Подключен генератор PDDL-доменов и функция экспорта
This commit is contained in:
Mark Voltov
parent
8971bb13df
commit
46758e4b62
10 changed files with 9 additions and 587 deletions
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"
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#Создаем объект, к которому привязываем вспомогательную информацию:
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1. Выбираем элемент в модели:
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1.1. Поверхность - можем создать призматический объект. Соответствует точке захвата, рабочей зоне, опорной поверхности, поверхности базирования
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1.1.1 Выбираем тип объкта, который нам нужно построить.
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1.1.2 В зависимости от выбора, предлагается указать объект для ориентации осей.
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1.1.3 Указать размеры зоны построения. Для захвата соответствует габаритам пальца, для рабочей зоны - координатам. Полуавтоматическое (ручное???) создание эскиза?
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1.1.4 Для захвата выбираем вытягивание объекта на нужную длину до параллельной поверхности
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1.1.5 - Результат - построенный параллелограмм с размерами и привязкой к моделям. Его мы экспортируем в json через существующий функционал
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1.2. Цилиндрическая поверхность - осесимметричный объект. Захват двухпальцевый, трехпальцевый, четырехпальцевый, цилиндрическая зона установки, отверстия сопряжения
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1.2.1 Выбираем тип объекта
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1.2.2. Выбираем ориентацию главной оси. //Потенциально, мы можем захватить цилиндрический объект в любой ориентации, нужно ли добавлять конкретное указание?
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видимо, только если геометрия обязывает нас придерживаться ее (напр. не дает поставить 4 палец)
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указание требуется, если есть фиксаторы, опорные площадки или что-то иное, что приводит к однозначному позиционированию
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1.2.3. Вытягиваем зону до привязки. Пальцы ставим как цилиндрический массив( нужно ли??)
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1.2.4 Результат - цилиндрическая зона с радиусом, ориентациями осей.
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2. К размеченным объектам необходимо привязать метаданные, содержащие связи с конкретными моделями. STEP-файл захвата, step-файл входной детали и/или выходной.
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2.1 Нужно ли привязывать захват? Да, но в некоем обобщенном виде. Позиция захвата - характеристика способа воздействия, а не объекта.
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2.2 Для станков входы и выходы необходимы.
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2.3
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"
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#!/usr/bin/env python3
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# coding: utf-8
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#
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# LGPL
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# Copyright HUBERT Zoltán
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#
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# newDatumCmd.py
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import os
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from PySide import QtGui, QtCore
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import FreeCADGui as Gui
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import FreeCAD as App
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from FreeCAD import Console as FCC
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import Asm4_libs as Asm4
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"""
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+-----------------------------------------------+
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| a class to create all Datum objects |
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+-----------------------------------------------+
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"""
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class newDatum:
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"My tool object"
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def __init__(self, datumName):
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self.datumName = datumName
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# recognised containers (not the same as Asm4.containerTypes !)
