diff --git a/cg/blender/import_fcstd/import_cad_objects.py b/cg/blender/import_fcstd/import_cad_objects.py index c997f8c..49845ff 100644 --- a/cg/blender/import_fcstd/import_cad_objects.py +++ b/cg/blender/import_fcstd/import_cad_objects.py @@ -61,14 +61,16 @@ render = '_render' def obj_importer(filename, - linear_deflection, - angular_deflection, + tesselation_method='Standard', + linear_deflection=0.1, + angular_deflection=30.0, + fem_size=5.0, update=False, scene_placement=True, skiphidden=True, scale=0.001, select=True, - nonsolid_property = 'Robossembler_NonSolid'): + nonsolid_property='Robossembler_NonSolid'): ''' Reads a FreeCAD .FCStd file and creates Blender objects ''' @@ -124,11 +126,20 @@ def obj_importer(filename, shape = obj.Shape.copy() shape.Placement = obj.Placement.inverse().multiply(shape.Placement) meshfromshape = doc.addObject('Mesh::Feature','Mesh') - meshfromshape.Mesh = MeshPart.meshFromShape( - Shape=shape, - LinearDeflection=linear_deflection, - AngularDeflection=math.radians(angular_deflection), - Relative=False) + if tesselation_method == 'Standard': + meshfromshape.Mesh = MeshPart.meshFromShape( + Shape=shape, + LinearDeflection=linear_deflection, + AngularDeflection=math.radians(angular_deflection), + Relative=False) + elif tesselation_method == 'FEM': + meshfromshape.Mesh = MeshPart.meshFromShape( + Shape=shape, + MaxLength=fem_size) + else: + raise TypeError('Wrong tesselation method! ' + 'Standard and FEM methods are supported only!') + break t = meshfromshape.Mesh.Topology verts = [[v.x,v.y,v.z] for v in t[0]] faces = t[1] @@ -185,17 +196,18 @@ def obj_importer(filename, # losted root lcs inlet workaround lcs_objects = lcs_collection.objects - root_lcs = [lcs for lcs in lcs_objects if lcs.name.endswith(root)][0] - root_inlet_name = ('{}{}'.format(root_lcs.name.split(root)[0], inlet)) - if not bpy.data.objects.get(root_inlet_name): - root_inlet = bpy.data.objects.new(root_inlet_name, None) - root_inlet.empty_display_type = 'ARROWS' - root_inlet.empty_display_size = 0.1 - root_inlet.show_in_front = True - root_inlet.location = root_lcs.location - root_inlet.rotation_euler = root_lcs.rotation_euler - root_inlet.parent = root_lcs.parent - lcs_collection.objects.link(root_inlet) + if lcs_objects: + root_lcs = [lcs for lcs in lcs_objects if lcs.name.endswith(root)][0] + root_inlet_name = ('{}{}'.format(root_lcs.name.split(root)[0], inlet)) + if not bpy.data.objects.get(root_inlet_name): + root_inlet = bpy.data.objects.new(root_inlet_name, None) + root_inlet.empty_display_type = 'ARROWS' + root_inlet.empty_display_size = 0.1 + root_inlet.show_in_front = True + root_inlet.location = root_lcs.location + root_inlet.rotation_euler = root_lcs.rotation_euler + root_inlet.parent = root_lcs.parent + lcs_collection.objects.link(root_inlet) FreeCAD.closeDocument(docname) diff --git a/cg/freecad/Frames/BoMList.py b/cg/freecad/Frames/BoMList.py index c6c695f..fef31eb 100644 --- a/cg/freecad/Frames/BoMList.py +++ b/cg/freecad/Frames/BoMList.py @@ -108,83 +108,3 @@ def run_BoM_list(): sortedParts = uniquePartsSort(labelParts) countedParts = countForUniques(sortedParts) fillInBoMList(sheet, countedParts) -<<<<<<< HEAD - - -def printETACounter(partLabel): - - - - - import os -import requests -import time - -import FreeCAD -from FreeCAD import Base - -def export_to_stl(doc, filename): - mesh = doc.getObjectsByType("Mesh")[0] - mesh.exportStl(filename) - -def upload_to_octoprint(file_path, api_key, octoprint_url): - headers = { - "X-Api-Key": api_key - } - files = { - "file": open(file_path, "rb") - } - response = requests.post(octoprint_url + "/api/files/local", headers=headers, files=files) - if response.status_code == 201: - print("Файл успешно загружен в OctoPrint.") - return response.json()["name"] - else: - print("Ошибка при загрузке файла в OctoPrint:", response.text) - return None - -def get_print_duration(file_name, api_key, octoprint_url): - headers = { - "X-Api-Key": api_key - } - response = requests.get(octoprint_url + "/api/files/local/" + file_name, headers=headers) - if response.status_code == 200: - return response.json()["gcodeAnalysis"]["estimatedPrintTime"] - else: - print("Ошибка при получении информации о файле из OctoPrint:", response.text) - return None - -# Путь к документу FreeCAD -doc_path = "/path/to/your/file.FCStd" - -# Путь для сохранения STL-файла -stl_path = "/path/to/your/output.stl" - -# Настройки OctoPrint -octoprint_api_key = "your_octoprint_api_key" -octoprint_url = "http://localhost:5000" - -# Открываем документ FreeCAD -doc = FreeCAD.open(doc_path) - -# Экспортируем модель в STL-файл -export_to_stl(doc, stl_path) -print("STL-файл успешно создан.") - -# Загружаем STL-файл в OctoPrint -uploaded_file_name = upload_to_octoprint(stl_path, octoprint_api_key, octoprint_url) -if uploaded_file_name is not None: - # Получаем информацию о длительности печати - print_duration = get_print_duration(uploaded_file_name, octoprint_api_key, octoprint_url) - if print_duration is not None: - print("Оценочная длительность печати: {} секунд.".format(print_duration)) - else: - print("Не удалось получить информацию о длительности печати.") -else: - print("Загрузка файла в OctoPrint не удалась.") - -# Закрываем документ FreeCAD -FreeCAD.closeDocument(doc) - - -======= ->>>>>>> 839ce36c70e0a48d82c32c5b6fe17c5634c8ee07 diff --git a/cg/freecad/Frames/Frames.py b/cg/freecad/Frames/Frames.py index 50812cc..cd5ab2f 100644 --- a/cg/freecad/Frames/Frames.py +++ b/cg/freecad/Frames/Frames.py @@ -12,6 +12,8 @@ # You should have received a copy of the GNU Lesser General Public # License along with this library. If not, see . from BoMList import run_BoM_list +import pddl.freecad2pddl as freecad2pddl +from ImportExportEntities import export_coordinate_systems import FreeCAD import Tools from usecases.asm4parser_usecase import Asm4StructureParseUseCase @@ -300,12 +302,6 @@ def spawnFeatureFrameCreator(): ffpanel = FeatureFramePanel() FreeCADGui.Control.showDialog(ffpanel) -def BoMGeneration(part): - - - obj = FreeCAD.ActiveDocument.addObject("App::FeaturePython", - "FeatureFrame") - print(obj) ################################################################### @@ -327,7 +323,11 @@ Tools.spawnClassCommand("FrameCommand", "MenuText": "Make a free frame", "ToolTip": "Make a freestanding reference frame."}) - +# Tools.spawnClassCommand("ASM4StructureParsing", +# RobossemblerFreeCadExportScenario().call, +# {"Pixmap": str(os.path.join(icondir, "assembly4.svg")), +# "MenuText": "Make a ASM4 parsing", +# "ToolTip": "Make a ASM4 1"}) Tools.spawnClassCommand("SelectedPartFrameCommand", makeSelectedPartFrames, {"Pixmap": str(os.path.join(icondir, "partframe.svg")), @@ -345,6 +345,45 @@ Tools.spawnClassCommand("FeatureFrameCommand", "MenuText": "frame on selected primitive", "ToolTip": "Create a frame on selected primitive."