Merge remote-tracking branch 'origin/87-markup-workbench' into 91-material-features
This commit is contained in:
Mark Voltov
commit
4f75310263
39 changed files with 2633 additions and 218 deletions
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@ -61,8 +61,10 @@ render = '_render'
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def obj_importer(filename,
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linear_deflection,
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angular_deflection,
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tesselation_method='Standard',
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linear_deflection=0.1,
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angular_deflection=30.0,
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fem_size=5.0,
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update=False,
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scene_placement=True,
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skiphidden=True,
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@ -124,11 +126,20 @@ def obj_importer(filename,
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shape = obj.Shape.copy()
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shape.Placement = obj.Placement.inverse().multiply(shape.Placement)
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meshfromshape = doc.addObject('Mesh::Feature','Mesh')
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if tesselation_method == 'Standard':
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meshfromshape.Mesh = MeshPart.meshFromShape(
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Shape=shape,
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LinearDeflection=linear_deflection,
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AngularDeflection=math.radians(angular_deflection),
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Relative=False)
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elif tesselation_method == 'FEM':
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meshfromshape.Mesh = MeshPart.meshFromShape(
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Shape=shape,
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MaxLength=fem_size)
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else:
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raise TypeError('Wrong tesselation method! '
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'Standard and FEM methods are supported only!')
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break
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t = meshfromshape.Mesh.Topology
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verts = [[v.x,v.y,v.z] for v in t[0]]
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faces = t[1]
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@ -185,6 +196,7 @@ def obj_importer(filename,
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# losted root lcs inlet workaround
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lcs_objects = lcs_collection.objects
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if lcs_objects:
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root_lcs = [lcs for lcs in lcs_objects if lcs.name.endswith(root)][0]
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root_inlet_name = ('{}{}'.format(root_lcs.name.split(root)[0], inlet))
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if not bpy.data.objects.get(root_inlet_name):
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@ -108,83 +108,3 @@ def run_BoM_list():
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sortedParts = uniquePartsSort(labelParts)
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countedParts = countForUniques(sortedParts)
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fillInBoMList(sheet, countedParts)
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<<<<<<< HEAD
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def printETACounter(partLabel):
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import os
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import requests
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import time
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import FreeCAD
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from FreeCAD import Base
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def export_to_stl(doc, filename):
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mesh = doc.getObjectsByType("Mesh")[0]
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mesh.exportStl(filename)
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def upload_to_octoprint(file_path, api_key, octoprint_url):
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headers = {
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"X-Api-Key": api_key
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}
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files = {
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"file": open(file_path, "rb")
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}
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response = requests.post(octoprint_url + "/api/files/local", headers=headers, files=files)
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if response.status_code == 201:
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print("Файл успешно загружен в OctoPrint.")
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return response.json()["name"]
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else:
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print("Ошибка при загрузке файла в OctoPrint:", response.text)
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return None
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def get_print_duration(file_name, api_key, octoprint_url):
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headers = {
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"X-Api-Key": api_key
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}
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response = requests.get(octoprint_url + "/api/files/local/" + file_name, headers=headers)
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if response.status_code == 200:
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return response.json()["gcodeAnalysis"]["estimatedPrintTime"]
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else:
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print("Ошибка при получении информации о файле из OctoPrint:", response.text)
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return None
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# Путь к документу FreeCAD
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doc_path = "/path/to/your/file.FCStd"
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# Путь для сохранения STL-файла
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stl_path = "/path/to/your/output.stl"
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# Настройки OctoPrint
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octoprint_api_key = "your_octoprint_api_key"
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octoprint_url = "http://localhost:5000"
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# Открываем документ FreeCAD
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doc = FreeCAD.open(doc_path)
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# Экспортируем модель в STL-файл
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export_to_stl(doc, stl_path)
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print("STL-файл успешно создан.")
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# Загружаем STL-файл в OctoPrint
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uploaded_file_name = upload_to_octoprint(stl_path, octoprint_api_key, octoprint_url)
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if uploaded_file_name is not None:
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# Получаем информацию о длительности печати
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print_duration = get_print_duration(uploaded_file_name, octoprint_api_key, octoprint_url)
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if print_duration is not None:
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print("Оценочная длительность печати: {} секунд.".format(print_duration))
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else:
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print("Не удалось получить информацию о длительности печати.")
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else:
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print("Загрузка файла в OctoPrint не удалась.")