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self.containers = [ 'App::Part', 'PartDesign::Body', 'App::DocumentObjectGroup']
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if self.datumName == 'Point':
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self.datumType = 'PartDesign::Point'
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self.menutext = "New Point"
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self.tooltip = "Create a new Datum Point in a Part"
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self.icon = os.path.join( Asm4.iconPath , 'Asm4_Point.svg')
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self.datumColor = (0.00,0.00,0.00)
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self.datumAlpha = []
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elif self.datumName == 'Axis':
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self.datumType = 'PartDesign::Line'
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self.menutext = "New Axis"
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self.tooltip = "Create a new Datum Axis in a Part"
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self.icon = os.path.join( Asm4.iconPath , 'Asm4_Axis.svg')
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self.datumColor = (0.00,0.00,0.50)
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self.datumAlpha = []
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elif self.datumName == 'Plane':
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self.datumType = 'PartDesign::Plane'
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self.menutext = "New Plane"
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self.tooltip = "Create a new Datum Plane in a Part"
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self.icon = os.path.join( Asm4.iconPath , 'Asm4_Plane.svg')
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self.datumColor = (0.50,0.50,0.50)
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self.datumAlpha = 80
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elif self.datumName == 'LCS':
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self.datumType = 'PartDesign::CoordinateSystem'
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self.menutext = "New Coordinate System"
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self.tooltip = "Create a new Coordinate System in a Part"
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self.icon = os.path.join( Asm4.iconPath , 'Asm4_CoordinateSystem.svg')
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self.datumColor = []
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self.datumAlpha = []
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elif self.datumName == 'Sketch':
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self.datumType = 'Sketcher::SketchObject'
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self.menutext = "New Sketch"
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self.tooltip = "Create a new Sketch in a Part"
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self.icon = os.path.join( Asm4.iconPath , 'Asm4_Sketch.svg')
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self.datumColor = []
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self.datumAlpha = []
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def GetResources(self):
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return {"MenuText": self.menutext,
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"ToolTip": self.tooltip,
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"Pixmap" : self.icon }
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def IsActive(self):
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if App.ActiveDocument:
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# is something correct selected ?
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if self.checkSelection():
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return(True)
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return(False)
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def checkSelection(self):
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# if something is selected ...
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if Gui.Selection.getSelection():
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selectedObj = Gui.Selection.getSelection()[0]
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# ... and it's an App::Part or an datum object
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selType = selectedObj.TypeId
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if selType in self.containers or selType in Asm4.datumTypes or selType=='Sketcher::SketchObject':
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return(selectedObj)
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# or of nothing is selected ...
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elif Asm4.getAssembly():
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# ... but there is as assembly:
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return Asm4.getAssembly()
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# if we're here it's because we didn't find a good reason to not be here
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return None
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"""
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+-----------------------------------------------+
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| the real stuff |
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+-----------------------------------------------+
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"""
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def Activated(self):
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# check that we have somewhere to put our stuff
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selectedObj = self.checkSelection()
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# default name increments the datum type's end numeral
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proposedName = Asm4.nextInstance( self.datumName, startAtOne=True )
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parentContainer = None
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# check whether we have selected a container
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if selectedObj.TypeId in self.containers:
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parentContainer = selectedObj
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# if a datum object is selected
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elif selectedObj.TypeId in Asm4.datumTypes or selectedObj.TypeId=='Sketcher::SketchObject':
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# see whether it's in a container
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parent = selectedObj.getParentGeoFeatureGroup()
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if parent.TypeId in self.containers:
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parentContainer = parent
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# if there is an assembly
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elif Asm4.getAssembly():
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parentContainer = Asm4.getAssembly()
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# something went wrong
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else:
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Asm4.warningBox("I can't create a "+self.datumType+" with the current selections")
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# check whether there is already a similar datum, and increment the instance number
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# instanceNum = 1
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#while App.ActiveDocument.getObject( self.datumName+'_'+str(instanceNum) ):
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# instanceNum += 1
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#datumName = self.datumName+'_'+str(instanceNum)
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if parentContainer:
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# input dialog to ask the user the name of the Sketch:
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#proposedName = Asm4.nextInstance( self.datumName + '_' + selectedObj.Label, startAtOne=True )
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text,ok = QtGui.QInputDialog.getText(None,'Create new '+self.datumName,
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'Enter '+self.datumName+' name :'+' '*40, text = proposedName)
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if ok and text:
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# App.activeDocument().getObject('Model').newObject( 'Sketcher::SketchObject', text )
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createdDatum = App.ActiveDocument.addObject( self.datumType, text )
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parentContainer.addObject( createdDatum )
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createdDatum.Label = text
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# automatic resizing of datum Plane sucks, so we set it to manual
