0 @@ -class ARBench(Workbench): - MenuText = "ARBench" - ToolTip = "Annotation for Robotics workbench" - Icon = """""" - - def __init__(self): - import os - self.Icon = os.path.join(FreeCAD.getUserAppDataDir(), "Mod", - "ARBench", "UI", "icons", "frame.svg") - - def Initialize(self): - """This function is executed when FreeCAD starts""" - import ARFrames - self.framecommands = ["FrameCommand", - "AllPartFramesCommand", - "FeatureFrameCommand"] - self.toolcommands = ["ExportPartInfoAndFeaturesDialogueCommand", - "ExportGazeboModels", - "InsertGraspPose"] - self.appendToolbar("AR Frames", self.framecommands) - self.appendToolbar("AR Tools", self.toolcommands) - - def Activated(self): - """This function is executed when the workbench is activated.""" - # - return - - def Deactivated(self): - """This function is executed when the workbench is deactivated.""" - # - return - - def ContextMenu(self, recipient): - """This is execcuted whenever the user right-clicks on screen.""" - pass - - def GetClassName(self): - # This function is mandatory if this is a full python workbench - return "Gui::PythonWorkbench" - -Gui.addWorkbench(ARBench()) diff --git a/L.brep b/L.brep deleted file mode 100644 index 00b6e9c..0000000 --- a/L.brep +++ /dev/null @@ -1,4951 +0,0 @@ -DBRep_DrawableShape - -CASCADE Topology V1, (c) Matra-Datavision -Locations 25 -1 - 0 0 -1 -16.5 - -1 0 0 65.25 - 0 1 0 -49 -1 - 1 0 0 0 - 0 1 0 0 - 0 0 1 0 -1 - 1 0 0 0 - 0 1 0 0 - 0 0 1 0 -1 - 1 0 0 0 - 0 1 0 0 - 0 0 1 0 -1 - 1 0 0 0 - 0 1 0 0 - 0 0 1 0 -1 - 1 0 0 0 - 0 1 0 0 - 0 0 1 0 -1 - 1 0 0 0 - 0 1 0 0 - 0 0 1 0 -2 2 1 3 -1 4 1 5 -1 6 1 7 -1 0 -2 7 1 6 -1 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-274 8 -269 8 -234 8 -231 8 -224 8 +221 8 -207 8 +202 8 +195 8 -+188 8 +185 8 +182 8 +178 8 -175 8 -162 8 +157 8 +151 8 -148 8 -135 8 -+130 8 +124 8 -122 8 -117 8 -114 8 -105 8 -102 8 -97 8 -92 8 -89 8 --84 8 -82 8 -77 8 -72 8 -67 8 -64 8 -61 8 +56 8 -51 8 -46 8 --42 8 -37 8 -34 8 -32 8 -30 8 -25 8 -21 8 -16 8 -13 8 -11 8 --9 8 -6 8 -4 8 * -So - -0100000 -+3 0 * -Co - -1100000 -+2 1 * - -+1 0 \ No newline at end of file diff --git a/README.md b/README.md index 69b1eb8..233f5b5 100644 --- a/README.md +++ b/README.md @@ -21,36 +21,3 @@ - __Предикат стабильной осуществимости__. Верен для последовательности сборки, когда сборка на каждом из этапов приходит к стабильному состоянию. - __Предикат степеней свободы__. Формируется на основе уже сгенерированных графов/графа сборки. В каких степенях свободы возможно перемещать деталь. -# Верстак ARBench - -Разметка моделей деталей и сборок для роботизированного производства. - -## Установка - -Поддерживается версия FreeCAD>0.16. Скопируйте содержимое репозитория в директорию `.FreeCAD/Mod/`. - -## Экспорт мета-данных дeталей (en) - -1. Click a small feature e.g. a circle -2. Press the feature frame creator (cone with a magnifying glass on it icon) -3. Chose type of feature to create -4. Chose feature parameters if relevant and the offset of the frame from the feature. -5. Repeat 4 for each feature you want on each part -6. Click a part and press the export to json button (block->textfile icon) -7. Save json -8. Use the json with whatever you want. E.g. [`arbench_part_publisher`](https://github.com/mahaarbo/arbench_part_publisher) - - -## Генерация пакетов деталей для симулятора Gazebo - -Для генерации SDF-пакета из документа FreeCAD выделите нужные детали и нажмите "Gazebo Export" в пользовательском интерфейсе верстака ARBench, после чего будет для каждого отдельного твёрдого тела (детали, `Solid`; `Compound` пока не поддерживаются) будет создана директория со следующей структурой -``` -name_of_part -├── model.sdf -├── meshes -│ └── part.dae -└── model.config - -``` -По умолчанию эти пакеты будут размещены в директории с документом FreeCAD. Чтобы добавить их в Gazebo нужно копировать сгенерированные директории в папку моделей (обычно `~/.gazebo/models`). - diff --git a/UI/InsertTaskCreator.ui~ b/UI/InsertTaskCreator.ui~ deleted file mode 100644 index 3338ac2..0000000 --- a/UI/InsertTaskCreator.ui~ +++ /dev/null @@ -1,401 +0,0 @@ - - - Dialog - - - - 0 - 0 - 323 - 325 - - - - - 316 - 325 - - - - Dialog - - - - - 10 - 20 - 71 - 21 - - - - Task Label - - - - - - 150 - 290 - 161 - 27 - - - - Get from selection - - - - - - 100 - 20 - 211 - 27 - - - - - 0 - 0 - - - - - - - 10 - 50 - 31 - 21 - - - - Hole - - - - - - 10 - 130 - 31 - 21 - - - - Peg - - - - - - 50 - 70 - 41 - 21 - - - - Part: - - - - - - 50 - 90 - 41 - 21 - - - - Face: - - - - - - 50 - 150 - 41 - 21 - - - - Part: - - - - - - 50 - 170 - 41 - 21 - - - - Face: - - - - - - 100 - 70 - 231 - 21 - - - - PartLabel - - - - - - 100 - 90 - 231 - 21 - - - - FaceID - - - - - - 100 - 170 - 231 - 21 - - - - FaceID - - - - - - 100 - 150 - 231 - 21 - - - - PartLabel - - - - - - 100 - 110 - 231 - 21 - - - - Feature Description - - - - - - 30 - 110 - 61 - 21 - - - - Feature: - - - - - - 100 - 190 - 231 - 21 - - - - Feature Description - - - - - - 30 - 190 - 61 - 21 - - - - Feature: - - - - - - 80 - 250 - 16 - 17 - - - - y - - - YBox - - - - - - 80 - 230 - 16 - 17 - - - - x - - - XBox - - - - - - 80 - 270 - 16 - 17 - - - - z - - - ZBox - - - - - - 100 - 250 - 61 - 21 - - - - offset in part frame z direction - - - - - - -1.000000000000000 - - - 1.000000000000000 - - - 0.100000000000000 - - - - - - 100 - 230 - 61 - 20 - - - - Offset in part frame x direction - - - - - - -1.000000000000000 - - - 1.000000000000000 - - - 0.100000000000000 - - - - - - 100 - 270 - 61 - 20 - - - - offset in part frame z direction - - - - - - 2 - - - -1.000000000000000 - - - 1.000000000000000 - - - 0.100000000000000 - - - - - - 10 - 210 - 121 - 21 - - - - Assembly Axis - - - - - - 10 - 290 - 131 - 27 - - - - Animate - - - - - - diff --git a/ARFrames.py b/cg/freecad/Frames/Frames.py similarity index 92% rename from ARFrames.py rename to cg/freecad/Frames/Frames.py index 7b47ab7..4470dc6 100644 --- a/ARFrames.py +++ b/cg/freecad/Frames/Frames.py @@ -1,5 +1,18 @@ +# -*- coding: utf-8 -*- +# Copyright 2023 by brothermechanic. All Rights Reserved. +# Based on ARBench by github/mahaarbo +# This library is free software: you can redistribute it and/or +# modify it under the terms of the GNU Lesser General Public +# License as published by the Free Software Foundation, either +# version 3 of the License, or (at your option) any later version. +# This library is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +# Lesser General Public License for more details. +# You should have received a copy of the GNU Lesser General Public +# License along with this library. If not, see . import FreeCAD -import ARTools +import Tools if FreeCAD.GuiUp: import FreeCADGui from pivy import coin @@ -7,11 +20,11 @@ if FreeCAD.GuiUp: import Part import os -__title__ = "ARFrames" -__author__ = "Mathias Hauan Arbo" -__workbenchname__ = "ARBench" -__version__ = "0.1" -__url__ = "https://github.com/mahaarbo/ARBench" +__title__ = 'Frames' +__author__ = 'brothermechanic' +__workbenchname__ = 'Frames' +__version__ = '0.1' +__url__ = ["https://robossembler.org"] __doc__ = """""" @@ -44,7 +57,7 @@ class Frame(object): def getDict(self): d = {} d["label"] = str(self.obj.Label) - d["placement"] = ARTools.placement2axisvec(self.obj.Placement) + d["placement"] = Tools.placement2axisvec(self.obj.Placement) d.update(self.additional_data) return d @@ -95,7 +108,7 @@ class FeatureFrame(PartFrame): def getDict(self): d = PartFrame.getDict(self) - d["featureplacement"] = ARTools.placement2axisvec(self.obj.FeaturePlacement) + d["featureplacement"] = Tools.placement2axisvec(self.obj.FeaturePlacement) d["shapetype"] = str(self.obj.ShapeType) d["positioning"] = str(self.obj.Positioning) return d @@ -126,7 +139,7 @@ class ViewProviderFrame(object): # and Toggle_DH_Frames by galou_breizh on the forums self.vframe = coin.SoType.fromName("SoShapeScale").createInstance() self.vframe.setPart("shape", coin.SoType.fromName("SoAxisCrossKit").createInstance()) - self.vframe.scaleFactor.setValue(0.1) + self.vframe.scaleFactor.setValue(0.2) ax = self.vframe.getPart("shape", 0) cone = ax.getPart("xHead.shape", 0) cone.bottomRadius.setValue(vobj.HeadSize) @@ -245,9 +258,9 @@ def makeFrame(placement=FreeCAD.Placement()): def makePartFrame(part): obj = FreeCAD.ActiveDocument.addObject("App::FeaturePython", "PartFrame") PartFrame(obj, part) - if int(FreeCAD.Version()[1]) > 16: - geo_feature_group = part.getParentGeoFeatureGroup() - geo_feature_group.addObject(obj) + #if int(FreeCAD.Version()[1]) > 16: + # geo_feature_group = part.getParentGeoFeatureGroup() + # geo_feature_group.addObject(obj) if FreeCAD.GuiUp: ViewProviderPartFrame(obj.ViewObject) return obj @@ -258,13 +271,18 @@ def makeFeatureFrame(part, featurepl): "FeatureFrame") FeatureFrame(obj, part, featurepl) # If we're >0.16, add the feature frame to the assembly - if int(FreeCAD.Version()[1]) > 16: - geo_feature_group = part.getParentGeoFeatureGroup() - geo_feature_group.addObject(obj) + #if int(FreeCAD.Version()[1]) > 16: + # geo_feature_group = part.getParentGeoFeatureGroup() + # geo_feature_group.addObject(obj) if FreeCAD.GuiUp: ViewProviderFeatureFrame(obj.ViewObject) return obj +def makeSelectedPartFrames(): + for part in FreeCADGui.Selection.getSelection(): + if isinstance(part, Part.Feature): + pf = makePartFrame(part) + pf.Label = "Frame"+str(part.Label) def makeAllPartFrames(): dc = FreeCAD.activeDocument() @@ -286,22 +304,28 @@ uidir = os.path.join(FreeCAD.getUserAppDataDir(), "Mod", __workbenchname__, "UI") icondir = os.path.join(uidir, "icons") -ARTools.spawnClassCommand("FrameCommand", +Tools.spawnClassCommand("FrameCommand", makeFrame, {"Pixmap": str(os.path.join(icondir, "frame.svg")), "MenuText": "Make a free frame", "ToolTip": "Make a freestanding reference frame."}) -ARTools.spawnClassCommand("AllPartFramesCommand", +Tools.spawnClassCommand("SelectedPartFrameCommand", + makeSelectedPartFrames, + {"Pixmap": str(os.path.join(icondir, "partframe.svg")), + "MenuText": "selected parts frames", + "ToolTip": "Make selected parts frames."}) + +Tools.spawnClassCommand("AllPartFramesCommand", makeAllPartFrames, {"Pixmap": str(os.path.join(icondir, "allpartframes.svg")), - "MenuText": "All part frames", - "ToolTip": "Make all part frames."}) -ARTools.spawnClassCommand("FeatureFrameCommand", + "MenuText": "All parts frames", + "ToolTip": "Make all parts frames."}) +Tools.spawnClassCommand("FeatureFrameCommand", spawnFeatureFrameCreator, {"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")), - "MenuText": "Feature frame creator", - "ToolTip": "Create a feature frame on selected primitive."}) + "MenuText": "frame on selected primitive", + "ToolTip": "Create a frame on selected primitive."}) ################################################################### @@ -327,7 +351,7 @@ class FeatureFramePanel: self.reject() # Choices related to selection - so_desc = ARTools.describeSubObject(selected.SubObjects[0]) + so_desc = Tools.describeSubObject(selected.SubObjects[0]) self.so_desc = so_desc shape_choices = { "Vertex": [], @@ -428,7 +452,7 @@ class BaseFeaturePanel(object): self.fframe = makeFeatureFrame(self.selected.Object, self.local_ffpl) self.fframe.PrimitiveType = self.so_desc[0] self.fframe.ShapeType = self.so_desc[1] - ad = ARTools.getPrimitiveInfo(self.so_desc[0], + ad = Tools.getPrimitiveInfo(self.so_desc[0], self.selected.SubObjects[0]) self.fframe.Proxy.additional_data.update(ad) diff --git a/GazeboExport.py b/cg/freecad/Frames/GazeboExport.py similarity index 100% rename from GazeboExport.py rename to cg/freecad/Frames/GazeboExport.py diff --git a/GraspPose.py b/cg/freecad/Frames/GraspPose.py similarity index 98% rename from GraspPose.py rename to cg/freecad/Frames/GraspPose.py index bdd44ce..a8ce60d 100644 --- a/GraspPose.py +++ b/cg/freecad/Frames/GraspPose.py @@ -65,7 +65,7 @@ def insert(): def controlled_insert(code): a = FreeCAD.ActiveDocument.Objects - Part.insert(u"C:/Users/ibryl/AppData/Roaming/FreeCAD/Mod/ARBench/"+code+".brep",FreeCAD.ActiveDocument.Name) + Part.insert(u"~/.local/share/FreeCAD/Mod/Frames/"+code+".brep",FreeCAD.ActiveDocument.Name) b = FreeCAD.ActiveDocument.Objects return list(set(b) - set(a))[0] diff --git a/cg/freecad/Frames/Init.py b/cg/freecad/Frames/Init.py new file mode 100644 index 0000000..de15b7e --- /dev/null +++ b/cg/freecad/Frames/Init.py @@ -0,0 +1,2 @@ +# -*- coding: utf-8 -*- +"""FreeCAD init script""" diff --git a/cg/freecad/Frames/InitGui.py b/cg/freecad/Frames/InitGui.py new file mode 100644 index 0000000..c62b8e5 --- /dev/null +++ b/cg/freecad/Frames/InitGui.py @@ -0,0 +1,70 @@ +# -*- coding: utf-8 -*- +# Copyright 2023 by brothermechanic. All Rights Reserved. +# Based on ARBench by github/mahaarbo +# This library is free software: you can redistribute it and/or +# modify it under the terms of the GNU Lesser General Public +# License as published by the Free Software Foundation, either +# version 3 of the License, or (at your option) any later version. +# This library is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +# Lesser General Public License for more details. +# You should have received a copy of the GNU Lesser General Public +# License along with this library. If not, see . + +__title__='Frames Workbench' +__author__ = 'brothermechanic' +__copyright__ = 'Copyright (c) 2023 brothermechanic' +__license__ = 'GPL-2.1' +__version__ = "0.1" +__email__ = 'brothermechanic@gmail.com' +__url__ = ["https://robossembler.org"] +__status__ = 'development' + + +class Frames(Workbench): + MenuText = "Frames" + ToolTip = "Frames Workbench" + Icon = """""" + + def __init__(self): + import os + self.Icon = os.path.join(FreeCAD.getUserAppDataDir(), "Mod", + __class__.__name__, "UI", "icons", "frame.svg") + + def Initialize(self): + """This function is executed when FreeCAD starts""" + import Frames + self.framecommands = [ + "FrameCommand", + "SelectedPartFrameCommand", + "AllPartFramesCommand", + "FeatureFrameCommand" + ] + self.toolcommands = [ + "ExportPartInfoAndFeaturesDialogueCommand", + "ExportGazeboModels", + "InsertGraspPose" + ] + self.appendToolbar(f"{__class__.__name__} Frames", self.framecommands) + self.appendToolbar(f"{__class__.__name__} Tools", self.toolcommands) + + def Activated(self): + """This function is executed when the workbench is activated.""" + # + return + + def Deactivated(self): + """This function is executed when the workbench is deactivated.""" + # + return + + def ContextMenu(self, recipient): + """This is execcuted whenever the user right-clicks on screen.""" + pass + + def GetClassName(self): + # This function is mandatory if this is a full python workbench + return "Gui::PythonWorkbench" + +Gui.addWorkbench(Frames()) diff --git a/LICENSE b/cg/freecad/Frames/LICENSE similarity index 100% rename from LICENSE rename to cg/freecad/Frames/LICENSE diff --git a/cg/freecad/Frames/README.md b/cg/freecad/Frames/README.md new file mode 100644 index 0000000..e37f0f3 --- /dev/null +++ b/cg/freecad/Frames/README.md @@ -0,0 +1,34 @@ +# Плагин для FreeCAD +# Верстак ARBench + +Разметка моделей деталей и сборок для роботизированного производства. + +## Установка + +Поддерживается версия FreeCAD>0.16. Скопируйте содержимое репозитория в директорию `.FreeCAD/Mod/`. + +## Экспорт мета-данных дeталей (en) + +1. Click a small feature e.g. a circle +2. Press the feature frame creator (cone with a magnifying glass on it icon) +3. Chose type of feature to create +4. Chose feature parameters if relevant and the offset of the frame from the feature. +5. Repeat 4 for each feature you want on each part +6. Click a part and press the export to json button (block->textfile icon) +7. Save json +8. Use the json with whatever you