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# Закрываем документ FreeCAD
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FreeCAD.closeDocument(doc)
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=======
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>>>>>>> 839ce36c70e0a48d82c32c5b6fe17c5634c8ee07
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@ -12,6 +12,8 @@
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# You should have received a copy of the GNU Lesser General Public
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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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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 Tools
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from usecases.asm4parser_usecase import Asm4StructureParseUseCase
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@ -300,12 +302,6 @@ def spawnFeatureFrameCreator():
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ffpanel = FeatureFramePanel()
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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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@ -327,7 +323,11 @@ Tools.spawnClassCommand("FrameCommand",
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"MenuText": "Make a free frame",
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"ToolTip": "Make a freestanding reference frame."})
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# Tools.spawnClassCommand("ASM4StructureParsing",
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# RobossemblerFreeCadExportScenario().call,
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# {"Pixmap": str(os.path.join(icondir, "assembly4.svg")),
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# "MenuText": "Make a ASM4 parsing",
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# "ToolTip": "Make a ASM4 1"})
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Tools.spawnClassCommand("SelectedPartFrameCommand",
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makeSelectedPartFrames,
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{"Pixmap": str(os.path.join(icondir, "partframe.svg")),
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@ -345,6 +345,45 @@ Tools.spawnClassCommand("FeatureFrameCommand",
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"MenuText": "frame on selected primitive",
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"ToolTip": "Create a frame on selected primitive."})
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Tools.spawnClassCommand("PDDL_CreateTypes",
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freecad2pddl.add_types,
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{"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")),
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"MenuText": "Types",
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"ToolTip": "Add Types"})
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Tools.spawnClassCommand("PDDL_CreateParameters",
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freecad2pddl.add_parameters,
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{"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")),
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"MenuText": "Parameters",
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"ToolTip": "Add Parameters"})
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Tools.spawnClassCommand("PDDL_CreateAction",
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freecad2pddl.add_action,
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{"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")),
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"MenuText": "Action",
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"ToolTip": "Add Action"})
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Tools.spawnClassCommand("PDDL_CreatePredicate",
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freecad2pddl.add_predicate,
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{"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")),
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"MenuText": "Predicate",
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"ToolTip": "Add Predicate"})
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Tools.spawnClassCommand("PDDL_CreateDurativeAction",
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freecad2pddl.add_durative_action,
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{"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")),
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"MenuText": "DurativeAction",
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"ToolTip": "Add Durative Action"})
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Tools.spawnClassCommand("PDDL_ExportPDDL",
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freecad2pddl.export_to_file,
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{"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")),
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"MenuText": "ExportDomain",
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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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# GUI buttons
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297
cg/freecad/Frames/GripPoseGenerator.py
Normal file
297
cg/freecad/Frames/GripPoseGenerator.py
Normal file
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@ -0,0 +1,297 @@
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import FreeCAD
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import Part
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doc = FreeCAD.ActiveDocument
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def check_capture_positions():
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# Получаем активный документ
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doc = FreeCAD.ActiveDocument
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# Список тел без позиций захвата
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bodies_without_capture_positions = []
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# Перебираем все объекты в документе
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for obj in doc.Objects:
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if obj.isDerivedFrom("Part::Feature"):
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# Проверяем, есть ли атрибут "Placement" у объекта
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if not hasattr(obj, "Placement"):
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# Если нет, добавляем его в список
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bodies_without_capture_positions.append(obj.Label)
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# Проверяем результат
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if len(bodies_without_capture_positions) > 0:
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print("Следующие тела не имеют позиции захвата:")
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for body in bodies_without_capture_positions:
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print(body)
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else:
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print("Все тела имеют позиции захвата.")