}) +Tools.spawnClassCommand("PDDL_CreateTypes", + freecad2pddl.add_types, + {"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")), + "MenuText": "Types", + "ToolTip": "Add Types"}) + +Tools.spawnClassCommand("PDDL_CreateParameters", + freecad2pddl.add_parameters, + {"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")), + "MenuText": "Parameters", + "ToolTip": "Add Parameters"}) +Tools.spawnClassCommand("PDDL_CreateAction", + freecad2pddl.add_action, + {"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")), + "MenuText": "Action", + "ToolTip": "Add Action"}) +Tools.spawnClassCommand("PDDL_CreatePredicate", + freecad2pddl.add_predicate, + {"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")), + "MenuText": "Predicate", + "ToolTip": "Add Predicate"}) +Tools.spawnClassCommand("PDDL_CreateDurativeAction", + freecad2pddl.add_durative_action, + {"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")), + "MenuText": "DurativeAction", + "ToolTip": "Add Durative Action"}) +Tools.spawnClassCommand("PDDL_ExportPDDL", + freecad2pddl.export_to_file, + {"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")), + "MenuText": "ExportDomain", + "ToolTip": "Create and Export Domain.pddl to File"}) + +Tools.spawnClassCommand("Export_Entities", + export_coordinate_systems, + {"Pixmap": str(os.path.join(icondir, "BoMList.svg")), + "MenuText": "ExportLCS", + "ToolTip": "Export all the markups"}) + + ################################################################### # GUI buttons diff --git a/cg/freecad/Frames/GripPoseGenerator.py b/cg/freecad/Frames/GripPoseGenerator.py new file mode 100644 index 0000000..195014d --- /dev/null +++ b/cg/freecad/Frames/GripPoseGenerator.py @@ -0,0 +1,297 @@ +import FreeCAD +import Part + +doc = FreeCAD.ActiveDocument + + +def check_capture_positions(): + # Получаем активный документ + doc = FreeCAD.ActiveDocument + + # Список тел без позиций захвата + bodies_without_capture_positions = [] + + # Перебираем все объекты в документе + for obj in doc.Objects: + if obj.isDerivedFrom("Part::Feature"): + # Проверяем, есть ли атрибут "Placement" у объекта + if not hasattr(obj, "Placement"): + # Если нет, добавляем его в список + bodies_without_capture_positions.append(obj.Label) + + # Проверяем результат + if len(bodies_without_capture_positions) > 0: + print("Следующие тела не имеют позиции захвата:") + for body in bodies_without_capture_positions: + print(body) + else: + print("Все тела имеют позиции захвата.") + + +check_capture_positions() + + + + + + + +import FreeCAD as App +doc = App.ActiveDocument + +def check_capture_positions(): + bodies_without_grip_pose = [] + solid_bodies_list = [] + lcs_list = [] + bodies_with_grip_pose = [] + for obj in doc.Objects: + if hasattr(obj, 'Shape') and hasattr(obj.Shape, 'Volume') and obj.Shape.Volume: + # if obj.Shape and obj.Shape.Volume: + solid_bodies_list.append(obj) + print(solid_bodies_list) + + for obj in doc.Objects: + if obj.TypeId =='PartDesign::CoordinateSystem': + lcs_list.append(obj) + print(lcs_list) + + for body in solid_bodies_list: + checker = 0 + for lcs in lcs_list: + + print(checker) + if lcs.Attachment_ParentObject == body.Label: + checker =+1 + if checker == 0: + bodies_without_grip_pose.append(body) + print(bodies_without_grip_pose) + + if len(bodies_without_grip_pose) == 0: + print('Все тела имеют позиции захвата') + else: + print('Имеются тела без позиций захвата:') + for body in bodies_without_grip_pose: + print(body.Label) + +check_capture_positions() + + +def create_grip_positions(obj, face1, face2): + if not (face1 and face2): + App.Console.PrintError("Не выбраны обе грани\n") + return + + normal1 = face1.normalAt(0, 0) + normal2 = face2.normalAt(0, 0) + + if normal1.isParallel(normal2): + # Найдите центры граней + center1 = face1.CenterOfMass + center2 = face2.CenterOfMass + + # Вычислите расстояние между центрами граней + distance = center2 - center1 + distance = distance.Length + + # Создайте вспомогательную систему координат между гранями + coordinate_system = App.ActiveDocument.addObject("Part::CoordinateSystem", "CoordinateSystem") + coordinate_system.Placement.Base = center1 + 0.5 * distance * normal1 + coordinate_system.Placement.Rotation = normal1.getRotationTo(App.Vector(0, 0, 1)) + + # Выведите информацию о расстоянии + App.Console.PrintMessage(f"Расстояние межу гранью 1 и гранью 2: {distance} мм\n") + + # Обновите графический интерфейс FreeCAD + App.ActiveDocument.recompute() + else: + App.Console.PrintError("Выбранные грани не являются параллельными\n") + + + + + +create_grip_positions() + +# Добавление обзервера для касаний +v=Gui.activeDocument().activeView() + +#This class logs any mouse button events. As the registered callback function fires twice for 'down' and +#'up' events we need a boolean flag to handle this. +class ViewObserver: + def __init__(self, view): + self.view = view + + def logPosition(self, info): + down = (info["State"] == "DOWN") + pos = info["Position"] + if (down): + FreeCAD.Console.PrintMessage("Clicked on position: ("+str(pos[0])+", "+str(pos[1])+")\n") + pnt = self.view.getPoint(pos) + FreeCAD.Console.PrintMessage("World coordinates: " + str(pnt) + "\n") + info = self.view.getObjectInfo(pos) + FreeCAD.Console.PrintMessage("Object info: " + str(info) + "\n") + + + + + +o = ViewObserver(v) +c = v.addEventCallback("SoMouseButtonEvent",o.logPosition) + + + + +### getObjectInfo работает +import FreeCAD as App +import FreeCADGui as Gui + +def getFaceInfo(face): + if face: + App.Console.PrintMessage(f"Информация о грани: {face}\n") + + # Получите позицию (Base) и ориентацию (Rotation) грани в глобальных координатах + placement = face.Placement + position = App.Vector(placement.Base) + orientation = App.Rotation(placement.Rotation) + + App.Console.PrintMessage(f"Позиция грани: {position}\n") + App.Console.PrintMessage(f"Ориентация грани: {orientation}\n") + +def getObjectInfo(): + selection = Gui.Selection.getSelectionEx() + if selection: + selected_object = selection[0].Object + if selected_object: + subelement_name = selection[0].SubElementNames[0] + if "Face" in subelement_name: + face = selected_object.Shape.Faces[int(subelement_name.split("Face")[1])] + getFaceInfo(face) + else: + App.Console.PrintError("Выберите грань, а не тело или другой элемент\n") + else: + App.Console.PrintError("Объект не найден\n") + else: + App.Console.PrintError("Не выбраны объекты\n") + +getObjectInfo() + + + +import FreeCAD as App +import FreeCADGui as Gui +import Part + + + +# Функция для получения списка всех объектов с заданным свойством +def get_objects_with_property(property_name, property_value): + result = [] + for obj in FreeCAD.ActiveDocument.Objects: + if hasattr(obj, "PropertiesList") and property_name in obj.PropertiesList: + if obj.getPropertyByName(property_name) == property_value: + result.append(obj) + return result + +# Получение списка всех объектов с названием тела в свойстве +bodies = get_objects_with_property("BodyName", "Body") + +# Получение списка всех объектов +all_objects = FreeCAD.ActiveDocument.Objects + +# Поиск и вывод тел, у которых нет связанных вспомогательных объектов +for body in bodies: + linked_objects = [] + for obj in all_objects: + if obj.hasLinkOf(body): + linked_objects.append(obj.Name) + if not linked_objects: + print(f"Тело без связанных объектов: {body.Name}") + +# Пример использования: +# Убедитесь, что в FreeCAD активный документ содержит объекты с свойством "BodyName" и значением "Body" +# Затем запустите этот скрипт, и он выведет тела без связанных объектов в терминал + + + +def create_coordinate_system(surface1, surface2): + if surface1 is None or surface2 is None: + App.Console.PrintError("Не удалось найти одну из поверхностей\n") + return + + # Проверьте, являются ли поверхности плоскими + if surface1.Shape.Faces[0].Surface.TypeId == "Part::Plane" and surface2.Shape.Faces[0].Surface.TypeId == "Part::Plane": + # Проверьте, являются ли поверхности параллельными + normal1 = surface1.Shape.normalAt(0, 0) + normal2 = surface2.Shape.normalAt(0, 0) + + if normal1.isParallel(normal2): + # Найдите центры поверхностей + center1 = surface1.Shape.BoundBox.Center + center2 = surface2.Shape.BoundBox.Center + + # Вычислите расстояние между центрами поверхностей + distance = center2 - center1 + distance = distance.Length + + # Создайте вспомогательную систему координат между поверхностями + coordinate_system = App.ActiveDocument.addObject("Part::CoordinateSystem", "CoordinateSystem") + coordinate_system.Placement.Base = center1 + 0.5 * distance * normal1 + coordinate_system.Placement.Rotation = normal1.getRotationTo(App.Vector(0, 0, 1)) + + # Выведите информацию о расстоянии + App.Console.PrintMessage(f"Расстояние между поверхностью 1 и поверхностью 2: {distance} мм\n") + + # Обновите графический интерфейс FreeCAD + App.ActiveDocument.recompute() + else: + App.Console.PrintError("Выбранные поверхности не являются параллельными\n") + else: + App.Console.PrintError("Выбранные поверхности не являются плоскими\n") + +# Создайте пользовательский интерфейс кнопки для вызова функции +class CoordinateSystemTool: + def Activated(self): + selection = Gui.Selection.getSelectionEx() + if len(selection) == 2: + create_coordinate_system(selection[0].Object, selection[1].Object) + else: + App.Console.PrintError("Выберите две параллельные плоскости\n") + + def GetResources(self): + return { + 'Pixmap': 'path/to/your/icon.png', # Замените на путь к значку кнопки + 'MenuText': 'Создать вспомогательную систему координат', + 'ToolTip': 'Создать вспомогательную систему координат между двумя плоскостями' + } + +# Зарегистрируйте пользовательский инструмент +Gui.addCommand('My_Coordinate_System_Tool', CoordinateSystemTool()) + + +#### эта штука работает vvv + +# Функция для создания вспомогательного объекта и установки свойства "AttachmentType" +def create_helper_object_with_attribute(body, attribute_value): + helper_object = FreeCAD.ActiveDocument.addObject("App::FeaturePython", "HelperObject") + helper_object.addProperty("App::PropertyString", "AttachmentType").AttachmentType = attribute_value + helper_object.addProperty("App::PropertyString", "AttachedObject") + helper_object.AttachedObject = body.Label + + +# Пример использования: +# Замените "MyBody" на имя тела, к которому вы хотите привязать вспомогательный объект +body_to_attach = FreeCAD.ActiveDocument.getObjectsByLabel("gear_frame_221213")[0] +if body_to_attach: + create_helper_object_with_attribute(body_to_attach, "Body") +else: + print("Тело не найдено в активном документе.") + + +#итого, план такой: + +0. Проверяем тело на наличие позиций захвата +0.1. Выводим список всех тел без позиции, иначе говорим что все ок +1. Создаем вспомогательную систему координат. у нее имеется свойство, привязывающее ее к определенному телу +1.1 Создаем ее с помощью выбора двух поверхностей, которые противоположно направлены друг к другу. Все данные вносим в созданный обьект +1.2 Опционально - проверяем ее с помощью призрака захвата +2. Экспортируем ее в json \ No newline at end of file diff --git a/cg/freecad/Frames/ImportExportEntities.py b/cg/freecad/Frames/ImportExportEntities.py index 73f9aaa..e65932d 100644 --- a/cg/freecad/Frames/ImportExportEntities.py +++ b/cg/freecad/Frames/ImportExportEntities.py @@ -47,7 +47,7 @@ def export_coordinate_systems(): print("Экспорт обьектов завершен.") -export_coordinate_systems() +# export_coordinate_systems() #работает @@ -100,6 +100,6 @@ export_coordinate_systems() # print("Импорт локальных систем координат завершен.") - +# # Пример использования # #import_coordinate_systems() diff --git a/cg/freecad/Frames/InitGui.py b/cg/freecad/Frames/InitGui.py index 7018d50..1d5001a 100644 --- a/cg/freecad/Frames/InitGui.py +++ b/cg/freecad/Frames/InitGui.py @@ -46,9 +46,15 @@ class Frames(Workbench): ] self.toolcommands = [ "ExportPlacementAndPropertiesCommand", + "Export_Entities", "ExportGazeboModels", "InsertGraspPose", - "ASM4StructureParsing" + "ASM4StructureParsing", + "PDDL_CreateTypes", + "PDDL_CreateParameters", + "PDDL_CreateAction", + "PDDL_CreatePredicate", + "PDDL_CreateDurativeAction" ] self.appendToolbar(f"{__class__.__name__} Frames", self.framecommands) self.appendToolbar(f"{__class__.__name__} Tools", self.toolcommands) diff --git a/cg/freecad/Frames/chekingEntities.py b/cg/freecad/Frames/chekingEntities.py new file mode 100644 index 0000000..baf69fe --- /dev/null +++ b/cg/freecad/Frames/chekingEntities.py @@ -0,0 +1,29 @@ +import FreeCAD + +# Функция для получения списка всех объектов с заданным свойством +def get_objects_with_property(property_name, property_value): + result = [] + for obj in FreeCAD.ActiveDocument.Objects: + if hasattr(obj, "PropertiesList") and property_name in obj.PropertiesList: + if obj.getPropertyByName(property_name) == property_value: + result.append(obj) + return result + +# Получение списка всех объектов с названием тела в свойстве +bodies = get_objects_with_property("BodyName", "Body") + +# Получение списка всех объектов +all_objects = FreeCAD.ActiveDocument.Objects + +# Поиск и вывод тел, у которых нет связанных вспомогательных объектов +for body in bodies: + linked_objects = [] + for obj in all_objects: + if obj.hasLinkOf(body): + linked_objects.append(obj.Name) + if not linked_objects: + print(f"Тело без связанных объектов: {body.Name}") + +# Пример использования: +# Убедитесь, что в FreeCAD активный документ содержит объекты с свойством "BodyName" и значением "Body" +# Затем запустите этот скрипт, и он выведет тела без связанных объектов в терминал diff --git a/cg/freecad/Frames/file.py b/cg/freecad/Frames/file.py deleted file mode 100644 index 2da5788..0000000 --- a/cg/freecad/Frames/file.py +++ /dev/null @@ -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') \ No newline at end of file diff --git a/cg/freecad/Frames/freecad2pddl.py b/cg/freecad/Frames/freecad2pddl.py deleted file mode 100644 index e340877..0000000 --- a/cg/freecad/Frames/freecad2pddl.py +++ /dev/null @@ -1,60 +0,0 @@ -# import FreeCAD as App - - -# doc = App.ActiveDocument - - -#генерируем pddl -#импортируем кучу обьектов из дерева построения freecad - -#задаем шаблон на действие - -predicates = ';; Предикаты \n(:predicates \n(at ?c - component ?location - component) \n(printed ?c - component) \n(has-material ?m - material) \n(compatible ?m - material ?c - component))' - -# print(predicates) - - -predicates = - - -(" ;; Предикаты \ - '(:predicates (at ?c - component ?location - component)' \ - '(printed ?c - component)' \ - '(printed ?c - component))' - - -print(predicates) - -# (:predicates -# (at ?c - component ?location - component) -# (printed ?c - component) -# (has-material ?m - material) -# (compatible ?m - material ?c - component))'' - - - -# ;; Предикаты -# (:predicates -# (at ?c - component ?location - component) -# (printed ?c - component) -# (has-material ?m - material) -# (compatible ?m - material ?c - component)) - -# ;; Действия -# (:action load-material -# :parameters (?m - material ?c - component) -# :precondition (and (at ?m ?c) (compatible ?m ?c)) -# :effect (has-material ?m)) - -# (:action unload-material -# :parameters (?m - material ?c - component) -# :precondition (has-material ?m) -# :effect (and (not (has-material ?m)) (at ?m ?c))) - -# (:action print-component -# :parameters (?c - component) -# :precondition (and (at ?c ?printer) (has-material ?m) (compatible ?m ?c)) -# :effect (printed ?c)) - -# ;; Цель -# (:goal (forall (?c - component) (printed ?c)))) \ No newline at end of file diff --git a/cg/freecad/Frames/modelExport.py b/cg/freecad/Frames/modelExport.py index 3add19f..5ade1ba 100644 --- a/cg/freecad/Frames/modelExport.py +++ b/cg/freecad/Frames/modelExport.py @@ -68,8 +68,13 @@ def materialExistenceCheck(doc): #проверим, что материалы правильно описаны: # Открываем файл JSON с требованиями и загружаем его содержимое -with open('material_requirements.json', 'r') as f: - material_requirements = json.load(f) +# with open('material_requirements.json', 'r') as f: +# material_requirements = json.load(f) +material_requirements = ["Density", +"DiffuseColor", +"EmissiveColor" +] + @@ -158,4 +163,7 @@ def parse_values(value_str): #todo: # сделать проверку на солидовые тела #укомпоновать все вспомогательные обьекты в отдельную штуку -#wip \ No newline at end of file +#wip + +#подготавливаем действия и состояния для PDDL +# \ No newline at end of file diff --git a/cg/freecad/Frames/my_problem.pddl b/cg/freecad/Frames/my_problem.pddl new file mode 100644 index 0000000..56ae618 --- /dev/null +++ b/cg/freecad/Frames/my_problem.pddl @@ -0,0 +1,69 @@ +(define (problem my_problem) +(:domain roboarm) +(:objects + ur_manipulator_gripper - arm + printer - printer + world - zone + box1 box2 box3 box4 box5 box6 - part + asm0 asm1 asm2 asm3 asm4 asm5 asm6 - assembly +) + +(:init + not(part_at box1 world) + not(part_at box2 world) + not(part_at box3 world) + not(part_at box4 world) + not(part_at box5 world) + not(part_at box6 world) + (part_of box1 asm1) + (part_of box2 asm2) + (part_of box3 asm3) + (part_of box4 asm4) + (part_of box5 asm5) + (part_of box6 asm6) + (assembly_order asm0 asm1) + (assembly_order asm1 asm2) + (assembly_order asm2 