want. E.g. [`arbench_part_publisher`](https://github.com/mahaarbo/arbench_part_publisher) + + +## Генерация пакетов деталей для симулятора Gazebo + +Для генерации SDF-пакета из документа FreeCAD выделите нужные детали и нажмите "Gazebo Export" в пользовательском интерфейсе верстака ARBench, после чего будет для каждого отдельного твёрдого тела (детали, `Solid`; `Compound` пока не поддерживаются) будет создана директория со следующей структурой +``` +name_of_part +├── model.sdf +├── meshes +│ └── part.dae +└── model.config + +``` +По умолчанию эти пакеты будут размещены в директории с документом FreeCAD. Чтобы добавить их в Gazebo нужно копировать сгенерированные директории в папку моделей (обычно `~/.gazebo/models`). + diff --git a/ARTools.py b/cg/freecad/Frames/Tools.py similarity index 93% rename from ARTools.py rename to cg/freecad/Frames/Tools.py index d9975a0..ef983d9 100644 --- a/ARTools.py +++ b/cg/freecad/Frames/Tools.py @@ -1,3 +1,16 @@ +# -*- coding: utf-8 -*- +# Copyright 2023 by brothermechanic. All Rights Reserved. +# Based on ARBench by github/mahaarbo +# This library is free software: you can redistribute it and/or +# modify it under the terms of the GNU Lesser General Public +# License as published by the Free Software Foundation, either +# version 3 of the License, or (at your option) any later version. +# This library is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +# Lesser General Public License for more details. +# You should have received a copy of the GNU Lesser General Public +# License along with this library. If not, see . import FreeCAD import Part import json # For exporting part infos @@ -7,12 +20,12 @@ import GraspPose if FreeCAD.GuiUp: import FreeCADGui from PySide import QtGui - -__title__ = "ARTools" -__author__ = "Mathias Hauan Arbo" -__workbenchname__ = "ARBench" -__version__ = "0.1" -__url__ = "https://github.com/mahaarbo/ARBench" +import time +__title__ = 'Tools' +__author__ = 'brothermechanic' +__workbenchname__ = 'Frames' +__version__ = '0.1' +__url__ = ["https://robossembler.org"] __doc__ = """ Useful tools for the Annotations for Robotics workbench.""" @@ -161,8 +174,8 @@ def spawnClassCommand(classname, function, resources): def getLocalPartProps(obj): old_placement = obj.Placement - obj.Placement = FreeCAD.Placement() - # Part properties + # obj.Placement = FreeCAD.Placement() + """ Part properties """ partprops = { "label": obj.Label, "placement": placement2pose(old_placement), @@ -171,7 +184,7 @@ def getLocalPartProps(obj): # "centerofmass": vector2list(obj.Shape.CenterOfMass), # "principalproperties": principalProperties2dict(obj.Shape.PrincipalProperties) } - obj.Placement = old_placement + # obj.Placement = old_placement return partprops # Longest match for mesh name @@ -243,9 +256,9 @@ def exportGazeboModels(): parts[obj.PartToHandle.Label].update({"graspposes" : graspposes}) # Add part placement position on Plane surface - import ARFrames + import Frames if hasattr(obj, 'Proxy') and "ShapeType" in obj.PropertiesList: - if isinstance(obj.Proxy, ARFrames.FeatureFrame) and obj.ShapeType == 'Face': + if isinstance(obj.Proxy, Frames.FeatureFrame) and obj.ShapeType == 'Face': parts[obj.Part.Label].update({ "placements": { obj.Label: placement2pose(obj.Placement) } }) # Create SDF package from Parts or other packages @@ -260,7 +273,7 @@ def exportGazeboModels(): with open(os.path.join(model_dir, 'model.config'), 'w') as config_file: config_file.write(GazeboExport.config(name, 'model.sdf', 'Author', 'Email', 'Comment', 'Version')) - + ''' with open(os.path.join(model_dir, 'frames.json'), 'w') as frames_file: json.dump({"label": name, "placement": placement2pose(parts[name]["obj"].Placement), @@ -268,11 +281,15 @@ def exportGazeboModels(): { "graspposes" : parts[name]["graspposes"] , "placements" : parts[name]["placements"]}}, frames_file, indent=1, separators=(',', ': ')) + ''' + # Export assets for parts for obj in