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check_capture_positions()
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import FreeCAD as App
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doc = App.ActiveDocument
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def check_capture_positions():
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bodies_without_grip_pose = []
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solid_bodies_list = []
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lcs_list = []
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bodies_with_grip_pose = []
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for obj in doc.Objects:
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if hasattr(obj, 'Shape') and hasattr(obj.Shape, 'Volume') and obj.Shape.Volume:
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# if obj.Shape and obj.Shape.Volume:
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solid_bodies_list.append(obj)
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print(solid_bodies_list)
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for obj in doc.Objects:
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if obj.TypeId =='PartDesign::CoordinateSystem':
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lcs_list.append(obj)
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print(lcs_list)
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for body in solid_bodies_list:
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checker = 0
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for lcs in lcs_list:
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print(checker)
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if lcs.Attachment_ParentObject == body.Label:
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checker =+1
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if checker == 0:
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bodies_without_grip_pose.append(body)
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print(bodies_without_grip_pose)
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if len(bodies_without_grip_pose) == 0:
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print('Все тела имеют позиции захвата')
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else:
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print('Имеются тела без позиций захвата:')
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for body in bodies_without_grip_pose:
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print(body.Label)
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check_capture_positions()
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def create_grip_positions(obj, face1, face2):
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if not (face1 and face2):
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App.Console.PrintError("Не выбраны обе грани\n")
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return
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normal1 = face1.normalAt(0, 0)
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normal2 = face2.normalAt(0, 0)
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if normal1.isParallel(normal2):
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# Найдите центры граней
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center1 = face1.CenterOfMass
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center2 = face2.CenterOfMass
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# Вычислите расстояние между центрами граней
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distance = center2 - center1
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distance = distance.Length
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# Создайте вспомогательную систему координат между гранями
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coordinate_system = App.ActiveDocument.addObject("Part::CoordinateSystem", "CoordinateSystem")
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coordinate_system.Placement.Base = center1 + 0.5 * distance * normal1
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coordinate_system.Placement.Rotation = normal1.getRotationTo(App.Vector(0, 0, 1))
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# Выведите информацию о расстоянии
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App.Console.PrintMessage(f"Расстояние межу гранью 1 и гранью 2: {distance} мм\n")
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# Обновите графический интерфейс FreeCAD
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App.ActiveDocument.recompute()
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else:
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App.Console.PrintError("Выбранные грани не являются параллельными\n")
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create_grip_positions()
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# Добавление обзервера для касаний
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v=Gui.activeDocument().activeView()
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#This class logs any mouse button events. As the registered callback function fires twice for 'down' and
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#'up' events we need a boolean flag to handle this.
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class ViewObserver:
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def __init__(self, view):
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self.view = view
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def logPosition(self, info):
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down = (info["State"] == "DOWN")
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pos = info["Position"]
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if (down):
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FreeCAD.Console.PrintMessage("Clicked on position: ("+str(pos[0])+", "+str(pos[1])+")\n")
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pnt = self.view.getPoint(pos)
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FreeCAD.Console.PrintMessage("World coordinates: " + str(pnt) + "\n")
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info = self.view.getObjectInfo(pos)
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FreeCAD.Console.PrintMessage("Object info: " + str(info) + "\n")
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o = ViewObserver(v)
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c = v.addEventCallback("SoMouseButtonEvent",o.logPosition)
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### getObjectInfo работает
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import FreeCAD as App
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import FreeCADGui as Gui
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def getFaceInfo(face):
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if face:
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App.Console.PrintMessage(f"Информация о грани: {face}\n")
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# Получите позицию (Base) и ориентацию (Rotation) грани в глобальных координатах
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placement = face.Placement
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position = App.Vector(placement.Base)
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orientation = App.Rotation(placement.Rotation)
|
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|
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App.Console.PrintMessage(f"Позиция грани: {position}\n")
|
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App.Console.PrintMessage(f"Ориентация грани: {orientation}\n")
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|
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def getObjectInfo():
|
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selection = Gui.Selection.getSelectionEx()
|
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if selection:
|
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selected_object = selection[0].Object
|
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if selected_object:
|
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subelement_name = selection[0].SubElementNames[0]
|
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if "Face" in subelement_name:
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face = selected_object.Shape.Faces[int(subelement_name.split("Face")[1])]
|
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getFaceInfo(face)
|
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else:
|
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App.Console.PrintError("Выберите грань, а не тело или другой элемент\n")
|
||||
else:
|
||||
App.Console.PrintError("Объект не найден\n")
|
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else:
|
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App.Console.PrintError("Не выбраны объекты\n")
|
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|
||||
getObjectInfo()
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|
||||
|
||||
|
||||
import FreeCAD as App
|
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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)
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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)
|
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if not linked_objects:
|
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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
|
||||
|
|
@ -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()
|
||||
|
||||
|
|
|
|||
|
|
@ -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)
|
||||
|
|
|
|||
29
cg/freecad/Frames/chekingEntities.py
Normal file
29
cg/freecad/Frames/chekingEntities.py
Normal file
|
|
@ -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
|
||||
|
|
@ -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')
|
||||
|
|
@ -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))))
|
||||
|
|
@ -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"
|
||||
]
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
@ -159,3 +164,6 @@ def parse_values(value_str):
|
|||
# сделать проверку на солидовые тела
|
||||
#укомпоновать все вспомогательные обьекты в отдельную штуку
|
||||
#wip
|
||||
|
||||
#подготавливаем действия и состояния для PDDL
|
||||
#
|
||||
69
cg/freecad/Frames/my_problem.pddl
Normal file
69
cg/freecad/Frames/my_problem.pddl
Normal file
|
|
@ -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
|
||||
|
||||
BIN
cg/freecad/Frames/pddl/MillingMachine.FCStd
Normal file
BIN
cg/freecad/Frames/pddl/MillingMachine.FCStd
Normal file
Binary file not shown.