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if self.datumType=='PartDesign::Plane':
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createdDatum.ResizeMode = 'Manual'
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createdDatum.Length = 100
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createdDatum.Width = 100
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elif self.datumType=='PartDesign::Line':
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createdDatum.ResizeMode = 'Manual'
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createdDatum.Length = 200
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# if color or transparency is specified for this datum type
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if self.datumColor:
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Gui.ActiveDocument.getObject(createdDatum.Name).ShapeColor = self.datumColor
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if self.datumAlpha:
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Gui.ActiveDocument.getObject(createdDatum.Name).Transparency = self.datumAlpha
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# highlight the created datum object
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Gui.Selection.clearSelection()
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Gui.Selection.addSelection( App.ActiveDocument.Name, parentContainer.Name, createdDatum.Name+'.' )
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Gui.runCommand('Part_EditAttachment')
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"""
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+-----------------------------------------------+
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| a class to create an LCS on a hole |
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+-----------------------------------------------+
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"""
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class newHole:
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def GetResources(self):
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return {"MenuText": "New Hole Axis",
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"ToolTip": "Create a Datum Axis attached to a hole",
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"Pixmap" : os.path.join( Asm4.iconPath , 'Asm4_Hole.svg')
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}
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def IsActive(self):
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selection = self.getSelectedEdges()
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if selection is None:
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return False
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else:
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return True
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"""
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+-----------------------------------------------+
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| the real stuff |
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+-----------------------------------------------+
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"""
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def getSelectedEdges(self):
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# check that we have selected only circular edges
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selection = None
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parent = None
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edges = []
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# 1 selection means a single parent
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if App.ActiveDocument and len(Gui.Selection.getSelection()) == 1:
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parent = Gui.Selection.getSelection()[0]
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# parse all sub-elemets of the selection
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for i in range(len(Gui.Selection.getSelectionEx()[0].SubObjects)):
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edgeObj = Gui.Selection.getSelectionEx()[0].SubObjects[i]
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edgeName = Gui.Selection.getSelectionEx()[0].SubElementNames[i]
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# if the edge is circular
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if Asm4.isCircle(edgeObj):
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edges.append( [edgeObj,edgeName] )
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# if we found circular edges
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if len(edges) > 0:
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selection = ( parent, edges )
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return selection
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def Activated(self):
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( selectedObj, edges ) = self.getSelectedEdges()
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for i in range(len(edges)):
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edgeObj = edges[i][0]
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edgeName = edges[i][1]
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parentPart = selectedObj.getParentGeoFeatureGroup()
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# we can create a datum only in a container
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if parentPart:
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parentDoc = parentPart.Document
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# if the solid having the edge is indeed in an App::Part
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if parentPart and (parentPart.TypeId=='App::Part' or parentPart.TypeId=='PartDesign::Body'):
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# check whether there is already a similar datum, and increment the instance number
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instanceNum = 1
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while parentDoc.getObject( 'HoleAxis_'+str(instanceNum) ):
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instanceNum += 1
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axis = parentPart.newObject('PartDesign::Line','HoleAxis_'+str(instanceNum))
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axis.Support = [( selectedObj, (edgeName,) )]
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axis.MapMode = 'AxisOfCurvature'
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axis.MapReversed = False
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axis.ResizeMode = 'Manual'
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axis.Length = edgeObj.BoundBox.DiagonalLength
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axis.ViewObject.ShapeColor = (0.0,0.0,1.0)
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axis.ViewObject.Transparency = 50
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axis.recompute()
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parentPart.recompute()
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#
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else:
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FCC.PrintMessage('Datum objects can only be created inside Part or Body containers')
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"""
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+-----------------------------------------------+
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| add the commands to the workbench |
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+-----------------------------------------------+
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"""
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Gui.addCommand( 'Asm4_newPoint', newDatum('Point') )
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Gui.addCommand( 'Asm4_newAxis', newDatum('Axis') )
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Gui.addCommand( 'Asm4_newPlane', newDatum('Plane') )
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Gui.addCommand( 'Asm4_newLCS', newDatum('LCS') )
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Gui.addCommand( 'Asm4_newSketch',newDatum('Sketch'))
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Gui.addCommand( 'Asm4_newHole', newHole() )
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# defines the drop-down button for Datum objects
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createDatumList = [ 'Asm4_newLCS',
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'Asm4_newPlane',
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'Asm4_newAxis',
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'Asm4_newPoint',
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'Asm4_newHole' ]
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Gui.addCommand( 'Asm4_createDatum', Asm4.dropDownCmd( createDatumList, 'Create Datum Object'))
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# License along with this library. If not, see <http://www.gnu.org/licenses/>.
