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Доработан плагин экспорта SDF для FreeCAD

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brothermechanic 2023-02-21 10:13:11 +00:00 • committed by Igor Brylyov
parent 95437a4527
commit 0c433c10d5
43 changed files with 202 additions and 13630 deletions
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Init.py
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#I made this?

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InitGui.py
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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())

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README.md
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@ -21,36 +21,3 @@
- __Предикат стабильной осуществимости__. Верен для последовательности сборки, когда сборка на каждом из этапов приходит к стабильному состоянию. - __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. - __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`).

401
UI/InsertTaskCreator.ui~
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@ -1,401 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>Dialog</class>
<widget class="QDialog" name="Dialog">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>323</width>
<height>325</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>316</width>
<height>325</height>
</size>
</property>
<property name="windowTitle">
<string>Dialog</string>
</property>
<widget class="QLabel" name="TaskLabel">
<property name="geometry">
<rect>
<x>10</x>
<y>20</y>
<width>71</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>Task Label</string>
</property>
</widget>
<widget class="QPushButton" name="PushButton">
<property name="geometry">
<rect>
<x>150</x>
<y>290</y>
<width>161</width>
<height>27</height>
</rect>
</property>
<property name="text">
<string>Get from selection</string>
</property>
</widget>
<widget class="QLineEdit" name="lineEdit">
<property name="geometry">
<rect>
<x>100</x>
<y>20</y>
<width>211</width>
<height>27</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</widget>
<widget class="QLabel" name="HoleLabel">
<property name="geometry">
<rect>
<x>10</x>
<y>50</y>
<width>31</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>Hole</string>
</property>
</widget>
<widget class="QLabel" name="PegLabel">
<property name="geometry">
<rect>
<x>10</x>
<y>130</y>
<width>31</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>Peg</string>
</property>
</widget>
<widget class="QLabel" name="HolePartLabel">
<property name="geometry">
<rect>
<x>50</x>
<y>70</y>
<width>41</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>Part:</string>
</property>
</widget>
<widget class="QLabel" name="HoleFaceLabel">
<property name="geometry">
<rect>
<x>50</x>
<y>90</y>
<width>41</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>Face:</string>
</property>
</widget>
<widget class="QLabel" name="PegPartLabel">
<property name="geometry">
<rect>
<x>50</x>
<y>150</y>
<width>41</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>Part:</string>
</property>
</widget>
<widget class="QLabel" name="PegFaceLabel">
<property name="geometry">
<rect>
<x>50</x>
<y>170</y>
<width>41</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>Face:</string>
</property>
</widget>
<widget class="QLabel" name="HolePartField">
<property name="geometry">
<rect>
<x>100</x>
<y>70</y>
<width>231</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>PartLabel</string>
</property>
</widget>
<widget class="QLabel" name="HoleFaceIDField">
<property name="geometry">
<rect>
<x>100</x>
<y>90</y>
<width>231</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>FaceID</string>
</property>
</widget>
<widget class="QLabel" name="PegFaceIDField">
<property name="geometry">
<rect>
<x>100</x>
<y>170</y>
<width>231</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>FaceID</string>
</property>
</widget>
<widget class="QLabel" name="PegPartField">
<property name="geometry">
<rect>
<x>100</x>
<y>150</y>
<width>231</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>PartLabel</string>
</property>
</widget>
<widget class="QLabel" name="HoleFeatureSummary">
<property name="geometry">
<rect>
<x>100</x>
<y>110</y>
<width>231</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>Feature Description</string>
</property>
</widget>
<widget class="QLabel" name="HoleFeatureLabel">
<property name="geometry">
<rect>
<x>30</x>
<y>110</y>
<width>61</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>Feature:</string>
</property>
</widget>
<widget class="QLabel" name="PegFeatureSummary">
<property name="geometry">
<rect>
<x>100</x>
<y>190</y>
<width>231</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>Feature Description</string>
</property>
</widget>
<widget class="QLabel" name="PegFeatureLabel">
<property name="geometry">
<rect>
<x>30</x>
<y>190</y>
<width>61</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>Feature:</string>
</property>
</widget>
<widget class="QLabel" name="YLabel">
<property name="geometry">
<rect>
<x>80</x>
<y>250</y>
<width>16</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>y</string>
</property>
<property name="buddy">
<cstring>YBox</cstring>
</property>
</widget>
<widget class="QLabel" name="XLabel">
<property name="geometry">
<rect>
<x>80</x>
<y>230</y>
<width>16</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>x</string>
</property>
<property name="buddy">
<cstring>XBox</cstring>
</property>
</widget>
<widget class="QLabel" name="ZLabel">
<property name="geometry">
<rect>
<x>80</x>
<y>270</y>
<width>16</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>z</string>
</property>
<property name="buddy">
<cstring>ZBox</cstring>
</property>
</widget>
<widget class="QDoubleSpinBox" name="YBox">
<property name="geometry">
<rect>
<x>100</x>
<y>250</y>
<width>61</width>
<height>21</height>
</rect>
</property>
<property name="toolTip">
<string>offset in part frame z direction</string>
</property>
<property name="suffix">
<string/>
</property>
<property name="minimum">
<double>-1.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
<widget class="QDoubleSpinBox" name="XBox">
<property name="geometry">
<rect>
<x>100</x>
<y>230</y>
<width>61</width>
<height>20</height>
</rect>
</property>
<property name="toolTip">
<string>Offset in part frame x direction</string>
</property>
<property name="suffix">
<string/>
</property>
<property name="minimum">
<double>-1.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
<widget class="QDoubleSpinBox" name="ZBox">
<property name="geometry">
<rect>
<x>100</x>
<y>270</y>
<width>61</width>
<height>20</height>
</rect>
</property>
<property name="toolTip">
<string>offset in part frame z direction</string>
</property>
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>-1.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
<widget class="QLabel" name="AssemblyAxisLabel">
<property name="geometry">
<rect>
<x>10</x>
<y>210</y>
<width>121</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>Assembly Axis</string>
</property>
</widget>
<widget class="QPushButton" name="AnimateButton">
<property name="geometry">
<rect>
<x>10</x>
<y>290</y>
<width>131</width>
<height>27</height>
</rect>
</property>
<property name="text">
<string>Animate</string>
</property>
</widget>
</widget>
<resources/>
<connections/>
</ui>