BIN
cg/freecad/Frames/pddl/MillingMachine.FCStd1
Normal file
BIN
cg/freecad/Frames/pddl/MillingMachine.FCStd1
Normal file
Binary file not shown.
BIN
cg/freecad/Frames/pddl/PartDesignExample.FCStd
Normal file
BIN
cg/freecad/Frames/pddl/PartDesignExample.FCStd
Normal file
Binary file not shown.
BIN
cg/freecad/Frames/pddl/PartDesignExample.FCStd1
Normal file
BIN
cg/freecad/Frames/pddl/PartDesignExample.FCStd1
Normal file
Binary file not shown.
BIN
cg/freecad/Frames/pddl/Printer.FCStd
Normal file
BIN
cg/freecad/Frames/pddl/Printer.FCStd
Normal file
Binary file not shown.
59
cg/freecad/Frames/pddl/domain.pddl
Normal file
59
cg/freecad/Frames/pddl/domain.pddl
Normal file
|
|
@ -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
|
||||
)
|
||||
)
|
||||
)
|
||||
97
cg/freecad/Frames/pddl/etalon_domain.pddl
Normal file
97
cg/freecad/Frames/pddl/etalon_domain.pddl
Normal file
|
|
@ -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)))
|
||||
)
|
||||
)
|
||||
)
|
||||
127
cg/freecad/Frames/pddl/etalon_problem.pddl
Normal file
127
cg/freecad/Frames/pddl/etalon_problem.pddl
Normal file
|
|
@ -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)
|
||||
)
|
||||
)
|
||||
)
|
||||
181
cg/freecad/Frames/pddl/freecad2pddl.py
Normal file
181
cg/freecad/Frames/pddl/freecad2pddl.py
Normal file
|
|
@ -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()
|
||||
|
||||
|
||||
|
||||
343
cg/freecad/Frames/pddl/path2pddl.py
Normal file
343
cg/freecad/Frames/pddl/path2pddl.py
Normal file
|
|
@ -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
|
||||
BIN
cg/freecad/Frames/pddl/test_asm.FCStd
Normal file
BIN
cg/freecad/Frames/pddl/test_asm.FCStd
Normal file
Binary file not shown.
82
cg/freecad/Frames/pddldomain.pddl
Normal file
82
cg/freecad/Frames/pddldomain.pddl
Normal file
|
|
@ -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
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -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,
|
||||
tesselation_method,
|
||||
linear_deflection,
|
||||
angular_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,
|
||||
|
|
|
|||
95
markup_workbench/.gitignore
vendored
Normal file
95
markup_workbench/.gitignore
vendored
Normal file
|
|
@ -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
|
||||
505
markup_workbench/LICENSE
Normal file
505
markup_workbench/LICENSE
Normal file
|
|
@ -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. It also counts
|
||||
as the successor of the GNU Library Public License, version 2, hence
|
||||
the version number 2.1.)
|
||||
|
||||
Preamble
|
||||
|
||||
The licenses for most software are designed to take away your
|
||||
freedom to share and change it. By contrast, the GNU General Public
|
||||
Licenses are intended to guarantee your freedom to share and change
|
||||
free software--to make sure the software is free for all its users.
|
||||
|
||||
This license, the Lesser General Public License, applies to some
|
||||
specially designated software packages--typically libraries--of the
|
||||
Free Software Foundation and other authors who decide to use it. You
|
||||
can use it too, but we suggest you first think carefully about whether
|
||||
this license or the ordinary General Public License is the better
|
||||
strategy to use in any particular case, based on the explanations below.
|
||||
|
||||
When we speak of free software, we are referring to freedom of use,
|
||||
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|
||||
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|
||||
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|
||||
it if you want it; that you can change the software and use pieces of
|
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|
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|
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|
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To protect your rights, we need to make restrictions that forbid
|
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|
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|
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|
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For example, if you distribute copies of the library, whether gratis
|
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|
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|
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|
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|
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|
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We protect your rights with a two-step method: (1) we copyright the
|
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|
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|
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|
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|
||||
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|
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|
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Finally, software patents pose a constant threat to the existence of
|
||||
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|
||||
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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Although the Lesser General Public License is Less protective of the
|
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|
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|
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|
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|
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|
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|
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|
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|
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GNU LESSER GENERAL PUBLIC LICENSE
|
||||
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
|
||||
|
||||
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|
||||
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|
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|
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|
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|
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|
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A "library" means a collection of software functions and/or data
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The "Library", below, refers to any such software library or work
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|
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|
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|
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|
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|
||||
|
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|
||||
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Activities other than copying, distribution and modification are not
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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Thus, it is not the intent of this section to claim rights or contest
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|
||||
written in the body of this License.