asm3) + (assembly_order asm3 asm4) + (assembly_order asm4 asm5) + (assembly_order asm5 asm6) + + (printer_available printer) + (arm_available ur_manipulator_gripper) + (assembly_at asm0 world) + (assembled asm0) +) + +(:goal (and + (assembled asm6) +)) +) + +; нужно указать желаемое конечное состояние +; (эффект в конце действия) +; в нашем случае, допустим, будет asm6 +; чтобы включить принтер в процесс, у нас должны спавниться детали + +; будет что-то типа (not part_at box1 workzone) + +; и action print +; начальные условия: not part_at box workzone +; принтер доступен +; в ходе дела парт печатается, принтер не доступен +; в конце - принтер доступен, деталь в зоне + +; нужно в генераторе добавить поддержку условий at start и at end +; но пока что это можно прописать текстом + + +; предикаты - +; рука доступна - рука +; сборка в зоне - сборка зона +; деталь часть сборки - деталь сборка +; собрана - сборка +; сборочный порядок - предсборка следсборка + +; + +; деталь в зоне - деталь зона +; принтер доступен - принтер + diff --git a/cg/freecad/Frames/pddl/MillingMachine.FCStd b/cg/freecad/Frames/pddl/MillingMachine.FCStd new file mode 100644 index 0000000..60be802 Binary files /dev/null and b/cg/freecad/Frames/pddl/MillingMachine.FCStd differ diff --git a/cg/freecad/Frames/pddl/MillingMachine.FCStd1 b/cg/freecad/Frames/pddl/MillingMachine.FCStd1 new file mode 100644 index 0000000..c324eef Binary files /dev/null and b/cg/freecad/Frames/pddl/MillingMachine.FCStd1 differ diff --git a/cg/freecad/Frames/pddl/PartDesignExample.FCStd b/cg/freecad/Frames/pddl/PartDesignExample.FCStd new file mode 100644 index 0000000..ad0adc0 Binary files /dev/null and b/cg/freecad/Frames/pddl/PartDesignExample.FCStd differ diff --git a/cg/freecad/Frames/pddl/PartDesignExample.FCStd1 b/cg/freecad/Frames/pddl/PartDesignExample.FCStd1 new file mode 100644 index 0000000..09f22c4 Binary files /dev/null and b/cg/freecad/Frames/pddl/PartDesignExample.FCStd1 differ diff --git a/cg/freecad/Frames/pddl/Printer.FCStd b/cg/freecad/Frames/pddl/Printer.FCStd new file mode 100644 index 0000000..b694cba Binary files /dev/null and b/cg/freecad/Frames/pddl/Printer.FCStd differ diff --git a/cg/freecad/Frames/pddl/domain.pddl b/cg/freecad/Frames/pddl/domain.pddl new file mode 100644 index 0000000..a2b1478 --- /dev/null +++ b/cg/freecad/Frames/pddl/domain.pddl @@ -0,0 +1,59 @@ +(define (domain fabrication) + +(:requirements :strips :typing :fluents :durative-actions) +(:types + endmill workspace - zone + part + arm + assembly + human +) + (:predicates + (endmill_is_ready endmill task observer) + (part_at ?p - part ?z - zone) + (endmill_ready ?p - printer) + (endmill_checked ?p - printer) + (endmill_at_work ?p - printer) + (assembly_order ?prev ?next - assembly) + (assembled ?whole - assembly ?z - zone) + (observer_free ?h - human) + ) + (:functions + ) +(:action predpreparing + :parameters () + :condition (and + (not endmill_is_ready) + ) + :effect (and + (endmill_is_ready) +) + ) +(:durative-action PartDesignExample_Profile_TC: Default Tool + :parameters ( ) + :duration ( = ?duration 157) + :condition (and + (endmill_is_ready) + ) + :effect (and +) + ) +(:durative-action PartDesignExample_Pocket3D_TC: Default Tool + :parameters ( ) + :duration ( = ?duration 170) + :condition (and + (endmill_is_ready) + ) + :effect (and +) + ) +(:durative-action PartDesignExample_MillFace_TC: Default Tool + :parameters ( ) + :duration ( = ?duration 79) + :condition (and + (endmill_is_ready) + ) + :effect (and +) + ) + ) diff --git a/cg/freecad/Frames/pddl/etalon_domain.pddl b/cg/freecad/Frames/pddl/etalon_domain.pddl new file mode 100644 index 0000000..9262be7 --- /dev/null +++ b/cg/freecad/Frames/pddl/etalon_domain.pddl @@ -0,0 +1,97 @@ +(define (domain Printer) + +(:requirements :strips :typing :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 ?arm - arm ?w - workspace ) + :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 + :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 + :parameters ( ?p - printer ?h - human ?f - filament ?z - zone ) + :duration ( = ?duration 5) + :condition (and + (at start (printer_checked ?p)) + (at start (observer_free ?h)) + (at start (filament_at ?f ?z)) + ) + :effect (and + (at start (not(observer_free ?h))) + (at end (observer_free ?h)) + (at end (printer_ready ?p)) + (at end (not (filament_at ?f ?z))) +) + ) + ) diff --git a/cg/freecad/Frames/pddl/etalon_problem.pddl b/cg/freecad/Frames/pddl/etalon_problem.pddl new file mode 100644 index 0000000..98b2207 --- /dev/null +++ b/cg/freecad/Frames/pddl/etalon_problem.pddl @@ -0,0 +1,127 @@ +(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 + pad009003002002 pad009003002003 pad009003002005 pad009003002011 fusion004003 o_2_a001 o_2_m001 o_3_m001 o_3_a001 pad009003002008 fusion005 o_4_m001 o_5_m001 o_5_a001 o_4_a001 fusion006 r_a001 r_m001 r_l001 synfix synfix001 fusion fusion001 synfix002 fusion002 synfix003 fusion007 pad009003002012 pad001 pocket pad002 fusion008 fusion009 bearing_dgsr_6006_001 bearing_dgsr_6006_002 bearing_dgsr_6006_003 bearing_dgsr_6005_ bearing_dgsr_6005_001 bearing_dgsr_6005_002 bearing_dgsr_6005_003 bearing_dgsr_6005_004 pad003 pocket001 - part + subasm00 subasm0 subasm1 subasm2 subasm3 subasm4 subasm5 subasm6 subasm7 subasm8 subasm9 subasm10 subasm11 subasm12 subasm13 subasm14 subasm15 subasm16 subasm17 subasm18 subasm19 subasm20 subasm21 subasm22 subasm23 subasm24 subasm25 subasm26 subasm27 subasm28 subasm29 subasm30 subasm31 subasm32 subasm33 subasm34 subasm35 subasm36 subasm37 subasm38 subasm39 subasm40 subasm41 subasm42 - 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 subasm00 workspace1) + + + + +(part_of pad009003002002 subasm0) + (part_of pad009003002003 subasm1) + (part_of pad009003002005 subasm2) + (part_of pad009003002011 subasm3) + (part_of fusion004003 subasm4) + (part_of o_2_a001 subasm5) + (part_of o_2_m001 subasm6) + (part_of o_3_m001 subasm7) + (part_of o_3_a001 subasm8) + (part_of pad009003002008 subasm9) + (part_of fusion005 subasm10) + (part_of o_4_m001 subasm11) + (part_of o_5_m001 subasm12) + (part_of o_5_a001 subasm13) + (part_of o_4_a001 subasm14) + (part_of fusion006 subasm15) + (part_of r_a001 subasm16) + (part_of r_m001 subasm17) + (part_of r_l001 subasm18) + (part_of synfix subasm19) + (part_of synfix001 subasm20) + (part_of fusion subasm21) + (part_of fusion001 subasm22) + (part_of synfix002 subasm23) + (part_of fusion002 subasm24) + (part_of synfix003 subasm25) + (part_of fusion007 subasm26) + (part_of pad009003002012 subasm27) + (part_of pad001 subasm28) + (part_of pocket subasm29) + (part_of pad002 subasm30) + (part_of fusion008 subasm31) + (part_of fusion009 subasm32) + (part_of bearing_dgsr_6006_001 subasm33) + (part_of bearing_dgsr_6006_002 subasm34) + (part_of bearing_dgsr_6006_003 subasm35) + (part_of bearing_dgsr_6005_ subasm36) + (part_of bearing_dgsr_6005_001 subasm37) + (part_of bearing_dgsr_6005_002 subasm38) + (part_of bearing_dgsr_6005_003 subasm39) + (part_of bearing_dgsr_6005_004 subasm40) + (part_of pad003 subasm41) + (part_of pocket001 subasm42) + + (assembly_order subasm00 subasm0) + (assembly_order subasm0 subasm1) + (assembly_order subasm1 subasm2) + (assembly_order subasm2 subasm3) + (assembly_order subasm3 subasm4) + (assembly_order subasm4 subasm5) + (assembly_order subasm5 subasm6) + (assembly_order subasm6 subasm7) + (assembly_order subasm7 subasm8) + (assembly_order subasm8 subasm9) + (assembly_order subasm9 subasm10) + (assembly_order subasm10 subasm11) + (assembly_order subasm11 subasm12) + (assembly_order subasm12 subasm13) + (assembly_order subasm13 subasm14) + (assembly_order subasm14 subasm15) + (assembly_order subasm15 subasm16) + (assembly_order subasm16 subasm17) + (assembly_order subasm17 subasm18) + (assembly_order subasm18 subasm19) + (assembly_order subasm19 subasm20) + (assembly_order subasm20 subasm21) + (assembly_order subasm21 subasm22) + (assembly_order subasm22 subasm23) + (assembly_order subasm23 subasm24) + (assembly_order subasm24 subasm25) + (assembly_order subasm25 subasm26) + (assembly_order subasm26 subasm27) + (assembly_order subasm27 subasm28) + (assembly_order subasm28 subasm29) + (assembly_order subasm29 subasm30) + (assembly_order subasm30 subasm31) + (assembly_order subasm31 subasm32) + (assembly_order subasm32 subasm33) + (assembly_order subasm33 subasm34) + (assembly_order subasm34 subasm35) + (assembly_order subasm35 subasm36) + (assembly_order subasm36 subasm37) + (assembly_order subasm37 subasm38) + (assembly_order subasm38 subasm39) + (assembly_order subasm39 subasm40) + (assembly_order subasm40 subasm41) + (assembly_order subasm41 subasm42) +) +(:goal (and + ;; information from CAD + (assembled subasm42 workspace1) + ) +) +) diff --git a/cg/freecad/Frames/pddl/freecad2pddl.py b/cg/freecad/Frames/pddl/freecad2pddl.py new file mode 100644 index 0000000..eb4cbc5 --- /dev/null +++ b/cg/freecad/Frames/pddl/freecad2pddl.py @@ -0,0 +1,181 @@ +import FreeCAD as App +import FreeCADGui as Gui + + + + + +#функции для создания обьектов PDDL + +def add_types(): + doc = App.ActiveDocument + types = doc.addObject('App::FeaturePython', 'Types') + types.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL' + types.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Types' + types.addProperty("App::PropertyStringList", 'Types', 'PDDL') + + print('Types of objects added successfully') + return(types) +#слишком много types + +def add_parameters(): + doc = App.ActiveDocument + params = doc.addObject('App::FeaturePython', 'Parameters') + params.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL' + params.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Parameters' + params.addProperty('App::PropertyPythonObject', 'Parameters','PDDl') + + print('Domain parameters added successfully') + return(params) + +def add_action(): + doc = App.ActiveDocument + + name = input('Название действия:') + action = doc.addObject('App::FeaturePython', str(name)) + action.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL' + action.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Action' + action.addProperty("App::PropertyStringList", 'Parameters', 'PDDL') + action.addProperty("App::PropertyStringList", 'Conditions', 'PDDL') + action.addProperty("App::PropertyStringList", 'Effects', 'PDDL') + sortEntity(action) + print('Action ' + name + 'added successfully') + return(action) + + +def add_predicate(): + doc = App.ActiveDocument + + name = input('Название предиката:') + parms = input('Переменные') + predicate = doc.addObject('App::FeaturePython', str(name)) + predicate.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL' + predicate.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Predicate' + # predicate.addProperty("App::PropertyStringList", 'Name', 'PDDL') + predicate.addProperty("App::PropertyStringList", 'Parameters', 'PDDL').Parameters = parms + sortEntity(predicate) + print('Predicate ' + name + 'added successfully') + return(predicate) + + +def add_durative_action(): + doc = App.ActiveDocument + name = input('Название действия:') + action = doc.addObject('App::FeaturePython', str(name)) + action.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL' + action.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'DurativeAction' + action.addProperty("App::PropertyStringList", 'Parameters', 'PDDL') + action.addProperty("App::PropertyStringList", 'Conditions', 'PDDL') + action.addProperty("App::PropertyStringList", 'Effects', 'PDDL') + action.addProperty('App::PropertyString', 'Duration', 'PDDL') + sortEntity(action) + print('Durative Action ' + name + ' added successfully') + return(action) + + + + +def export_to_file(): + filename = App.ActiveDocument.Name + file_path = App.ActiveDocument.FileName.rsplit("/", 1)[0] + filename + '_domain.pddl' + + doc = App.ActiveDocument + objs = doc.Objects + with open(file_path, 'w') as f: + f.write('(define (domain '+ filename +')\n \n') + f.write('(:requirements :strips :typing :fluents :durative-actions)\n') + + # Типы обьектов + types = doc.getObjectsByLabel('Types')[0] + f.write('(:types \n') + + for obj_type in types.Types: + f.write(' ' + obj_type + ' \n') + f.write(')\n') + + # предикаты + f.write(' (:predicates\n') + for obj in objs: + if hasattr(obj, 'PDDL') and hasattr(obj, 'Type') and obj.Type == 'Predicate': + f.write(' ('+ obj.Label) + for params in obj.Parameters: + f.write(' ' + params) + f.write(')\n') + f.write(' )\n') + + # функции + f.write(' (:functions\n') + f.write(' )\n') + + #действия: + for obj in objs: + if hasattr(obj, 'PDDL') and hasattr(obj, 'Type') and obj.Type == 'Action': + f.write('(:action ' + obj.Label + '\n') + f.write(' :parameters (') + for params in obj.Parameters: + f.write('' + params + ' ') + f.write(')\n') + f.write(' :condition (and \n') + + for condition in obj.Conditions: + f.write(' (' + condition + ') \n') + + f.write(' )\n') + + f.write(' :effect (and \n') + + for effect in obj.Effects: + f.write(' (' + effect + ') \n') + # f.write(' ') + f.write(')\n') + + f.write(' )\n') + + # длительные действия: + for obj in objs: + if hasattr(obj, 'PDDL') and hasattr(obj, 'Type') and obj.Type == 'DurativeAction': + f.write('(:durative-action ' + obj.Label + '\n') + f.write(' :parameters (') + for params in obj.Parameters: + f.write(' ' + params ) + f.write(' )\n') + f.write(' :duration ( = ?duration '+ str(obj.Duration) +')\n') + f.write(' :condition (and \n') + + for condition in obj.Conditions: + f.write(' (' + condition + ') \n') + # f.write(') ') + # f.write(')\n') + f.write(' )\n') + + f.write(' :effect (and \n') + + for effect in obj.Effects: + f.write(' (' + effect + ') \n') + # f.write(' ') + f.write(')\n') + + f.write(' )\n') + + + + f.write(' )\n') + + + +def sortEntity(object): + doc = App.ActiveDocument + + + if len(doc.getObjectsByLabel(object.Type)) == 0: + pddl_group = doc.addObject("App::DocumentObjectGroup", object.Type) + else: + pddl_group = doc.getObjectsByLabel(object.Type)[0] + pddl_group.addObject(object) + + + + Gui.updateGui() + + + diff --git a/cg/freecad/Frames/pddl/path2pddl.py b/cg/freecad/Frames/pddl/path2pddl.py new file mode 100644 index 0000000..11d6421 --- /dev/null +++ b/cg/freecad/Frames/pddl/path2pddl.py @@ -0,0 +1,343 @@ +import os +import FreeCAD as App +import FreeCADGui as Gui +import json + +#1. Экспорт фрикадовских операций + + +printer = '/home/mark-voltov/GitProjects/framework/cg/freecad/Frames/pddl/Printer.FCStd' +endmill = '/home/mark-voltov/GitProjects/framework/cg/freecad/Frames/pddl/MillingMachine.FCStd' +part1 = '/home/mark-voltov/GitProjects/framework/cg/freecad/Frames/pddl/PartDesignExample.FCStd' +#потенциально, можно здесь полностью задавать все описание сцены + +toolslist = [printer, endmill] +partlist = [part1] + +part = App.open(part1) +tool = App.open(endmill) + +def pathCheck(part): + checker = False + for obj in part.Objects: + if hasattr(obj, 'TypeId') and obj.TypeId == 'Path::FeaturePython': + if obj.Label == 'Job': + checker = True + return checker + + + +operations_data = [] + +#нужно дополнить фиксированием принадлежности к телу +def is_entity_in_folder(part, entity, folder_name): + + # Поиск папки с заданным именем + folder = None + for obj in part.Objects: + if obj.isDerivedFrom("App::DocumentObjectGroup") and obj.Label == folder_name: + folder = obj + break + + # Если папка не найдена, вернуть False + if not folder: + return False + + # Проверка наличия сущности внутри папки + return entity in folder.Group + + +#выделяем те сущности, которые являются операциями +def operationsInfoCollecting(part): + if pathCheck(part): + for obj in part.Objects: + if is_entity_in_folder(part, obj, 'Operations'): + operations_data.append({'Part_label': part.Label, + 'Operation_name': obj.Label, + 'Tool': obj.ToolController.Label, + 'Duration': obj.CycleTime}) + + else: + print('Операции не были обнаружены') + + return operations_data + + +# Словарь для группировки операций по станкам +machines_operations = {} + + + + +def toolOperationCollector(tool): + #соберем отдельно список pddl-операций из файла станка и будем работать с ним отдельно + tool_operations = [] + for obj in tool.Objects: + if hasattr(obj, 'PDDL') and hasattr(obj, 'Type') and obj.Type == 'DurativeAction': + tool_operations.append({'Label': obj.Label, + 'Conditions': obj.Conditions, + 'Duration': 0, + 'Effects': obj.Effects, + 'Parameters': obj.Parameters, + 'Type': obj.Type + }) + return tool_operations + + +def operationGenerator(tool, operations_data): + + tool_operations = toolOperationCollector(tool) + + + #отсеиваем все действия + pddl_actions = [] + for part_operation in operations_data: + for tool_operation in tool_operations: + if tool_operation['Label'] == part_operation['Tool']: + pddl_actions.append({'Label': part_operation['Part_label'] + '_' + part_operation['Operation_name'] + '_' + tool_operation['Label'], + 'Partname': part_operation['Part_label'], + 'Conditions': tool_operation['Conditions'], + 'Duration': part_operation['Duration'], + 'Effects': tool_operation['Effects'], + 'Parameters': tool_operation['Parameters'], + 'Type': tool_operation['Type'], + 'Tool': tool_operation['Label'] + }) + #здесь у нас появился список операций применительно к одному станку + #выполнив эту функцию для каждого станка, получим кучу операций для всего + return pddl_actions + + + + + + + + + +#теперь нужно собрать все операции в один pddl +#нужно извлечь все действия и все не-действия, первое идет из tool_operations, второе - нужно отбирать из станков напрямую + +def collectingNonActions(tool): + tool_non_operations = [] + for obj in tool.Objects: + if hasattr(obj, 'PDDL') and hasattr(obj,'Type') and obj.Type != 'DurativeAction': + tool_non_operations.append(export_object_properties(obj)) + return tool_non_operations + + + +def export_object_properties(obj): + obj_dict = {} + + # Получение всех свойств объекта + properties = obj.PropertiesList + + for prop_name in properties: + prop = obj.getPropertyByName(prop_name) + obj_dict[prop_name] = prop + + return obj_dict + +#у нас есть словари с действиями и недействиями +#собираем их в pddl + +def time_in_sec(time_str): + +# Разделяем часы, минуты и секунды + hours, minutes, seconds = map(int, time_str.split(":")) + # Переводим в секунды + time_in_seconds = (hours * 3600) + (minutes * 60) + seconds + return time_in_seconds + + + + +#основной документ здесь - станок. Нужно поместить файл домена в папку с оборудованием + +def domain_export(tool, pddl_entities_list): + + file_path = endmill.rsplit("/", 1)[0] + '/domain.pddl' + + filename = 'fabrication' + + + with open(file_path, 'w') as f: + f.write('(define (domain '+ filename +')\n \n') + f.write('(:requirements :strips :typing :fluents :durative-actions)\n') + + # Типы обьектов + #выбираем словари, которые соответствуют типу types + types_list = [d for d in pddl_entities_list if d.get("Type") == 'Types'] + + + f.write('(:types \n') + + for obj in types_list: + for type in obj['Types']: + f.write(' ' + str(type) + ' \n') + f.write(')\n') + + + + # предикаты + #выбираем словари, соответствующие предикатам + f.write(' (:predicates\n') + predicates_list = [d for d in pddl_entities_list if d.get("Type") == 'Predicate'] + + for obj in predicates_list: + + f.write(' ('+ obj['Label']) + for params in obj['Parameters']: + f.write(' ' + params) + f.write(')\n') + f.write(' )\n') + + # функции + f.write(' (:functions\n') + f.write(' )\n') + + #действия: + #выбираем словари, соответствующие действиям + + actions_list = [d for d in pddl_entities_list if d.get("Type") == 'Action'] + + for obj in actions_list: + + + f.write('(:action ' + obj['Label'] + '\n') + f.write(' :parameters (') + for params in obj['Parameters']: + f.write('' + params + ' ') + f.write(')\n') + f.write(' :condition (and \n') + + for condition in obj['Conditions']: + f.write(' (' + condition + ') \n') + + f.write(' )\n') + + f.write(' :effect (and \n') + + for effect in obj['Effects']: + f.write(' (' + effect + ') \n') + + f.write(')\n') + + f.write(' )\n') + + # длительные действия: + #выбираем словари, соответствующие действиям + + durative_actions_list = [d for d in pddl_entities_list if d.get("Type") == 'DurativeAction'] + + for obj in durative_actions_list: + f.write('(:durative-action ' + obj['Label'] + '\n') + f.write(' :parameters (') + for params in obj['Parameters']: + f.write(' ' + params ) + f.write(' )\n') + f.write(' :duration ( = ?duration '+ str(time_in_sec(str(obj['Duration']))) +')\n') + f.write(' :condition (and \n') + + for condition in obj['Conditions']: + f.write(' (' + condition + ') \n') + + f.write(' )\n') + + f.write(' :effect (and \n') + + for effect in obj['Effects']: + f.write(' (' + effect + ') \n') + f.write(')\n') + + f.write(' )\n') + + + + f.write(' )\n') + +tool_non_operations = [] + + +operations_data = operationsInfoCollecting(part) + + + +pddl_actions = operationGenerator(tool, operations_data) + +pddl_non_actions = collectingNonActions(tool) + +pddl_entities_list = pddl_non_actions + pddl_actions + +domain_export(tool, pddl_entities_list) + +def problem_export(partlist): + pass + + +def predicate_generator(): + #как определять операции? по тегам, означающим действие и/или подготовку + #нужно выделить порядок + #как выделить порядок операций для детали? + #операции импортируются по порядку сверху вниз. + #можно создавать переходы по следующим признакам: + #операция создает условие "operation_name_done", следующая операция требует условия "operation_name_n-1_done" + #операция при начале делает условие "not operation_name_done" + #если операция требует изменения инструмента, то должна выполняться операция по замене инструмента + # + for n in range(pddl_actions): + if pddl_actions[n+1]['Tool'] == pddl_actions[n]['Tool']: + #замена инструмента не требуется + pddl_actions[n+1]['Conditions'].append(pddl_actions[n]["Label"] + '_done') + + else: + #включается операция по замене инструмента + pddl_actions[n+1]['Conditions'].append( pddl_actions[n]["Label"] + '_done') + pddl_actions[n+1]['Conditions'].append('change_' + pddl_actions[n]['Tool'] + 'to' + pddl_actions[n+1]['Tool'] + '_done' ) #сюда нужно воткнуть операцию по замене + #нужно создать операцию, которая произведет эту замену. + +aux_pddl_actions = [] + +def auxActionsGenerator(pddl_action_1, pddl_action_2): + aux_pddl_actions.append({{'Label': 'change_tool' + pddl_action_1['Tool'] + 'to' + pddl_action_2['Tool'], + 'Partname': part_operation['Part_label'], + 'Conditions': tool_operation['Conditions'], + 'Duration': part_operation['Duration'], + 'Effects': tool_operation['Effects'], + 'Parameters': tool_operation['Parameters'], + 'Type': tool_operation['Type'], + 'Tool': tool_operation['Label'] + } + + }) + + +#генерируется pddl-домен относительно нормально +#нужно увязать последовательность операций с пред и пост условиями, создавая предикаты автоматически +#problem можно создавать на основе операции сборки. Генератор последовательности сборки выдает основную информацию +#для сборки нужно, чтобы все операции подготовки детали были выполнены + + + +# какие могут быть ситуации? + +# ряд последовательных операций + +# если станок один: +# если операции на одном виде инструментов: +# то операция1 имеет пред "операция0 готова" +# создает пред "операция1 готова" +# операция2 имеет пред "операция1 готова" +# создает пред "операция2 готова" +# если операция на разных видах инструментов: +# то операция1 имеет пред "операция0 готова" +# создает пред "операция1 готова" +# создает пред "смена инструмента не готова" +# операция смены имеет пред "операция1 готова" +# имеет пред "смена инструмента не готова" +# создает пред "смена инструмента готова" +# операция2 имеет пред "операция1 готова" +# имеет пред "смена инструмента готова" + +# остальное аналогично diff --git a/cg/freecad/Frames/pddl/test_asm.FCStd b/cg/freecad/Frames/pddl/test_asm.FCStd new file mode 100644 index 0000000..5c2ca5f Binary files /dev/null and b/cg/freecad/Frames/pddl/test_asm.FCStd differ diff --git a/cg/freecad/Frames/pddldomain.pddl b/cg/freecad/Frames/pddldomain.pddl