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ARFrames.py → cg/freecad/Frames/Frames.py
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@ -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 <http://www.gnu.org/licenses/>.
import FreeCAD import FreeCAD
import ARTools import Tools
if FreeCAD.GuiUp: if FreeCAD.GuiUp:
import FreeCADGui import FreeCADGui
from pivy import coin from pivy import coin
@ -7,11 +20,11 @@ if FreeCAD.GuiUp:
import Part import Part
import os import os
__title__ = "ARFrames" __title__ = 'Frames'
__author__ = "Mathias Hauan Arbo" __author__ = 'brothermechanic'
__workbenchname__ = "ARBench" __workbenchname__ = 'Frames'
__version__ = "0.1" __version__ = '0.1'
__url__ = "https://github.com/mahaarbo/ARBench" __url__ = ["https://robossembler.org"]
__doc__ = """""" __doc__ = """"""
@ -44,7 +57,7 @@ class Frame(object):
def getDict(self): def getDict(self):
d = {} d = {}
d["label"] = str(self.obj.Label) 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) d.update(self.additional_data)
return d return d
@ -95,7 +108,7 @@ class FeatureFrame(PartFrame):
def getDict(self): def getDict(self):
d = PartFrame.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["shapetype"] = str(self.obj.ShapeType)
d["positioning"] = str(self.obj.Positioning) d["positioning"] = str(self.obj.Positioning)
return d return d
@ -126,7 +139,7 @@ class ViewProviderFrame(object):
# and Toggle_DH_Frames by galou_breizh on the forums # and Toggle_DH_Frames by galou_breizh on the forums
self.vframe = coin.SoType.fromName("SoShapeScale").createInstance() self.vframe = coin.SoType.fromName("SoShapeScale").createInstance()
self.vframe.setPart("shape", coin.SoType.fromName("SoAxisCrossKit").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) ax = self.vframe.getPart("shape", 0)
cone = ax.getPart("xHead.shape", 0) cone = ax.getPart("xHead.shape", 0)
cone.bottomRadius.setValue(vobj.HeadSize) cone.bottomRadius.setValue(vobj.HeadSize)
@ -245,9 +258,9 @@ def makeFrame(placement=FreeCAD.Placement()):
def makePartFrame(part): def makePartFrame(part):
obj = FreeCAD.ActiveDocument.addObject("App::FeaturePython", "PartFrame") obj = FreeCAD.ActiveDocument.addObject("App::FeaturePython", "PartFrame")
PartFrame(obj, part) PartFrame(obj, part)
if int(FreeCAD.Version()[1]) > 16: #if int(FreeCAD.Version()[1]) > 16:
geo_feature_group = part.getParentGeoFeatureGroup() # geo_feature_group = part.getParentGeoFeatureGroup()
geo_feature_group.addObject(obj) # geo_feature_group.addObject(obj)
if FreeCAD.GuiUp: if FreeCAD.GuiUp:
ViewProviderPartFrame(obj.ViewObject) ViewProviderPartFrame(obj.ViewObject)
return obj return obj
@ -258,13 +271,18 @@ def makeFeatureFrame(part, featurepl):
"FeatureFrame") "FeatureFrame")
FeatureFrame(obj, part, featurepl) FeatureFrame(obj, part, featurepl)