|
||||
|
||||
13. The Free Software Foundation may publish revised and/or new
|
||||
versions of the Lesser General Public License from time to time.
|
||||
Such new versions will be similar in spirit to the present version,
|
||||
but may differ in detail to address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the Library
|
||||
specifies a version number of this License which applies to it and
|
||||
"any later version", you have the option of following the terms and
|
||||
conditions either of that version or of any later version published by
|
||||
the Free Software Foundation. If the Library does not specify a
|
||||
license version number, you may choose any version ever published by
|
||||
the Free Software Foundation.
|
||||
|
||||
14. If you wish to incorporate parts of the Library into other free
|
||||
programs whose distribution conditions are incompatible with these,
|
||||
write to the author to ask for permission. For software which is
|
||||
copyrighted by the Free Software Foundation, write to the Free
|
||||
Software Foundation; we sometimes make exceptions for this. Our
|
||||
decision will be guided by the two goals of preserving the free status
|
||||
of all derivatives of our free software and of promoting the sharing
|
||||
and reuse of software generally.
|
||||
|
||||
NO WARRANTY
|
||||
|
||||
15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO
|
||||
WARRANTY FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW.
|
||||
EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR
|
||||
OTHER PARTIES PROVIDE THE LIBRARY "AS IS" WITHOUT WARRANTY OF ANY
|
||||
KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE
|
||||
LIBRARY IS WITH YOU. SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME
|
||||
THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||
|
||||
16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN
|
||||
WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY
|
||||
AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU
|
||||
FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR
|
||||
CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE
|
||||
LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING
|
||||
RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A
|
||||
FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF
|
||||
SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
|
||||
DAMAGES.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
How to Apply These Terms to Your New Libraries
|
||||
|
||||
If you develop a new library, and you want it to be of the greatest
|
||||
possible use to the public, we recommend making it free software that
|
||||
everyone can redistribute and change. You can do so by permitting
|
||||
redistribution under these terms (or, alternatively, under the terms of the
|
||||
ordinary General Public License).
|
||||
|
||||
To apply these terms, attach the following notices to the library. It is
|
||||
safest to attach them to the start of each source file to most effectively
|
||||
convey the exclusion of warranty; and each file should have at least the
|
||||
"copyright" line and a pointer to where the full notice is found.
|
||||
|
||||
{description}
|
||||
Copyright (C) {year} {fullname}
|
||||
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
|
||||
This library is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
Lesser General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public
|
||||
License along with this library; if not, 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!
|
||||
|
||||
11
markup_workbench/README.md
Normal file
11
markup_workbench/README.md
Normal file
|
|
@ -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
|
||||
|
||||
4
markup_workbench/gui/__init__.py
Normal file
4
markup_workbench/gui/__init__.py
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
import os
|
||||
from .version import __version__
|
||||
|
||||
ICONPATH = os.path.join(os.path.dirname(__file__), "resources")
|
||||
110
markup_workbench/gui/init_gui.py
Normal file
110
markup_workbench/gui/init_gui.py
Normal file
|
|
@ -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
|
||||
4
markup_workbench/gui/my_numpy_function.py
Normal file
4
markup_workbench/gui/my_numpy_function.py
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
import numpy as np
|
||||
|
||||
def my_foo(value):
|
||||
return np.sqrt(value)
|
||||
134
markup_workbench/gui/resources/server_sync.svg
Normal file
134
markup_workbench/gui/resources/server_sync.svg
Normal file
|
|
@ -0,0 +1,134 @@
|
|||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
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<!-- Created with Inkscape (http://www.inkscape.org/) -->
|
||||
|
||||
<svg
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||||
xmlns:dc="http://purl.org/dc/elements/1.1/"
|
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xmlns:cc="http://creativecommons.org/ns#"
|
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xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
|
||||
xmlns:svg="http://www.w3.org/2000/svg"
|
||||
xmlns="http://www.w3.org/2000/svg"
|
||||
xmlns:xlink="http://www.w3.org/1999/xlink"
|
||||
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
|
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xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