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# License along with this library. If not, see <http://www.gnu.org/licenses/>.
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from BoMList import run_BoM_list
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from BoMList import run_BoM_list
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import pddl.freecad2pddl as freecad2pddl
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import pddl.freecad2pddl as freecad2pddl
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from ImportExportEntities import export_coordinate_systems
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import FreeCAD
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import FreeCAD
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import Tools
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import Tools
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from usecases.asm4parser_usecase import Asm4StructureParseUseCase
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from usecases.asm4parser_usecase import Asm4StructureParseUseCase
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ffpanel = FeatureFramePanel()
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ffpanel = FeatureFramePanel()
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FreeCADGui.Control.showDialog(ffpanel)
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FreeCADGui.Control.showDialog(ffpanel)
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def BoMGeneration(part):
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obj = FreeCAD.ActiveDocument.addObject("App::FeaturePython",
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"FeatureFrame")
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print(obj)
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###################################################################
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###################################################################
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@ -378,6 +373,13 @@ Tools.spawnClassCommand("PDDL_ExportPDDL",
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"MenuText": "ExportDomain",
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"MenuText": "ExportDomain",
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"ToolTip": "Create and Export Domain.pddl to File"})
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"ToolTip": "Create and Export Domain.pddl to File"})
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Tools.spawnClassCommand("Export_Entities",
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export_coordinate_systems,
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{"Pixmap": str(os.path.join(icondir, "BoMList.svg")),
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"MenuText": "ExportLCS",
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"ToolTip": "Export all the markups"})
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###################################################################
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###################################################################
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# GUI buttons
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# GUI buttons
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@ -46,6 +46,7 @@ class Frames(Workbench):
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]
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]
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self.toolcommands = [
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self.toolcommands = [
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"ExportPlacementAndPropertiesCommand",
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"ExportPlacementAndPropertiesCommand",
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"Export_Entities",
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"ExportGazeboModels",
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"ExportGazeboModels",
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"InsertGraspPose",
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"InsertGraspPose",
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"ASM4StructureParsing",
|
"ASM4StructureParsing",
|
||||||
|
|
|
||||||
|
|
@ -1,31 +0,0 @@
|
||||||
|
|
||||||
import os
|
|
||||||
import subprocess
|
|
||||||
import time
|
|
||||||
import subprocess
|
|
||||||
# import FreeCAD
|
|
||||||
# import Mesh
|
|
||||||
|
|
||||||
|
|
||||||
import gcoder
|
|
||||||
|
|
||||||
|
|
||||||
# gcode_path = '/home/mark-voltov/Winder/axis.gcode'
|
|
||||||
|
|
||||||
# gcode.main(gcode)
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
file_path = '/home/mark-voltov/Winder/axis.gcode'
|
|
||||||
gcoder_path = '/home/mark-voltov/GitProjects/framework/cg/freecad/Frames/gcoder.py'
|
|
||||||
|
|
||||||
|
|
||||||
with open(file_path, 'r') as file:
|
|
||||||
gcode = file.readlines()
|
|
||||||
|
|
||||||
# print(gcode)
|
|
||||||
|
|
||||||
(gcoder.LightGCode(gcode))
|
|
||||||
cmd = [file_path gcoder_path]
|
|
||||||
subprocess.run(cmd)
|
|
||||||
# subprocess.run( '/home/mark-voltov/Winder/axis.gcode', '/home/mark-voltov/GitProjects/framework/cg/freecad/Frames/gcoder.py')
|
|
||||||
Binary file not shown.