selected_objects: create_package(obj.Label, [obj], export_dir) + exportPartInfo(obj, os.path.join(export_dir, obj.Label, 'frames.json') ) + appendFeatureFrames(obj, os.path.join(export_dir, obj.Label, 'frames.json')) # Export asset for subassembly # subasm_name = "_".join(list(map(lambda x: x.Label[:8], selected_objects))) @@ -290,17 +307,11 @@ def exportPartInfo(obj, ofile): For more information on principal properties, see TopoShape in OCCT documentation. """ - # File path stuff - odir, of = os.path.split(ofile) - if not os.path.exists(odir): - os.makedirs(odir) - if not of.lower().endswith(".json"): - ofile = ofile + ".json" partprops = getLocalPartProps(obj) with open(ofile, "w", encoding="utf8") as propfile: json.dump(partprops, propfile, indent=1, separators=(',', ': ')) - return True + return ofile def appendPartInfo(obj, ofile): @@ -323,18 +334,12 @@ def appendPartInfo(obj, ofile): def exportFeatureFrames(obj, ofile): """Exports feature frames attached to a part.""" # Get the feature frames - import ARFrames - ff_check = lambda x: isinstance(x.Proxy, ARFrames.FeatureFrame) if hasattr(x, 'Proxy') else False + import Frames + ff_check = lambda x: isinstance(x.Proxy, Frames.FeatureFrame) if hasattr(x, 'Proxy') else False ff_list = filter(ff_check, obj.InList) ff_named = { ff.Label: ff.Proxy.getDict() for ff in ff_list } feature_dict = { "features": ff_named } - # File stuff - odir, of = os.path.split(ofile) - if not os.path.exists(odir): - os.makedirs(odir) - if not of.lower().endswith(".json"): - ofile = ofile + ".json" with open(ofile, "w", encoding="utf8") as propfile: json.dump(feature_dict, propfile, indent=1, separators=(',', ': ')) return True @@ -344,12 +349,13 @@ def appendFeatureFrames(obj, ofile): """Rewrites/appends featureframes attached to a part to an existing json file.""" # Get the feature frames - import ARFrames + import Frames with open(ofile, "r", encoding="utf8") as propfile: partprops = json.load(propfile) - ff_check = lambda x: isinstance(x.Proxy, ARFrames.FeatureFrame) if hasattr(x, 'Proxy') else False + ff_check = lambda x: isinstance(x.Proxy, Frames.FeatureFrame) if hasattr(x, 'Proxy') else False + # part's children list ff_list = filter(ff_check, obj.InList) - ff_named = { ff.Label: {"label": ff.Label, "placement": placement2pose(ff.Placement)} for ff in ff_list } + ff_named = { ff.Label: {"label": ff.Label, "placement": placement2pose(ff.FeaturePlacement)} for ff in ff_list } feature_dict = { "features": ff_named } if "features" not in partprops.keys(): partprops.update(feature_dict) @@ -413,7 +419,7 @@ def exportPartInfoDialogue(): def exportFeatureFramesDialogue(): """Spawns a dialogue window for a part's feature frames to be exported.""" # Select only true parts - import ARFrames + import Frames s = FreeCADGui.Selection.getSelection() FreeCADGui.Selection.clearSelection() if len(s) == 0: @@ -421,7 +427,7 @@ def exportFeatureFramesDialogue(): return False unique_selected = [] for item in s: - if item not in unique_selected and isinstance(item.Proxy, ARFrames.FeatureFrame): + if item not in unique_selected and isinstance(item.Proxy, Frames.FeatureFrame): # Ensuring that we are parts unique_selected.append(item) FreeCADGui.Selection.addSelection(item) @@ -461,7 +467,7 @@ def exportFeatureFramesDialogue(): def exportPartInfoAndFeaturesDialogue(): """Spawns a dialogue window for exporting both.""" - import ARFrames + import Frames s = FreeCADGui.Selection.getSelection() FreeCADGui.Selection.clearSelection() if len(s) == 0: @@ -486,6 +492,14 @@ def exportPartInfoAndFeaturesDialogue(): if ofile == "": # User cancelled return False + + # File path stuff + odir, of = os.path.split(ofile) + if not os.path.exists(odir): + os.makedirs(odir) + if not of.lower().endswith(".json"): + ofile = ofile + ".json" + if os.path.exists(ofile): msgbox = QtGui.QMessageBox() msgbox.setText("File already exists. We can overwrite the file, or add the