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inkscape:version="0.48.5 r10040"
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sodipodi:docname="button_valid.svg">
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<defs
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<linearGradient
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<stop
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x2="26"
|
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y2="-26" />
|
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</defs>
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<sodipodi:namedview
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pagecolor="#ffffff"
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bordercolor="#666666"
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borderopacity="1.0"
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inkscape:pageopacity="0.0"
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inkscape:pageshadow="2"
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inkscape:zoom="15.696216"
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inkscape:cx="42.681569"
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inkscape:cy="45.101596"
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inkscape:current-layer="g2995"
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inkscape:grid-bbox="true"
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inkscape:document-units="px"
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inkscape:window-width="1600"
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inkscape:window-height="837"
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inkscape:window-x="0"
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inkscape:window-y="27"
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inkscape:window-maximized="1">
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<inkscape:grid
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id="grid2983"
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snapvisiblegridlinesonly="true" />
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|
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<rdf:RDF>
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<cc:Work
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rdf:about="">
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||||
<dc:format>image/svg+xml</dc:format>
|
||||
<dc:type
|
||||
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
|
||||
<dc:title></dc:title>
|
||||
</cc:Work>
|
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</rdf:RDF>
|
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</metadata>
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<g
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id="layer1"
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inkscape:label="Layer 1"
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inkscape:groupmode="layer"
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sodipodi:nodetypes="ccccccc"
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|
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|
After Width: | Height: | Size: 4.1 KiB |
142
markup_workbench/gui/resources/stability_zone.svg
Normal file
142
markup_workbench/gui/resources/stability_zone.svg
Normal file
|
|
@ -0,0 +1,142 @@
|
|||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<svg
|
||||
xmlns:dc="http://purl.org/dc/elements/1.1/"
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xmlns:cc="http://creativecommons.org/ns#"
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xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
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xmlns:svg="http://www.w3.org/2000/svg"
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xmlns="http://www.w3.org/2000/svg"
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xmlns:xlink="http://www.w3.org/1999/xlink"
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|
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<radialGradient
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gradientUnits="userSpaceOnUse"
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<radialGradient inkscape:collect="always" xlink:href="#linearGradient6692" id="radialGradient3287" gradientUnits="userSpaceOnUse" gradientTransform="matrix(0.9225535,0.5499376,-0.6128212,1.0614374,-344.74534,-392.71795)" spreadMethod="reflect" cx="317.86237" cy="249.47238" fx="317.86237" fy="249.47238" r="141.81195"/>
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<radialGradient inkscape:collect="always" xlink:href="#linearGradient6692" id="radialGradient3290" gradientUnits="userSpaceOnUse" gradientTransform="matrix(0.09579247,0.05710226,-0.06363172,0.11021335,6.7104086,-29.238154)" spreadMethod="reflect" cx="317.86237" cy="249.47238" fx="317.86237" fy="249.47238" r="141.81195"/>
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<radialGradient inkscape:collect="always" xlink:href="#linearGradient3364-1" id="radialGradient3281-8" gradientUnits="userSpaceOnUse" gradientTransform="matrix(0.1174411,0,0,0.1174575,-18.224818,-25.892201)" cx="298.10294" cy="315.40961" fx="298.10294" fy="315.40961" r="149.30214"/>
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<linearGradient id="linearGradient3364-1">