Binary file not shown.
|
|
@ -1,96 +0,0 @@
|
||||||
(define (domain roboarm)
|
|
||||||
|
|
||||||
(:requirements :strips :typing)
|
|
||||||
(:types
|
|
||||||
zone
|
|
||||||
part
|
|
||||||
assembly
|
|
||||||
roboarm
|
|
||||||
printer
|
|
||||||
|
|
||||||
)
|
|
||||||
(:predicates
|
|
||||||
(arm_available ?a - roboarm)
|
|
||||||
(printer_available ?p - printer)
|
|
||||||
|
|
||||||
;касты на сборку
|
|
||||||
(assembly_at ?a - assembly ?z - zone)
|
|
||||||
(part_of ?part - part ?whole - assembly)
|
|
||||||
(assembled ?whole - assembly)
|
|
||||||
(assembly_order ?prev ?next - assembly)
|
|
||||||
(part_at ?part - part ?z - zone)
|
|
||||||
|
|
||||||
)
|
|
||||||
|
|
||||||
(:durative-action assemble
|
|
||||||
:parameters (?part - part ?prev ?next - assembly ?z - zone ?a - arm)
|
|
||||||
:duration ( = ?duration 5)
|
|
||||||
:condition (and
|
|
||||||
(at start (arm_available ?a))
|
|
||||||
(at start (assembly_order ?prev ?next))
|
|
||||||
(at start (part_of ?part ?next))
|
|
||||||
(at start (assembly_at ?prev ?z))
|
|
||||||
(at start (assembled ?prev))
|
|
||||||
)
|
|
||||||
:effect (and
|
|
||||||
(at start (not (arm_available ?a)))
|
|
||||||
(at end (assembly_at ?next ?z))
|
|
||||||
(at end (assembled ?next))
|
|
||||||
(at end (arm_available ?a))
|
|
||||||
)
|
|
||||||
)
|
|
||||||
|
|
||||||
(:durative-action print
|
|
||||||
:parameters (?part - part ?p - printer ?z - zone )
|
|
||||||
:duration ( = ?duration 10)
|
|
||||||
:condition (and
|
|
||||||
(at start (printer_available ?p))
|
|
||||||
(at_start (not (part_at ?part ?z)))
|
|
||||||
|
|
||||||
)
|
|
||||||
:effect (and
|
|
||||||
(at start (not (printer_available ?p)))
|
|
||||||
(at end (part_at ?part ?z))
|
|
||||||
(at end (printer_available ?a))
|
|
||||||
)
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
; (:action take
|
|
||||||
; :parameters (?r - roboarm ?w - workspace )
|
|
||||||
; :condition (and
|
|
||||||
; (roboarm_free ?r)
|
|
||||||
; (roboarm_available ?r)
|
|
||||||
; )
|
|
||||||
; :effect (and
|
|
||||||
; (not (roboarm_free ?r))
|
|
||||||
; (not (roboarm_available ?r))
|
|
||||||
; )
|
|
||||||
; )
|
|
||||||
|
|
||||||
|
|
||||||
; (:action assemble
|
|
||||||
; :parameters (?r - roboarm ?w - workspace ?a - assembly )
|
|
||||||
; :duration (= ?duration 5 )
|
|
||||||
; :condition (and
|
|
||||||
; (not(roboarm_free ?r))
|
|
||||||
; (not(roboarm_available ?r))
|
|
||||||
; )
|
|
||||||
; :effect (and
|
|
||||||
; (roboarm_free ?r)
|
|
||||||
; (roboarm_available ?r)
|
|
||||||
; (assembled ?a)
|
|
||||||
; )
|
|
||||||
; )
|
|
||||||
; (:goal (and
|
|
||||||
; (roboarm_free ?r)
|
|
||||||
; (assembled ?a)
|
|
||||||
; )
|
|
||||||
; ))
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
;
|
|
||||||
|
|
@ -1,124 +0,0 @@
|
||||||
;; Modified domain taken from
|
|
||||||
;; "Knowledge transfer in robot manipulation tasks" by Jacob O. Huckaby 2014
|
|
||||||
(define (domain robossembler)
|
|
||||||
(:requirements :strips :typing :adl :fluents :durative-actions )
|
|
||||||
(:types
|
|
||||||
printer workspace - zone
|
|
||||||
part
|
|
||||||
arm
|
|
||||||
assembly
|
|
||||||
human
|
|
||||||
filament
|
|
||||||
)
|
|
||||||
|
|
||||||
(:predicates
|
|
||||||
(arm_available ?a - arm)
|
|
||||||
(part_at ?p - part ?z - zone)
|
|
||||||
|
|
||||||
(printer_ready ?p - printer)
|
|
||||||
(printer_checked ?p - printer)
|
|
||||||
(printer_at_work ?p - printer )
|
|
||||||
|
|
||||||
(part_of ?part - part ?whole - assembly)
|
|
||||||
(assembly_order ?prev ?next - assembly)
|
|
||||||
(assembled ?whole - assembly ?z - zone)
|
|
||||||
(observer_free ?h - human)
|
|
||||||
|
|
||||||
(filament_at ?f - filament ?z - zone)
|
|
||||||
)
|
|
||||||
|
|
||||||
(:functions)
|
|
||||||
|
|
||||||
(:durative-action print
|
|
||||||
:parameters (?p - part ?pr - printer)
|
|
||||||
:duration ( = ?duration 20)
|
|
||||||
:condition (and
|
|
||||||
(at start(printer_ready ?pr))
|
|
||||||
)
|
|
||||||
:effect (and
|
|
||||||
(at start (not (printer_ready ?pr)))
|
|
||||||
; (at start (printer_at_work ?pr ))
|
|
||||||
(at end(part_at ?p ?pr))
|
|
||||||
; (at end (not (printer_at_work ?pr )))
|
|
||||||
)
|
|
||||||
)
|
|
||||||
|
|
||||||
(:durative-action remove
|
|
||||||
:parameters (?p - part ?pr - printer ?z - zone ?a - arm)
|
|
||||||
:duration (= ?duration 1)
|
|
||||||
:condition (and
|
|
||||||
(at start (part_at ?p ?pr))
|
|
||||||
(at start (arm_available ?a))
|
|
||||||
|
|
||||||
)
|
|
||||||
:effect (and
|
|
||||||
(at start (not (arm_available ?a)))
|
|
||||||
(at end (part_at ?p ?z))
|
|
||||||
(at end (arm_available ?a))
|
|
||||||
(at end (printer_ready ?pr))
|
|
||||||
)
|
|
||||||
)
|
|
||||||
|
|
||||||
(:durative-action assemble
|
|
||||||
:parameters (?p - part ?prev ?next - assembly ?w - workspace ?arm - arm)
|
|
||||||
:duration (= ?duration 5)
|
|
||||||
:condition (and
|
|
||||||
(at start (assembled ?prev ?w))
|
|
||||||
(at start (part_at ?p ?w))
|
|
||||||
(at start (part_of ?p ?next))
|
|
||||||
(at start (arm_available ?arm))
|
|
||||||
(at start (assembly_order ?prev ?next))
|
|
||||||
)
|
|
||||||
:effect (and
|
|
||||||
(at start (not (arm_available ?arm)))
|
|
||||||
(at end (not (part_at ?p ?w)))
|
|
||||||
(at end (arm_available ?arm))
|
|
||||||
(at end (assembled ?next ?w))
|
|
||||||
)
|
|
||||||
)
|
|
||||||
|
|
||||||
(:durative-action printer_check ; здесь мы подготавливаем сам механизм 3д-принтера
|