information/rewrite only relevant sections.") diff --git a/UI/FeatureFrameCreator.ui b/cg/freecad/Frames/UI/FeatureFrameCreator.ui similarity index 100% rename from UI/FeatureFrameCreator.ui rename to cg/freecad/Frames/UI/FeatureFrameCreator.ui diff --git a/UI/FramePlacer.ui b/cg/freecad/Frames/UI/FramePlacer.ui similarity index 100% rename from UI/FramePlacer.ui rename to cg/freecad/Frames/UI/FramePlacer.ui diff --git a/UI/InsertTaskCreator.ui b/cg/freecad/Frames/UI/InsertTaskCreator.ui similarity index 100% rename from UI/InsertTaskCreator.ui rename to cg/freecad/Frames/UI/InsertTaskCreator.ui diff --git a/UI/PartFrameCreator.ui b/cg/freecad/Frames/UI/PartFrameCreator.ui similarity index 100% rename from UI/PartFrameCreator.ui rename to cg/freecad/Frames/UI/PartFrameCreator.ui diff --git a/UI/ScrewTaskCreator.ui b/cg/freecad/Frames/UI/ScrewTaskCreator.ui similarity index 100% rename from UI/ScrewTaskCreator.ui rename to cg/freecad/Frames/UI/ScrewTaskCreator.ui diff --git a/UI/icons/Center.svg b/cg/freecad/Frames/UI/icons/Center.svg similarity index 100% rename from UI/icons/Center.svg rename to cg/freecad/Frames/UI/icons/Center.svg diff --git a/UI/icons/PickedPoint.svg b/cg/freecad/Frames/UI/icons/PickedPoint.svg similarity index 100% rename from UI/icons/PickedPoint.svg rename to cg/freecad/Frames/UI/icons/PickedPoint.svg diff --git a/UI/icons/PointOnCenterline.svg b/cg/freecad/Frames/UI/icons/PointOnCenterline.svg similarity index 100% rename from UI/icons/PointOnCenterline.svg rename to cg/freecad/Frames/UI/icons/PointOnCenterline.svg diff --git a/UI/icons/PointOnEdge.svg b/cg/freecad/Frames/UI/icons/PointOnEdge.svg similarity index 100% rename from UI/icons/PointOnEdge.svg rename to cg/freecad/Frames/UI/icons/PointOnEdge.svg diff --git a/UI/icons/PointOnSurface.svg b/cg/freecad/Frames/UI/icons/PointOnSurface.svg similarity index 100% rename from UI/icons/PointOnSurface.svg rename to cg/freecad/Frames/UI/icons/PointOnSurface.svg diff --git a/UI/icons/addgrasppose.svg b/cg/freecad/Frames/UI/icons/addgrasppose.svg similarity index 100% rename from UI/icons/addgrasppose.svg rename to cg/freecad/Frames/UI/icons/addgrasppose.svg diff --git a/UI/icons/allpartframes.svg b/cg/freecad/Frames/UI/icons/allpartframes.svg similarity index 100% rename from UI/icons/allpartframes.svg rename to cg/freecad/Frames/UI/icons/allpartframes.svg diff --git a/UI/icons/allpartgroups.svg b/cg/freecad/Frames/UI/icons/allpartgroups.svg similarity index 100% rename from UI/icons/allpartgroups.svg rename to cg/freecad/Frames/UI/icons/allpartgroups.svg diff --git a/UI/icons/featureframecreator.svg b/cg/freecad/Frames/UI/icons/featureframecreator.svg similarity index 100% rename from UI/icons/featureframecreator.svg rename to cg/freecad/Frames/UI/icons/featureframecreator.svg diff --git a/UI/icons/frame.svg b/cg/freecad/Frames/UI/icons/frame.svg similarity index 100% rename from UI/icons/frame.svg rename to cg/freecad/Frames/UI/icons/frame.svg diff --git a/UI/icons/gazeboexport.svg b/cg/freecad/Frames/UI/icons/gazeboexport.svg similarity index 100% rename from UI/icons/gazeboexport.svg rename to cg/freecad/Frames/UI/icons/gazeboexport.svg diff --git a/UI/icons/github_preview.png b/cg/freecad/Frames/UI/icons/github_preview.png similarity index 100% rename from UI/icons/github_preview.png rename to cg/freecad/Frames/UI/icons/github_preview.png diff --git a/UI/icons/inserttask.svg b/cg/freecad/Frames/UI/icons/inserttask.svg similarity index 100% rename from UI/icons/inserttask.svg rename to cg/freecad/Frames/UI/icons/inserttask.svg diff --git a/UI/icons/partframe.svg b/cg/freecad/Frames/UI/icons/partframe.svg similarity index 100% rename from UI/icons/partframe.svg rename to cg/freecad/Frames/UI/icons/partframe.svg diff --git a/UI/icons/parttojson.svg b/cg/freecad/Frames/UI/icons/parttojson.svg similarity index 100% rename from UI/icons/parttojson.svg rename to cg/freecad/Frames/UI/icons/parttojson.svg diff --git a/UI/icons/placetask.svg b/cg/freecad/Frames/UI/icons/placetask.svg similarity index 100% rename from UI/icons/placetask.svg rename to cg/freecad/Frames/UI/icons/placetask.svg diff --git a/UI/icons/plasetask.svg b/cg/freecad/Frames/UI/icons/plasetask.svg similarity index 100% rename from UI/icons/plasetask.svg rename to cg/freecad/Frames/UI/icons/plasetask.svg diff --git a/UI/icons/screwtask.svg b/cg/freecad/Frames/UI/icons/screwtask.svg similarity index 100% rename from UI/icons/screwtask.svg rename to cg/freecad/Frames/UI/icons/screwtask.svg diff --git a/UI/icons/taskcreator.svg b/cg/freecad/Frames/UI/icons/taskcreator.svg similarity index 100% rename from UI/icons/taskcreator.svg rename to cg/freecad/Frames/UI/icons/taskcreator.svg diff --git a/cad_parts_adjacency_matrix.py b/cg/freecad/Frames/cad_parts_adjacency_matrix.py similarity index 100% rename from cad_parts_adjacency_matrix.py rename to cg/freecad/Frames/cad_parts_adjacency_matrix.py diff --git a/example.json b/example.json deleted file mode 100644 index 1ec9f79..0000000 --- a/example.json +++ /dev/null @@ -1,130 +0,0 @@ -{ - "Gripper_for_Box": { - "Part name": "Box", - "Part label": "\u041a\u0443\u0431", - "Part position XYZ": [ - 0.0, - 0.0, - 0.0 - ], - "Part rotation axis XYZ": [ - 0.0, - 0.0, - 1.0 - ], - "Part rotation angle": 0.0, - "Gripper position XYZ": [ - 0.0, - 0.0, - 0.0 - ], - "Gripper rotation axis XYZ": [ - 0.0, - 0.0, - 1.0 - ], - "Gripper rotation angle": 0.0, - "Grip size": 10.0, - "OperationType": 0, - "Operation Priority": 0, - "a.Operation Parameter 1": 0.0, - "a.Operation Parameter 2": 0.0, - "a.Operation Parameter 3": 0.0 - }, - "Gripper_for_Cylinder": { - "Part name": "Cylinder", - "Part label": "\u0426\u0438\u043b\u0438\u043d\u0434\u0440", - "Part position XYZ": [ - 0.0, - 0.0, - 0.0 - ], - "Part rotation axis XYZ": [ - 0.0, - 0.0, - 1.0 - ], - "Part rotation angle": 0.0, - "Gripper position XYZ": [ - 0.0, - 0.0, - 0.0 - ], - "Gripper rotation axis XYZ": [ - 1.0, - 0.0, - 0.0 - ], - "Gripper rotation angle": 4.1887902047863905, - "Grip size": 3.9708354963922163, - "OperationType": 0, - "Operation Priority": 0, - "a.Operation Parameter 1": 0.0, - "a.Operation Parameter 2": 0.0, - "a.Operation Parameter 3": 0.0 - }, - "Gripper_for_Box001": { - "Part name": "Box001", - "Part label": "\u041a\u0443\u0431001", - "Part position XYZ": [ - 0.0, - 9.0, - 0.0 - ], - "Part rotation axis XYZ": [ - 0.0, - 0.0, - 1.0 - ], - "Part rotation angle": 0.0, - "Gripper position XYZ": [ - 3.8035643556662895, - 99.89718356183919, - -9.331967349091768 - ], - "Gripper rotation axis XYZ": [ - -0.6901619708141958, - 0.717463959241293, - 0.09445592216305763 - ], - "Gripper rotation angle": 3.570126372396101, - "Grip size": 20.0, - "OperationType": 0, - "Operation Priority": 0, - "a.Operation Parameter 1": 0.0, - "a.Operation Parameter 2": 0.0, - "a.Operation Parameter 3": 0.0 - }, - "Gripper_for_Tube": { - "Part name": "Tube", - "Part label": "Tube", - "Part position XYZ": [ - 0.0, - 370.0, - 10.0 - ], - "Part rotation axis XYZ": [ - 1.0, - 0.0, - 0.0 - ], - "Part rotation angle": 1.5707963267948966, - "Gripper position XYZ": [ - 0.0, - 345.0, - 10.0 - ], - "Gripper rotation axis XYZ": [ - 1.0, - 0.0, - 0.0 - ], - "Gripper rotation angle": 1.5707963267948966, - "Grip size": 50.0, - "OperationType": 0, - "Operation Priority": 0, - "a.Operation Parameter 1": 0.0, - "a.Operation Parameter 2": 0.0, - "a.Operation Parameter 3": 0.0 - } -} \ No newline at end of file diff --git a/simgrip.FCStd b/simgrip.FCStd deleted file mode 100644 index cb0e4d8f74f5bd20e0a469d00577d013d0867f31..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 347852 zcmWIWW@Zs#U|`^2NMGO`65o4hS(q9F!vD+p@MrWsnR_FKY^Vu9e++uK? zSW@Ds#c!mqz+onJw|D)1yPwa`w^zR3Ex)em>7y^^#TkFDeHJ%A9l2qL_1|3CyL`*` z|NZ=3T>ZbX#GV(iE&Kj|db6i|-=0YOAKfqH_fCEP{oUdhg{3tmUmhRtf2bQ%`1owy 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