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<stop id="stop3368-2" offset="1" style="stop-color:#1d3340;stop-opacity:1;"/>
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</linearGradient>
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<radialGradient r="149.30214" fy="315.40961" fx="298.10294" cy="315.40961" cx="298.10294" gradientTransform="matrix(0.1174411,0,0,0.1174575,-24.327872,-29.478297)" gradientUnits="userSpaceOnUse" id="radialGradient4075" xlink:href="#linearGradient3364-1" inkscape:collect="always"/>
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<radialGradient inkscape:collect="always" xlink:href="#linearGradient3364-7" id="radialGradient3281-0" gradientUnits="userSpaceOnUse" gradientTransform="matrix(0.1174411,0,0,0.1174575,-18.224818,-25.892201)" cx="298.10294" cy="315.40961" fx="298.10294" fy="315.40961" r="149.30214"/>
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<linearGradient id="linearGradient3364-7">
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<stop id="stop3366-6" offset="0" style="stop-color:#79a7fc;stop-opacity:1;"/>
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<stop id="stop3368-3" offset="1" style="stop-color:#1d3340;stop-opacity:1;"/>
|
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</linearGradient>
|
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<radialGradient inkscape:collect="always" xlink:href="#linearGradient3364" id="radialGradient4158" gradientUnits="userSpaceOnUse" gradientTransform="matrix(0.1174411,0,0,0.1174575,-18.224818,-25.892201)" cx="298.10294" cy="315.40961" fx="298.10294" fy="315.40961" r="149.30214"/>
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<radialGradient inkscape:collect="always" xlink:href="#linearGradient6692" id="radialGradient4160" gradientUnits="userSpaceOnUse" gradientTransform="matrix(0.09579247,0.05710226,-0.06363172,0.11021335,6.7104086,-29.238154)" spreadMethod="reflect" cx="317.86237" cy="249.47238" fx="317.86237" fy="249.47238" r="141.81195"/>
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<linearGradient inkscape:collect="always" xlink:href="#linearGradient3866" id="linearGradient3872" x1="35" y1="53" x2="24" y2="9" gradientUnits="userSpaceOnUse"/>
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<linearGradient inkscape:collect="always" id="linearGradient3866">
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<stop style="stop-color:#d3d7cf;stop-opacity:1" offset="0" id="stop3868"/>
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<stop style="stop-color:#ffffff;stop-opacity:1" offset="1" id="stop3870"/>
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</linearGradient>
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<linearGradient inkscape:collect="always" xlink:href="#linearGradient3874" id="linearGradient3880" x1="56" y1="47" x2="53" y2="39" gradientUnits="userSpaceOnUse"/>
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<linearGradient inkscape:collect="always" id="linearGradient3874">
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<stop style="stop-color:#555753;stop-opacity:1" offset="0" id="stop3876"/>
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<stop style="stop-color:#babdb6;stop-opacity:1" offset="1" id="stop3878"/>
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</linearGradient>
|
||||
<linearGradient y2="39" x2="53" y1="47" x1="56" gradientUnits="userSpaceOnUse" id="linearGradient3120" xlink:href="#linearGradient3874" inkscape:collect="always"/>
|
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<linearGradient inkscape:collect="always" xlink:href="#linearGradient3836" id="linearGradient3850" x1="160.4444" y1="149.22015" x2="158.4444" y2="143.22015" gradientUnits="userSpaceOnUse"/>
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<linearGradient id="linearGradient3836">
|
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<stop style="stop-color:#3465a4;stop-opacity:1;" offset="0" id="stop3838"/>
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<stop style="stop-color:#729fcf;stop-opacity:1;" offset="1" id="stop3840"/>
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</linearGradient>
|
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<linearGradient gradientTransform="translate(-118.44439,-120.22016)" y2="143.22015" x2="158.4444" y1="149.22015" x1="160.4444" gradientUnits="userSpaceOnUse" id="linearGradient3167" xlink:href="#linearGradient4113" inkscape:collect="always"/>
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<linearGradient inkscape:collect="always" xlink:href="#linearGradient3836-5" id="linearGradient3850-7" x1="164.4444" y1="161.22015" x2="154.4444" y2="131.22015" gradientUnits="userSpaceOnUse"/>
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<linearGradient id="linearGradient3836-5">
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<stop style="stop-color:#3465a4;stop-opacity:1;" offset="0" id="stop3838-3"/>
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<stop style="stop-color:#729fcf;stop-opacity:1;" offset="1" id="stop3840-5"/>
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</linearGradient>
|
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<linearGradient gradientTransform="translate(-119.44439,-118.22016)" y2="131.22015" x2="154.4444" y1="161.22015" x1="164.4444" gradientUnits="userSpaceOnUse" id="linearGradient3185" xlink:href="#linearGradient4256" inkscape:collect="always"/>