# If we're >0.16, add the feature frame to the assembly # If we're >0.16, add the feature frame to the assembly
if int(FreeCAD.Version()[1]) > 16: #if int(FreeCAD.Version()[1]) > 16:
geo_feature_group = part.getParentGeoFeatureGroup() # geo_feature_group = part.getParentGeoFeatureGroup()
geo_feature_group.addObject(obj) # geo_feature_group.addObject(obj)
if FreeCAD.GuiUp: if FreeCAD.GuiUp:
ViewProviderFeatureFrame(obj.ViewObject) ViewProviderFeatureFrame(obj.ViewObject)
return obj 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(): def makeAllPartFrames():
dc = FreeCAD.activeDocument() dc = FreeCAD.activeDocument()
@ -286,22 +304,28 @@ uidir = os.path.join(FreeCAD.getUserAppDataDir(),
"Mod", __workbenchname__, "UI") "Mod", __workbenchname__, "UI")
icondir = os.path.join(uidir, "icons") icondir = os.path.join(uidir, "icons")
ARTools.spawnClassCommand("FrameCommand", Tools.spawnClassCommand("FrameCommand",
makeFrame, makeFrame,
{"Pixmap": str(os.path.join(icondir, "frame.svg")), {"Pixmap": str(os.path.join(icondir, "frame.svg")),
"MenuText": "Make a free frame", "MenuText": "Make a free frame",
"ToolTip": "Make a freestanding reference 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, makeAllPartFrames,
{"Pixmap": str(os.path.join(icondir, "allpartframes.svg")), {"Pixmap": str(os.path.join(icondir, "allpartframes.svg")),
"MenuText": "All part frames", "MenuText": "All parts frames",
"ToolTip": "Make all part frames."}) "ToolTip": "Make all parts frames."})
ARTools.spawnClassCommand("FeatureFrameCommand", Tools.spawnClassCommand("FeatureFrameCommand",
spawnFeatureFrameCreator, spawnFeatureFrameCreator,
{"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")), {"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")),
"MenuText": "Feature frame creator", "MenuText": "frame on selected primitive",
"ToolTip": "Create a feature frame on selected primitive."}) "ToolTip": "Create a frame on selected primitive."})
################################################################### ###################################################################
@ -327,7 +351,7 @@ class FeatureFramePanel:
self.reject() self.reject()
# Choices related to selection # Choices related to selection
so_desc = ARTools.describeSubObject(selected.SubObjects[0]) so_desc = Tools.describeSubObject(selected.SubObjects[0])
self.so_desc = so_desc self.so_desc = so_desc
shape_choices = { shape_choices = {
"Vertex": [], "Vertex": [],
@ -428,7 +452,7 @@ class BaseFeaturePanel(object):
self.fframe = makeFeatureFrame(self.selected.Object, self.local_ffpl) self.fframe = makeFeatureFrame(self.selected.Object, self.local_ffpl)
self.fframe.PrimitiveType = self.so_desc[0] self.fframe.PrimitiveType = self.so_desc[0]
self.fframe.ShapeType = self.so_desc[1] 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.selected.SubObjects[0])
self.fframe.Proxy.additional_data.update(ad) self.fframe.Proxy.additional_data.update(ad)

0
GazeboExport.py → cg/freecad/Frames/GazeboExport.py
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2
GraspPose.py → cg/freecad/Frames/GraspPose.py
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@ -65,7 +65,7 @@ def insert():
def controlled_insert(code): def controlled_insert(code):
a = FreeCAD.ActiveDocument.Objects 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 b = FreeCAD.ActiveDocument.Objects
return list(set(b) - set(a))[0] return list(set(b) - set(a))[0]

2
cg/freecad/Frames/Init.py Normal file
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@ -0,0 +1,2 @@
# -*- coding: utf-8 -*-
"""FreeCAD init script"""

70
cg/freecad/Frames/InitGui.py Normal file
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@ -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 <http://www.gnu.org/licenses/>.
__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())

0
LICENSE → cg/freecad/Frames/LICENSE
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34
cg/freecad/Frames/README.md Normal file
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@ -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`).

80
ARTools.py → cg/freecad/Frames/Tools.py
View file

@ -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 <http://www.gnu.org/licenses/>.
import FreeCAD import FreeCAD
import Part import Part
import json # For exporting part infos import json # For exporting part infos
@ -7,12 +20,12 @@ import GraspPose
if FreeCAD.GuiUp: if FreeCAD.GuiUp:
import FreeCADGui import FreeCADGui
from PySide import QtGui from PySide import QtGui
import time
__title__ = "ARTools" __title__ = 'Tools'
__author__ = "Mathias Hauan Arbo" __author__ = 'brothermechanic'
__workbenchname__ = "ARBench" __workbenchname__ = 'Frames'
__version__ = "0.1" __version__ = '0.1'
__url__ = "https://github.com/mahaarbo/ARBench" __url__ = ["https://robossembler.org"]
__doc__ = """ __doc__ = """
Useful tools for the Annotations for Robotics workbench.""" Useful tools for the Annotations for Robotics workbench."""
@ -161,8 +174,8 @@ def spawnClassCommand(classname, function, resources):
def getLocalPartProps(obj): def getLocalPartProps(obj):
old_placement = obj.Placement old_placement = obj.Placement
obj.Placement = FreeCAD.Placement() # obj.Placement = FreeCAD.Placement()
# Part properties """ Part properties """
partprops = { partprops = {
"label": obj.Label, "label": obj.Label,
"placement": placement2pose(old_placement), "placement": placement2pose(old_placement),
@ -171,7 +184,7 @@ def getLocalPartProps(obj):
# "centerofmass": vector2list(obj.Shape.CenterOfMass), # "centerofmass": vector2list(obj.Shape.CenterOfMass),
# "principalproperties": principalProperties2dict(obj.Shape.PrincipalProperties) # "principalproperties": principalProperties2dict(obj.Shape.PrincipalProperties)
} }
obj.Placement = old_placement # obj.Placement = old_placement
return partprops return partprops
# Longest match for mesh name # Longest match for mesh name
@ -243,9 +256,9 @@ def exportGazeboModels():
parts[obj.PartToHandle.Label].update({"graspposes" : graspposes}) parts[obj.PartToHandle.Label].update({"graspposes" : graspposes})
# Add part placement position on Plane surface # Add part placement position on Plane surface
import ARFrames import Frames
if hasattr(obj, 'Proxy') and "ShapeType" in obj.PropertiesList: 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) } }) parts[obj.Part.Label].update({ "placements": { obj.Label: placement2pose(obj.Placement) } })
# Create SDF package from Parts or other packages # 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: with open(os.path.join(model_dir, 'model.config'), 'w') as config_file:
config_file.write(GazeboExport.config(name, config_file.write(GazeboExport.config(name,
'model.sdf', 'Author', 'Email', 'Comment', 'Version')) 'model.sdf', 'Author', 'Email', 'Comment', 'Version'))
'''
with open(os.path.join(model_dir, 'frames.json'), 'w') as frames_file: with open(os.path.join(model_dir, 'frames.json'), 'w') as frames_file:
json.dump({"label": name, json.dump({"label": name,
"placement": placement2pose(parts[name]["obj"].Placement), "placement": placement2pose(parts[name]["obj"].Placement),
@ -268,11 +281,15 @@ def exportGazeboModels():
{ "graspposes" : parts[name]["graspposes"] { "graspposes" : parts[name]["graspposes"]
, "placements" : parts[name]["placements"]}}, , "placements" : parts[name]["placements"]}},
frames_file, indent=1, separators=(',', ': ')) frames_file, indent=1, separators=(',', ': '))
'''
# Export assets for parts # Export assets for parts
for obj in selected_objects: for obj in selected_objects:
create_package(obj.Label, [obj], export_dir) 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 # Export asset for subassembly
# subasm_name = "_".join(list(map(lambda x: x.Label[:8], selected_objects))) # 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 For more information on principal properties, see TopoShape in OCCT
documentation. 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) partprops = getLocalPartProps(obj)
with open(ofile, "w", encoding="utf8") as propfile: with open(ofile, "w", encoding="utf8") as propfile:
json.dump(partprops, propfile, indent=1, separators=(',', ': ')) json.dump(partprops, propfile, indent=1, separators=(',', ': '))
return True return ofile
def appendPartInfo(obj, ofile): def appendPartInfo(obj, ofile):
@ -323,18 +334,12 @@ def appendPartInfo(obj, ofile):
def exportFeatureFrames(obj, ofile): def exportFeatureFrames(obj, ofile):
"""Exports feature frames attached to a part.""" """Exports feature frames attached to a part."""
# Get the feature frames # Get the feature frames
import ARFrames import Frames
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
ff_list = filter(ff_check, obj.InList) ff_list = filter(ff_check, obj.InList)
ff_named = { ff.Label: ff.Proxy.getDict() for ff in ff_list } ff_named = { ff.Label: ff.Proxy.getDict() for ff in ff_list }
feature_dict = { "features": ff_named } 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: with open(ofile, "w", encoding="utf8") as propfile:
json.dump(feature_dict, propfile, indent=1, separators=(',', ': ')) json.dump(feature_dict, propfile, indent=1, separators=(',', ': '))
return True return True
@ -344,12 +349,13 @@ def appendFeatureFrames(obj, ofile):
"""Rewrites/appends featureframes attached to a part to an existing json """Rewrites/appends featureframes attached to a part to an existing json
file.""" file."""
# Get the feature frames # Get the feature frames
import ARFrames import Frames
with open(ofile, "r", encoding="utf8") as propfile: with open(ofile, "r", encoding="utf8") as propfile:
partprops = json.load(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_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 } feature_dict = { "features": ff_named }
if "features" not in partprops.keys(): if "features" not in partprops.keys():
partprops.update(feature_dict) partprops.update(feature_dict)
@ -413,7 +419,7 @@ def exportPartInfoDialogue():
def exportFeatureFramesDialogue(): def exportFeatureFramesDialogue():
"""Spawns a dialogue window for a part's feature frames to be exported.""" """Spawns a dialogue window for a part's feature frames to be exported."""
# Select only true parts # Select only true parts
import ARFrames import Frames
s = FreeCADGui.Selection.getSelection() s = FreeCADGui.Selection.getSelection()
FreeCADGui.Selection.clearSelection() FreeCADGui.Selection.clearSelection()
if len(s) == 0: if len(s) == 0:
@ -421,7 +427,7 @@ def exportFeatureFramesDialogue():
return False return False
unique_selected = [] unique_selected = []
for item in s: 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 # Ensuring that we are parts
unique_selected.append(item) unique_selected.append(item)
FreeCADGui.Selection.addSelection(item) FreeCADGui.Selection.addSelection(item)
@ -461,7 +467,7 @@ def exportFeatureFramesDialogue():
def exportPartInfoAndFeaturesDialogue(): def exportPartInfoAndFeaturesDialogue():
"""Spawns a dialogue window for exporting both.""" """Spawns a dialogue window for exporting both."""
import ARFrames import Frames
s = FreeCADGui.Selection.getSelection() s = FreeCADGui.Selection.getSelection()
FreeCADGui.Selection.clearSelection() FreeCADGui.Selection.clearSelection()
if len(s) == 0: if len(s) == 0:
@ -486,6 +492,14 @@ def exportPartInfoAndFeaturesDialogue():
if ofile == "": if ofile == "":
# User cancelled # User cancelled
return False 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): if os.path.exists(ofile):
msgbox = QtGui.QMessageBox() msgbox = QtGui.QMessageBox()
msgbox.setText("File already exists. We can overwrite the file, or add the information/rewrite only relevant sections.") msgbox.setText("File already exists. We can overwrite the file, or add the information/rewrite only relevant sections.")

0
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130
example.json
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@ -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
}
}

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simgrip.FCStd
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