|
||||||
:parameters (?p - printer ?h - human)
|
|
||||||
:duration (= ?duration 1)
|
|
||||||
:condition (and
|
|
||||||
(at start ( observer_free ?h ))
|
|
||||||
)
|
|
||||||
|
|
||||||
:effect (and
|
|
||||||
(at start (not (observer_free ?h)))
|
|
||||||
(at end (observer_free ?h))
|
|
||||||
(at end (printer_checked ?p))
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
)
|
|
||||||
|
|
||||||
(:durative-action printer_filament_load ; а здесь - заправляем пластик, чтобы он был готов к печати
|
|
||||||
:parameters (?p - printer ?h - human ?f - filament ?w - workspace)
|
|
||||||
:duration (= ?duration 5)
|
|
||||||
:condition (and
|
|
||||||
(at start (printer_checked ?p))
|
|
||||||
(at start (observer_free ?h))
|
|
||||||
(at start (filament_at ?f ?w)) ; филамент в зоне
|
|
||||||
; (at start (not(printer_ready ?p)))
|
|
||||||
|
|
||||||
)
|
|
||||||
:effect (and
|
|
||||||
(at start (not(observer_free ?h)))
|
|
||||||
(at end (observer_free ?h))
|
|
||||||
(at end (printer_ready ?p))
|
|
||||||
(at end (not (filament_at ?f ?w)))
|
|
||||||
|
|
||||||
)
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
)
|
|
||||||
|
|
||||||
;; end Domain ;;;;;;;;;;;;;;;;;;;;;;;;
|
|
||||||
|
|
@ -1,44 +0,0 @@
|
||||||
(define (problem p1)
|
|
||||||
(:domain robossembler)
|
|
||||||
(:objects
|
|
||||||
;; information from Scene
|
|
||||||
rasmt - arm
|
|
||||||
printer1 printer2 printer3 - printer
|
|
||||||
workspace1 - workspace
|
|
||||||
worker - human
|
|
||||||
filament1 filament2 filament3 - filament
|
|
||||||
;; information from CAD
|
|
||||||
part1 part2 part3 part4 - part
|
|
||||||
subasm0 subasm1 subasm2 subasm3 subasm4 - assembly
|
|
||||||
)
|
|
||||||
(:init
|
|
||||||
;; information from Scene
|
|
||||||
|
|
||||||
(observer_free worker)
|
|
||||||
; (not(printer_ready printer1))
|
|
||||||
|
|
||||||
; (printer_ready printer2)
|
|
||||||
; (printer_ready printer3)
|
|
||||||
(filament_at filament1 workspace1)
|
|
||||||
(filament_at filament2 workspace1)
|
|
||||||
(filament_at filament3 workspace1)
|
|
||||||
|
|
||||||
|
|
||||||
(arm_available rasmt)
|
|
||||||
;; information from CAD
|
|
||||||
(assembled subasm0 workspace1)
|
|
||||||
(part_of part1 subasm1)
|
|
||||||
(part_of part2 subasm2)
|
|
||||||
(part_of part3 subasm3)
|
|
||||||
(part_of part4 subasm4)
|
|
||||||
(assembly_order subasm0 subasm1)
|
|
||||||
(assembly_order subasm1 subasm2)
|
|
||||||
(assembly_order subasm2 subasm3)
|
|
||||||
(assembly_order subasm3 subasm4)
|
|
||||||
)
|
|
||||||
(:goal (and
|
|
||||||
;; information from CAD
|
|
||||||
(assembled subasm4 workspace1)
|
|
||||||
)
|
|
||||||
)
|
|
||||||
)
|
|
||||||
Loading…
Add table
Add a link
Reference in a new issue