new file mode 100644 index 0000000..b9b1da6 --- /dev/null +++ b/cg/freecad/Frames/pddldomain.pddl @@ -0,0 +1,82 @@ +(define (domain fabrication) + +(:requirements :strips :typing :fluents :durative-actions) +(:types + ['endmill workspace - zone', 'part', 'arm', 'assembly', 'human', ''] +) + (:predicates + (endmill_is_ready endmill task observer) + (part_at [?p - part ?z - zone]) + (endmill_ready ?p - printer) + (endmill_checked ?p - printer) + (endmill_at_work ?p - printer) + (assembly_order ?prev ?next - assembly) + (assembled ?whole - assembly ?z - zone) + (observer_free ?h - human) + ) + (:functions + ) +(:action predpreparing + :parameters () + :condition (and + (not endmill_is_ready) + ) + :effect (and + (endmill_is_ready) +) + ) +(:durative-action PartDesignExample_TC: Default Tool + :parameters ( ) + :duration ( = ?duration 00:02:37) + :condition (and + (endmill_is_ready) + ) + :effect (and +) + ) +(:durative-action PartDesignExample_TC: Default Tool + :parameters ( ) + :duration ( = ?duration 00:02:50) + :condition (and + (endmill_is_ready) + ) + :effect (and +) + ) +(:durative-action PartDesignExample_TC: Default Tool + :parameters ( ) + :duration ( = ?duration 00:01:18) + :condition (and + (endmill_is_ready) + ) + :effect (and +) + ) +(:durative-action PartDesignExample_TC: Default Tool + :parameters ( ) + :duration ( = ?duration 00:02:37) + :condition (and + (endmill_is_ready) + ) + :effect (and +) + ) +(:durative-action PartDesignExample_TC: Default Tool + :parameters ( ) + :duration ( = ?duration 00:02:50) + :condition (and + (endmill_is_ready) + ) + :effect (and +) + ) +(:durative-action PartDesignExample_TC: Default Tool + :parameters ( ) + :duration ( = ?duration 00:01:18) + :condition (and + (endmill_is_ready) + ) + :effect (and +) + ) + ) diff --git a/cg/pipeline/freecad_to_asset.py b/cg/pipeline/freecad_to_asset.py index d55e484..96829be 100644 --- a/cg/pipeline/freecad_to_asset.py +++ b/cg/pipeline/freecad_to_asset.py @@ -59,9 +59,12 @@ hightpoly = '_hp' lowpoly = '_lp' render = '_render' + def freecad_asset_pipeline(fcstd_path, + tesselation_method, linear_deflection, angular_deflection, + fem_size, mesh_export_path=None, json_path=None, blend_path=None, @@ -74,8 +77,10 @@ def freecad_asset_pipeline(fcstd_path, # import objects objs_for_render = obj_importer(fcstd_path, - linear_deflection, - angular_deflection) + tesselation_method, + linear_deflection, + angular_deflection, + fem_size) # restructuring hierarchy by lcs points lcs_objects = restruct_hierarchy() @@ -130,10 +135,14 @@ if __name__ == '__main__': description='Convert and setup FreeCAD solid objects to 3d assets mesh files.') parser.add_argument( '--fcstd_path', type=str, help='Path to source FreeCAD scene', required=True) + parser.add_argument( + '--tesselation_method', type=str, help='Select tesselation method: Standard or FEM.', default='Standard', required=False) parser.add_argument( '--linear_deflection', type=float, help='Max linear distance error', default=0.1, required=False) parser.add_argument( '--angular_deflection', type=float, help='Max angular distance error', default=20.0, required=False) + parser.add_argument( + '--fem_size', type=float, help='For FEM method only! Finite element size in mm', default=1.0, required=False) parser.add_argument( '--mesh_export_path', type=str, help='Path for export meshes', required=False) parser.add_argument( @@ -145,8 +154,10 @@ if __name__ == '__main__': args = parser.parse_args() freecad_asset_pipeline(args.fcstd_path, + args.tesselation_method, args.linear_deflection, args.angular_deflection, + args.fem_size, args.mesh_export_path, args.json_path, args.blend_path, diff --git a/markup_workbench/.gitignore b/markup_workbench/.gitignore new file mode 100644 index 0000000..2b2f40c --- /dev/null +++ b/markup_workbench/.gitignore @@ -0,0 +1,95 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +env/ +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +*.egg-info/ +.installed.cfg +*.egg + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*,cover +.hypothesis/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# pyenv +.python-version + +# celery beat schedule file +celerybeat-schedule + +# SageMath parsed files +*.sage.py + +# dotenv +.env + +# virtualenv +.venv +venv/ +ENV/ + +# Spyder project settings +.spyderproject + +# Rope project settings +.ropeproject +env.json \ No newline at end of file diff --git a/markup_workbench/LICENSE b/markup_workbench/LICENSE new file mode 100644 index 0000000..5f2dd7f --- /dev/null +++ b/markup_workbench/LICENSE @@ -0,0 +1,505 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 2.1, February 1999 + + Copyright (C) 1991, 1999 Free Software Foundation, Inc. + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + +(This is the first released version of the Lesser GPL. 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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, write to the Free Software + Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 + USA + +Also add information on how to contact you by electronic and paper mail. + +You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the library, if +necessary. Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the + library `Frob' (a library for tweaking knobs) written by James Random + Hacker. + + {signature of Ty Coon}, 1 April 1990 + Ty Coon, President of Vice + +That's all there is to it! + diff --git a/markup_workbench/README.md b/markup_workbench/README.md new file mode 100644 index 0000000..d35d859 --- /dev/null +++ b/markup_workbench/README.md @@ -0,0 +1,11 @@ +Запуск фрикада с верстаком +../../../AppImages/FreeCAD_0.20.2.AppImage main.py + +Зависимости для env.json: + + Путь до ассетов сборки - "aspPath":"/home/mark-voltov/Рабочий стол/out/", + Имя используемого гриппера - "gripperName": "Gripper01" + +решить задачу определения размеченныъ и неразмеченных деталей +найти джсон со сборкой и сопоставить имена деталей с разметкой + diff --git a/markup_workbench/gui/__init__.py b/markup_workbench/gui/__init__.py new file mode 100644 index 0000000..f80dcdc --- /dev/null +++ b/markup_workbench/gui/__init__.py @@ -0,0 +1,4 @@ +import os +from .version import __version__ + +ICONPATH = os.path.join(os.path.dirname(__file__), "resources") diff --git a/markup_workbench/gui/init_gui.py b/markup_workbench/gui/init_gui.py new file mode 100644 index 0000000..d90dfa2 --- /dev/null +++ b/markup_workbench/gui/init_gui.py @@ -0,0 +1,110 @@ +import os +import FreeCADGui as Gui +import FreeCAD as App +from PySide.QtCore import QT_TRANSLATE_NOOP +import shutil +ICONPATH = os.path.join(os.path.dirname(__file__), "resources") +zone = "StabilityZone" +import requests +import importOBJ + + +class AddStabilityZone: + def __init__(self): + pass + + def GetResources(self): + return {'Pixmap': os.path.join(ICONPATH, "stability_zone.svg"), + 'Accel': "Ctrl+A", + 'MenuText': QT_TRANSLATE_NOOP("My_Command", "My Command"), + 'ToolTip': QT_TRANSLATE_NOOP("My_Command", "Runs my command in the active document")} + + def Activated(self): + App.ActiveDocument.addObject("Part::Box", "Box") + App.ActiveDocument.ActiveObject.Label = zone + selected_object = App.ActiveDocument.getObjectsByLabel(zone)[0] + selected_object.ViewObject.Transparency = 50 + selected_object.ViewObject.ShapeColor = (0.15, 0.80, 0.50) + pass + + def IsActive(self): + return True + + +class SyncServer: + + httpURL = None + def __init__(self, httpURL): + self.httpURL = httpURL + + + def GetResources(self): + return {'Pixmap': os.path.join(ICONPATH, "server_sync.svg"), + 'Accel': "Ctrl+A", + 'MenuText': QT_TRANSLATE_NOOP("My_Command", "My Command"), + 'ToolTip': QT_TRANSLATE_NOOP("My_Command", "Runs my command in the active document")} + + def Activated(self): + StabilityZone = App.ActiveDocument.getObjectsByLabel(zone) + dir_path = os.path.dirname(os.path.realpath(__file__)) + dir_out = dir_path + '/out/' + if not os.path.exists(dir_out): + os.makedirs(dir_out) + importOBJ.export(StabilityZone, u"" + dir_out + 'StabilityZone.obj') + shutil.make_archive(dir_out + '/' + 'geometry', 'zip',) + zipArch = dir_out + 'geometry.zip' + requests.post(url=self.httpURL, files={'zip': open(zipArch, "rb")}) + shutil.rmtree(dir_out) + pass + + def IsActive(self): + return True + +class TestButton: + + httpURL = None + def __init__(self, httpURL): + self.httpURL = httpURL + + + def GetResources(self): + return {'Pixmap': os.path.join(ICONPATH, "server_sync.svg"), + 'Accel': "Ctrl+A", + 'MenuText': QT_TRANSLATE_NOOP("My_Command", "My Command"), + 'ToolTip': QT_TRANSLATE_NOOP("My_Command", "Runs my command in the active document")} + + def Activated(self): + print(200) + pass + + def IsActive(self): + return True + +class StabilityWorkbench(Gui.Workbench): + + MenuText = "MarkUp" + ToolTip = "a simple workbench for some markup" + Icon = os.path.join(ICONPATH, "template_resource.svg") + toolbox = ['AddStabilityZone', 'SyncServer',"TestButton"] + httpURL = None + def __init__(self,httpURL): + self.httpURL = httpURL + + + def GetClassName(self): + return "Gui::PythonWorkbench" + + def Initialize(self): + Gui.addCommand('AddStabilityZone', AddStabilityZone()) + Gui.addCommand('SyncServer', SyncServer( + self.httpURL)) + Gui.addCommand('TestButton', TestButton( + self.httpURL)) + self.appendToolbar("Tools", self.toolbox) + self.appendMenu("Tools", self.toolbox) + + def Activated(self): + pass + + def Deactivated(self): + pass diff --git a/markup_workbench/gui/my_numpy_function.py b/markup_workbench/gui/my_numpy_function.py new file mode 100644 index 0000000..d74c650 --- /dev/null +++ b/markup_workbench/gui/my_numpy_function.py @@ -0,0 +1,4 @@ +import numpy as np + +def my_foo(value): + return np.sqrt(value) diff --git a/markup_workbench/gui/resources/server_sync.svg b/markup_workbench/gui/resources/server_sync.svg new file mode 100644 index 0000000..da595a2 --- /dev/null +++ b/markup_workbench/gui/resources/server_sync.svg @@ -0,0 +1,134 @@ + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + + diff --git a/markup_workbench/gui/resources/stability_zone.svg b/markup_workbench/gui/resources/stability_zone.svg new file mode 100644 index 0000000..3f7686a --- /dev/null +++ b/markup_workbench/gui/resources/stability_zone.svg @@ -0,0 +1,142 @@ + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + + + + + + + + + + + + diff --git a/markup_workbench/gui/resources/template_resource.svg b/markup_workbench/gui/resources/template_resource.svg new file mode 100644 index 0000000..1b74788 --- /dev/null +++ b/markup_workbench/gui/resources/template_resource.svg @@ -0,0 +1,183 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + [WandererFan] + + + techdraw-clipplus + 2016-01-14 + http://www.freecadweb.org/wiki/index.php?title=Artwork + + + FreeCAD + + + FreeCAD/src/Mod/TechDraw/Gui/Resources/icons/actions/techdraw-clipplus.svg + + + FreeCAD LGPL2+ + + + https://www.gnu.org/copyleft/lesser.html + + + [agryson] Alexander Gryson + + + + + + + + + + + + + + + + + + + + diff --git a/markup_workbench/gui/version.py b/markup_workbench/gui/version.py new file mode 100644 index 0000000..3486632 --- /dev/null +++ b/markup_workbench/gui/version.py @@ -0,0 +1 @@ +__version__ = "0.8.1" \ No newline at end of file diff --git a/markup_workbench/main.py b/markup_workbench/main.py new file mode 100644 index 0000000..1356221 --- /dev/null +++ b/markup_workbench/main.py @@ -0,0 +1,30 @@ +import os +import FreeCADGui as Gui +import FreeCAD as App +from gui.init_gui import StabilityWorkbench +import json + + +def importObjAtPath(path: str): + import importOBJ + importOBJ.insert(u"" + path, App.ActiveDocument.Label) + + pass + + +def getFullPathObj(assemblyFolder: str, name: str): + return assemblyFolder + 'sdf/meshes/' + name + '.obj' + + +def main(): + App.newDocument() + #TODO(Mark): 1. Добавить парсер файлов пути генерации. Нужно определить неразмеченные детали и импортировать объекты, которые соответствуют неразмеченным деталям + #2. Добавить процедуру экспорта информации о разметке + #3. + Gui.SendMsgToActiveView("ViewSelection") + + Gui.addWorkbench(StabilityWorkbench('')) + Gui.activateWorkbench("StabilityWorkbench") + + +main() diff --git a/pddl/main.py b/pddl/main.py index 6766cce..1f4b37e 100644 --- a/pddl/main.py +++ b/pddl/main.py @@ -4,8 +4,7 @@ from src.model.asm4_structure import Asm4Structure from src.usecases.assembly_to_pddl_use_case import AssemblyToPddlUseCase - -# python3 main.py --stepStructurePath /home/idontsudo/t/framework/asp-review-app/server/public/cubes/generation/step-structure.json --outPath /home/idontsudo/t/framework/pddl/ + if __name__ == "__main__": parser = argparse.ArgumentParser() diff --git a/pddl/src/usecases/assembly_to_pddl_use_case.py b/pddl/src/usecases/assembly_to_pddl_use_case.py index 7583043..a6ba8ef 100644 --- a/pddl/src/usecases/assembly_to_pddl_use_case.py +++ b/pddl/src/usecases/assembly_to_pddl_use_case.py @@ -7,13 +7,11 @@ import os class AssemblyToPddlUseCase: def call(assembly: List[str], rootLabel: str): - print(assembly) partType = UserType("part") assemblyType = UserType('assembly') objectsPartPddl = [] objectsAsmToPddl = [] - i = 0 for el in assembly: objectsPartPddl.append(Object(el, partType)) @@ -30,15 +28,26 @@ class AssemblyToPddlUseCase: connected = Fluent('part-of', BoolType(), l_from=partType, l_to=assemblyType) + assemblyOrder = Fluent('assembly_order', BoolType(), + l_from=assemblyType, l_to=assemblyType) i = 0 for el in objectsPartPddl: problem.set_initial_value(connected(el, objectsAsmToPddl[i]), True) i = i+1 goal = Fluent(rootLabel) + problem.add_goal(connected(objectsPartPddl[objectsPartPddl.__len__( ) - 1], objectsAsmToPddl[objectsAsmToPddl.__len__() - 1]),) + + i = 0 + for el in objectsAsmToPddl: + if objectsAsmToPddl[i-1] != objectsAsmToPddl[objectsAsmToPddl.__len__() - 1]: + problem.set_initial_value(assemblyOrder(objectsAsmToPddl[i-1], el), True) + i = i+1 + + problem.add_goal(assemblyOrder(objectsAsmToPddl[objectsAsmToPddl.__len__( + ) - 1], objectsAsmToPddl[objectsAsmToPddl.__len__() - 1]),) return { "problem": unified_planning.io.PDDLWriter(problem).get_problem(), 'domain': FS.readFile(os.path.dirname(os.path.realpath(__file__)) + '/../../mocks' + '/domain.txt'), } - diff --git a/stability_process_predicate/main.py b/stability_process_predicate/main.py index 9a86e0b..bb85e78 100644 --- a/stability_process_predicate/main.py +++ b/stability_process_predicate/main.py @@ -1,7 +1,7 @@ import argparse from usecases.stability_check_usecase import StabilityCheckUseCase -# python3 main.py --aspPath /home/idontsudo/t/framework/cad_generation/out/sdf-generation/ --buildNumber 2 + def main(): parser = argparse.ArgumentParser() parser.add_argument('--aspPath', help='asp folder generation path') diff --git a/stability_process_predicate/usecases/stability_check_usecase.py b/stability_process_predicate/usecases/stability_check_usecase.py index 9af448d..9d37b53 100644 --- a/stability_process_predicate/usecases/stability_check_usecase.py +++ b/stability_process_predicate/usecases/stability_check_usecase.py @@ -7,17 +7,16 @@ import json class StabilityCheckUseCase: - def call(self, outPath: str, buildNumber: int, duration=10000): + def call(self, outPath: str, buildNumber: int, duration=500): DURATION = duration try: assemblyUrdf = json.loads( (open(outPath + 'urdf-generation.json')).read()).get(buildNumber) - print(assemblyUrdf) - except Exception as e: - print(e) + except: return TypeError('not found urfd file or not found build number') inc = 0 urdfs = [] + for el in assemblyUrdf: inc += 1 file_to_open = outPath + str(inc) + '.urdf' @@ -27,15 +26,15 @@ class StabilityCheckUseCase: f.write(el) urdfs.append(os.path.abspath(f.name)) f.close() - p.connect(p.GUI) + + p.connect(p.DIRECT) p.setGravity(0, 0, -10) p.setAdditionalSearchPath(pybullet_data.getDataPath()) - bulletIds = [] - p.loadURDF("plane.urdf") for el in urdfs: bulletIds.append(p.loadURDF(el)) + p.loadURDF("plane.urdf") resultCoords = [] for i in range(DURATION): if (i + 200 == DURATION):