|
||||
</defs>
|
||||
<sodipodi:namedview id="base" pagecolor="#ffffff" bordercolor="#666666" borderopacity="1.0" inkscape:pageopacity="0.0" inkscape:pageshadow="2" inkscape:zoom="13.359272" inkscape:cx="-0.08607535" inkscape:cy="34.022675" inkscape:current-layer="layer1" showgrid="true" inkscape:document-units="px" inkscape:grid-bbox="true" inkscape:window-width="1920" inkscape:window-height="1057" inkscape:window-x="1912" inkscape:window-y="-8" inkscape:window-maximized="1" inkscape:snap-bbox="true" inkscape:snap-nodes="false" inkscape:snap-global="true">
|
||||
<inkscape:grid type="xygrid" id="grid3147" empspacing="2" visible="true" enabled="true" snapvisiblegridlinesonly="true" units="px" spacingx="1px" spacingy="1px"/>
|
||||
</sodipodi:namedview>
|
||||
<metadata id="metadata2990">
|
||||
<rdf:RDF>
|
||||
<cc:Work rdf:about="">
|
||||
<dc:format>image/svg+xml</dc:format>
|
||||
<dc:type rdf:resource="http://purl.org/dc/dcmitype/StillImage"/>
|
||||
<dc:title/>
|
||||
<dc:creator>
|
||||
<cc:Agent>
|
||||
<dc:title>[WandererFan]</dc:title>
|
||||
</cc:Agent>
|
||||
</dc:creator>
|
||||
<dc:title>techdraw-clipplus</dc:title>
|
||||
<dc:date>2016-01-14</dc:date>
|
||||
<dc:relation>http://www.freecadweb.org/wiki/index.php?title=Artwork</dc:relation>
|
||||
<dc:publisher>
|
||||
<cc:Agent>
|
||||
<dc:title>FreeCAD</dc:title>
|
||||
</cc:Agent>
|
||||
</dc:publisher>
|
||||
<dc:identifier>FreeCAD/src/Mod/TechDraw/Gui/Resources/icons/actions/techdraw-clipplus.svg</dc:identifier>
|
||||
<dc:rights>
|
||||
<cc:Agent>
|
||||
<dc:title>FreeCAD LGPL2+</dc:title>
|
||||
</cc:Agent>
|
||||
</dc:rights>
|
||||
<cc:license>https://www.gnu.org/copyleft/lesser.html</cc:license>
|
||||
<dc:contributor>
|
||||
<cc:Agent>
|
||||
<dc:title>[agryson] Alexander Gryson</dc:title>
|
||||
</cc:Agent>
|
||||
</dc:contributor>
|
||||
</cc:Work>
|
||||
</rdf:RDF>
|
||||
</metadata>
|
||||
<g id="layer1" inkscape:label="Layer 1" inkscape:groupmode="layer">
|
||||
<g id="layer2" inkscape:label="layer2" transform="translate(-562.78983,-342.8385)"/>
|
||||
<g id="g4153-1" style="fill:#d3d7cf">
|
||||
<path d="M 3,9 3,53 51,53 61,43 61,9 z" id="rect3005-7" style="color:#000000;fill:url(#linearGradient3872);fill-opacity:1;fill-rule:evenodd;stroke:#3f3f3f;stroke-width:2;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate" inkscape:connector-curvature="0" sodipodi:nodetypes="cccccc"/>
|
||||
<path style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" d="m 5,51 0,-40 54,0 0,32 -6,8 z" id="path3096" inkscape:connector-curvature="0" sodipodi:nodetypes="cccccc"/>
|
||||
<path d="m 61,43 c 0,-1 -4,-4 -8,-4 0,0 2,10 -2,14 z" id="path3778-4" style="color:#000000;fill:url(#linearGradient3120);fill-opacity:1;fill-rule:evenodd;stroke:#3f3f3f;stroke-width:1.95121026;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate" inkscape:connector-curvature="0" sodipodi:nodetypes="cccc"/>
|
||||
</g>
|
||||
<rect style="fill:#babdb6;stroke:#172a04;stroke-width:4;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:4, 8;stroke-dashoffset:0" id="rect4138-7" width="30.10585" height="26" x="10.895793" y="17"/>
|
||||
<path style="fill:none;stroke:#babdb6;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" d="m 53.085507,48.1244 6.658435,-6.453618" id="path3125" inkscape:connector-curvature="0" sodipodi:nodetypes="cc"/>
|
||||
<path d="m 61,43 c 0,-1 -4,-4 -8,-4 0,0 2,10 -2,14 z" id="path3778-3" style="color:#000000;fill:none;stroke:#3f3f3f;stroke-width:1.95121026;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate" inkscape:connector-curvature="0" sodipodi:nodetypes="cccc"/>
|
||||
<rect style="fill:none;stroke:#73d216;stroke-width:2;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:4, 8;stroke-dashoffset:0" id="rect4138-7-6" width="30.10585" height="26" x="10.89415" y="17"/>
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||||
<path style="color:#000000;fill:url(#linearGradient3185);fill-opacity:1;fill-rule:evenodd;stroke:#172a04;stroke-width:2;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate" d="m 35,13 0,10 -10,0 0,10 10,0 0,10 10,0 0,-10 10,0 0,-10 -10,0 0,-10 z" id="rect3558" inkscape:connector-curvature="0" sodipodi:nodetypes="ccccccccccccc"/>
|
||||
<path style="fill:none;stroke:#8ae234;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" d="m 27,25 10,0 0,-10 6,0 0,10 10,0 0,6 -10,0 0,10 -6,0 0,-10 -10,0 z" id="path3826" inkscape:connector-curvature="0"/>
|
||||
</g>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 24 KiB |
1
markup_workbench/gui/version.py
Normal file
1
markup_workbench/gui/version.py
Normal file
|
|
@ -0,0 +1 @@
|
|||
__version__ = "0.8.1"
|
||||
30
markup_workbench/main.py
Normal file
30
markup_workbench/main.py
Normal file
|
|
@ -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()
|
||||
|
|
@ -5,7 +5,6 @@ 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()
|
||||
|
|
|
|||
|
|
@ -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'),
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -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')
|
||||
|
|
|
|||
|
|
@ -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):
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue