adding comments

cad_generation/scenarios/robossembler_freecad_export_scenario.py

@@ -1,7 +1,6 @@
  
 from usecases.export_assembly_them_all_usecase import ExportAssemblyThemAllUseCase 
 import FreeCAD
- 
 from usecases.export_usecase import EXPORT_TYPES, ExportUseCase
 from usecases.get_sdf_geometry_usecase import SdfGeometryUseCase
 from usecases.assembly_parse_usecase import AssemblyParseUseCase
@@ -10,7 +9,6 @@ from model.geometry_part import GeometryPart
 from model.files_generator import FolderGenerator
 from helper.fs import FS
 import os
-# import ImportGui
 import shutil
 
 

cad_stability_check/main.py

@@ -3,6 +3,7 @@ import json
 import re
 from pyquaternion import Quaternion
 
+
 def importObjAtPath(path: str):
     import importOBJ
     importOBJ.insert(u"" + path, App.ActiveDocument.Label)
@@ -14,7 +15,7 @@ def getFullPathObj(assemblyFolder: str, name: str):
     return assemblyFolder + 'sdf/meshes/' + name + '.obj'
 
 
-def computedStabiliti(refElement, childElement):
+def computedStability(refElement, childElement):
     b = childElement.Shape.BoundBox
     App.activeDocument().addObject("Part::MultiCommon", "Common")
     App.activeDocument().Common.Shapes = [refElement, childElement, ]
@@ -34,14 +35,22 @@ def computedStabiliti(refElement, childElement):
 
 def main():
     App.newDocument()
+    # загрузка env интерфейса
     env = json.loads((open('./env.json')).read())
-    coordinatsFilePath = env.get('pathToTheSimulationCoordinatesFile')
-    assemblyFolder = env.get('generationFolder')
-    buildNumber = int(re.findall(r'\d', coordinatsFilePath)[0])
 
+    # получение пути координат файла
+    coordinatesFilePath = env.get('pathToTheSimulationCoordinatesFile')
+
+    # получение папки сборки
+    assemblyFolder = env.get('generationFolder')
+    buildNumber = int(re.findall(r'\d', coordinatesFilePath)[0])
+
+    # загрузка последовательности сборки ввиде списка строк деталей
     assemblyStructure = json.loads(
         (open(assemblyFolder + 'step-structure.json')).read())
+    # получение номера тестируемой сборки
     assemblyNumber = int(buildNumber)
+    # получение тестируемой детали в сборке
     activeDetail = assemblyStructure[assemblyNumber]
   
     subassemblyNotParticipatingInMarkup = assemblyStructure[0:assemblyNumber - 1]
@@ -57,22 +66,24 @@ def main():
         importObjAtPath(el)
     for el in App.ActiveDocument.Objects[2:App.ActiveDocument.Objects.__len__()]:
         el.ViewObject.ShapeColor = (0.32, 0.05, 0.38)
-
+    # загрузка координат
-    coordinats = json.loads((open(coordinatsFilePath)).read())
+    coordinates = json.loads((open(coordinatesFilePath)).read())
     inc = 1
+    # перемещение обьектов в документе на точки стабильность полученные из pybullet
     for el in App.ActiveDocument.Objects:
-        pos = coordinats[inc]['position']
+        pos = coordinates[inc]['position']
-        qua = coordinats[inc]['quaternion']
+        qua = coordinates[inc]['quaternion']
         new_quaternion = Quaternion(qua[0], qua[1], qua[2], qua[3])
         rotation_matrix = new_quaternion.rotation_matrix
         current_position = el.Placement.Base
-        new_position = App.Vector(current_position.x, current_position.y, current_position.z)
+        new_position = App.Vector(
+            current_position.x, current_position.y, current_position.z)
         new_placement = App.Placement(new_position, rotation_matrix)
         el.Placement = new_placement
         App.ActiveDocument.recompute()
         el.Placement.move(App.Vector(pos[0], pos[1], pos[2]))
-
+    # вычисление стабильность
-    print(computedStabiliti(meshMark, meshDetailOfTheMarkZone))
+    computedStability(meshMark, meshDetailOfTheMarkZone)
     pass
 
 

cad_stability_input/main.py

@@ -20,7 +20,6 @@ def main():
     App.newDocument()
     env = json.loads((open('./env.json')).read())
     assemblyFolder = env.get('assemblyFolder')
-     
     assemblyStructure = json.loads(
         (open(assemblyFolder + 'step-structure.json')).read())
     assemblyNumber = int(env.get('buildNumber')) - 1

geometric_feasibility_predicate/main.py

@@ -245,7 +245,7 @@ class GetPartPrimitiveCoordinatesUseCase(object):
 
 
 class InitPartsParseUseCase():
-
+    #  Инициализация парсинга
     def call(self):
         product_details = []
         for part in FreeCadRepository().getAllSolids():
@@ -257,13 +257,14 @@ class InitPartsParseUseCase():
 
 
 class RenderPrimitiveUseCase(object):
-
+    #  Рендеринг премитивов
     def call(self, meshModels: list[MeshGeometryCoordinateModel], detailSquares) -> None:
         for mesh in meshModels:
             mesh.initializePrimitivesByCoordinate(detailSquares)
 
 
 class ClearWorkSpaceDocumentUseCase(object):
+    # Очистка рабочего простарнства
     def call(self, detailSquares):
         for key in detailSquares:
             for renderPrimitive in detailSquares[key]:
@@ -309,7 +310,9 @@ class ClearWorkSpaceDocumentUseCase(object):
 
 
 class CadAdjacencyMatrix:
+    # Матрица основанная на соприкосновении примитива с обьектами
     def primitiveMatrix(self):
+        # Получение матрицы
         matrix = RenderPrimitivesScenario(
             InitPartsParseUseCase(),
             GetPartPrimitiveCoordinatesUseCase(),
@@ -317,27 +320,27 @@ class CadAdjacencyMatrix:
             GetCollisionAtPrimitiveUseCase(),
             ClearWorkSpaceDocumentUseCase(),
         ).call()
-       
         return AdjacencyMatrix(
             all_parts=GetAllPartsLabelsUseCase().call(),
             first_detail=GetFirstDetailUseCase().call(),
             matrix=matrix,
         )
-
+    # Матрица основанная на соприкосновении обьектов 
-    def matrixBySurfaces(self,):
+    def matrixBySurfaces(self):
-        adjaxed = {}
+        matrix = {}
         for part in FreeCadRepository().getAllSolids():
-            adjaxed[part.Label] = []
+            matrix[part.Label] = []
             for nextPart in FreeCadRepository().getAllSolids():
                 if part.Label != nextPart.Label:
+                    # Вычисление соприконсоновения площади деталей
                     collisionResult: int = int(
                         part.Shape.distToShape(nextPart.Shape)[0])
                     if (collisionResult == 0):
-                        adjaxed[part.Label].append(nextPart.Label)
+                        matrix[part.Label].append(nextPart.Label)
 
         return AdjacencyMatrix(all_parts=GetAllPartsLabelsUseCase(
         ).call(), first_detail=GetFirstDetailUseCase().call(),
-            matrix=adjaxed
+            matrix=matrix
         )
 
 
@@ -349,9 +352,10 @@ def main():
         return TypeError('CadFile not found env.json')
     App.open(u'' + cadFile)
  
-    
+    # Получение матрицы
     matrixOut = CadAdjacencyMatrix().primitiveMatrix().to_dict()
     import json
+    # Запись результата
     FS.writeFile(json.dumps(matrixOut, ensure_ascii=False, indent=4), outPath,'out.json')
 
 

insertion_vector_predicate/main.py

@@ -1,25 +1,25 @@
+from scipy.spatial.transform import Rotation
+import shutil
+from spatialmath import *
+from spatialmath.base import *
+from assembly.assets.process_mesh import process_mesh
+from assembly.examples.run_joint_plan import get_planner
+from assembly.baselines.run_joint_plan import PyPlanner
+from assembly.assets.subdivide import subdivide_to_size
+import numpy as np
+import json
+import sys
 import os
 os.environ['OMP_NUM_THREADS'] = '1'
-import sys
 
-project_base_dir = os.path.abspath(os.path.join(os.path.dirname(os.path.abspath(__file__)), './')) + '/assembly/'
+project_base_dir = os.path.abspath(os.path.join(
+    os.path.dirname(os.path.abspath(__file__)), './')) + '/assembly/'
 
 
 sys.path.append(project_base_dir)
 sys.path.append(project_base_dir + '/baselines/')
 sys.path.append(project_base_dir + '/assets/')
 
-import json
-import numpy as np
-from assembly.assets.subdivide import subdivide_to_size
-from assembly.baselines.run_joint_plan import PyPlanner
-from assembly.examples.run_joint_plan import get_planner
-from assembly.assets.process_mesh import process_mesh
-
-from spatialmath.base import *
-from spatialmath import *
-import shutil
-from scipy.spatial.transform import Rotation
 
 class FS:
     def readJSON(path: str):
@@ -38,6 +38,7 @@ class FS:
 
     def readFilesTypeFolder(pathFolder: str, fileType='.json'):
         return os.listdir(pathFolder)
+
     def readFolder(pathFolder: str):
         return list(map(lambda el: pathFolder + '/' + el,  os.listdir(pathFolder)))
 
@@ -52,32 +53,40 @@ def filterModels(filterModels, filterModelsDescription):
         models.append(listGetFirstValue(
             filterModels, None, lambda x:  x.name == el))
     return models
-def meshTransformation():
+
+
+def main():
     from argparse import ArgumentParser
     parser = ArgumentParser()
     parser.add_argument('--asp-path', type=str, required=True)
     args = parser.parse_args()
     aspDir = args.asp_dir
+
+    # Коректировка пути до папки с генерацией ASP
     if (aspDir == None):
         args.print_helper()
     if (aspDir[aspDir.__len__() - 1] != '/'):
         aspDir += '/'
-    assemblys = FS.readFolder(aspDir + 'assembly')
+    # Получение списка папок с .obj обьектами
+    assembles = FS.readFolder(aspDir + 'assembly')
     assemblyDirNormalize = []
-    for el in assemblys:
+    for el in assembles:
         try:
-            
+            # Пост обработка .obj обьектов
-            process_mesh(source_dir=el, target_dir=el+'/process/',subdivide=el, verbose=True)
+            process_mesh(source_dir=el, target_dir=el +
+                         '/process/', subdivide=el, verbose=True)
             assemblyDirNormalize.append(el + '/process/')
         except Exception as e:
             print('ERRROR:')
             print(e)
+
     for el in assemblyDirNormalize:
         asset_folder = os.path.join(project_base_dir, aspDir)
         assembly_dir = os.path.join(asset_folder, el)
-        planner = get_planner('bfs')(assembly_dir,assembly_dir, 0, [1], False, 'sdf', 0.05, 0.01, 100, 100, True)
+        planner = get_planner('bfs')(assembly_dir, assembly_dir, 0, [
-        
+            1], False, 'sdf', 0.05, 0.01, 100, 100, True)
 
+        # Планирование пути
         status, t_plan, path = planner.plan(
             120, seed=1, return_path=True, render=False, record_path=None
         )
@@ -88,13 +97,17 @@ def meshTransformation():
             euler = seMatrix.eul()
             coord = seMatrix.A[0:3, 3]
             rot = Rotation.from_euler('xyz', euler, degrees=True).as_quat()
-            coords.append({ 'quadrelion': [rot[0], rot[1], rot[2], rot[3]], 'xyz':[coord[0], coord[1], coord[2]],'euler': [euler[0], euler[1], euler[2]]})           
+            coords.append({'quadrelion': [rot[0], rot[1], rot[2], rot[3]], 'xyz': [
+                          coord[0], coord[1], coord[2]], 'euler': [euler[0], euler[1], euler[2]]})
+        # Запись пути в кортеж
         planingObject = {
             "time": t_plan,
             "insertion_path": coords,
             "status": status,
         }
-        FS.writeFile(json.dumps(planingObject),el[0:el.__len__() - 8], 'insertion_path.json' )
+        # Запись результата планирования
+        FS.writeFile(json.dumps(planingObject),
+                     el[0:el.__len__() - 8], 'insertion_path.json')
 
         try:
             planner = PyPlanner(assembly_dir, 'process', still_ids=[1],)
@@ -116,4 +129,4 @@ def meshTransformation():
             print(e)
 
 
-meshTransformation()
+main()

stability_process_predicate/main.py

@@ -3,13 +3,13 @@ import argparse
 from usecases.stability_check_usecase import StabilityCheckUseCase
 
 # python3 main.py --aspPath /home/idontsudo/t/framework/asp/out/sdf-generation --buildNumber 3
+
+
 def main():
     parser = argparse.ArgumentParser()
     parser.add_argument('--aspPath', help='asp folder generation path')
     parser.add_argument('--buildNumber', help='FreeCad generation buildNumber')
     args = parser.parse_args()
-    # args.aspPath
-    # args.buildNumber
     StabilityCheckUseCase().call(args.aspPath, args.buildNumber)
 
 

stability_process_predicate/usecases/stability_check_usecase.py

@@ -10,6 +10,7 @@ class StabilityCheckUseCase:
     def call(self, outPath: str, buildNumber: int, duration=500):
         DURATION = duration
         try:
+            # Получение сгенерированного URDF для сборки
             assemblyUrdf = json.loads(
                 (open(outPath + 'urdf-generation.json')).read()).get(buildNumber)
         except:
@@ -41,6 +42,7 @@ class StabilityCheckUseCase:
                 inc = 0
                 for el in bulletIds:
                     inc += 1
+                    # Получение расположения деталей
                     pos, rot = p.getBasePositionAndOrientation(el)
                     resultCoords.append({
                         'id': inc,
@@ -52,8 +54,8 @@ class StabilityCheckUseCase:
 
         file_to_open = outPath + buildNumber + "_" + 'stability_coords.json'
 
-        f = open(file_to_open, 'w', encoding='utf-8',
+        f = open(file_to_open, 'w', encoding='utf-8',errors='ignore')
-                 errors='ignore')
+        # Запись результатов тестирования
         f.write(json.dumps(resultCoords))
         for el in urdfs:
             os.remove(el)