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Added GraspPose.py as module and UI button; SDF export with another placements

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This commit is contained in:
Igor Brylyov 2022-03-28 11:50:31 +03:00
parent 32e9b53fad
commit 8bf8235add
4 changed files with 188 additions and 157 deletions
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71
ARTools.py
View file

@ -3,6 +3,7 @@ import Part
import json # For exporting part infos import json # For exporting part infos
import os # for safer path handling import os # for safer path handling
import GazeboExport import GazeboExport
import GraspPose
if FreeCAD.GuiUp: if FreeCAD.GuiUp:
import FreeCADGui import FreeCADGui
from PySide import QtGui from PySide import QtGui
@ -199,11 +200,9 @@ def exportGazeboModels():
export_dir = QtGui.QFileDialog.getExistingDirectory(None, "Choose Export Directory", export_dir = QtGui.QFileDialog.getExistingDirectory(None, "Choose Export Directory",
os.path.split(doc.FileName)[0]) os.path.split(doc.FileName)[0])
# Gather the unique shapes, and clone parts # Gather the unique shapes, and clone parts as
# dict = { partX : { obj1: <obj>, graspposes: {}, placements : {}, mesh: <mesh_uri> } }
unique_objs = [] unique_objs = []
# dict for export parts = {
# partX : { obj1: <obj>, graspposes: {}, mesh: <mesh_uri> },
# partY : { obj2: <obj>, graspposes: {}, mesh: <mesh_uri> } }
parts = {} parts = {}
num_objs = 0 num_objs = 0
for obj in doc.Objects: for obj in doc.Objects:
@ -226,14 +225,14 @@ def exportGazeboModels():
# if Shape is unique export mesh # if Shape is unique export mesh
if new_shape: if new_shape:
unique_objs.append(obj) unique_objs.append(obj)
parts[obj.Label] = {"obj": obj, "graspposes": {}, "mesh": mesh_file} parts[obj.Label] = {"obj": obj, "graspposes": {}, "placements": {}, "mesh": mesh_file}
# Add grasp poses to parts dictionary
for obj in doc.Objects: for obj in doc.Objects:
# Add grasp poses to parts dictionary
if "PartToHandle" in obj.PropertiesList: if "PartToHandle" in obj.PropertiesList:
graspposes = { obj.Container.Label: { graspposes = { obj.Container.Label: {
"placement": placement2pose(obj.Container.Placement), "placement": placement2pose(obj.Container.Placement),
"distance": obj.GripSize "distance": obj.GripSize*1e-3
# "OperationType" : obj.OperationType # "OperationType" : obj.OperationType
# "Operation Priority" : obj.OperationPriority # "Operation Priority" : obj.OperationPriority
# obj.Operation Parameter 1 : obj.OperationParameter1 # obj.Operation Parameter 1 : obj.OperationParameter1
@ -243,32 +242,44 @@ def exportGazeboModels():
} }
parts[obj.PartToHandle.Label].update({"graspposes" : graspposes}) parts[obj.PartToHandle.Label].update({"graspposes" : graspposes})
# Export assets for selected objects # Add part placement position on Plane surface
for obj in selected_objects: import ARFrames
model_dir = os.path.join(export_dir, obj.Label) if hasattr(obj, 'Proxy') and "ShapeType" in obj.PropertiesList:
if isinstance(obj.Proxy, ARFrames.FeatureFrame) and obj.ShapeType == 'Face':
parts[obj.Part.Label].update({ "placements": { obj.Label: placement2pose(obj.Placement) } })
# Create SDF package from Parts or other packages
def create_package(name, objects, export_dir):
model_dir = os.path.join(export_dir, name)
mesh_dir = os.path.join(model_dir, 'meshes') mesh_dir = os.path.join(model_dir, 'meshes')
os.makedirs(mesh_dir, exist_ok=True) os.makedirs(mesh_dir, exist_ok=True)
GazeboExport.export_collada([obj], parts[obj.Label]["mesh"]) GazeboExport.export_collada(objects, parts[name]["mesh"])
GazeboExport.export_sdf({ obj.Label: parts[obj.Label] }, export_dir, obj.Label) GazeboExport.export_sdf({ name: parts[name] }, export_dir, obj.Label)
with open(os.path.join(model_dir, 'model.config'), 'w') as config_file: with open(os.path.join(model_dir, 'model.config'), 'w') as config_file:
config_file.write(GazeboExport.config(obj.Label, config_file.write(GazeboExport.config(name,
'model.sdf', 'Author', 'Email', 'Comment', 'Version')) 'model.sdf', 'Author', 'Email', 'Comment', 'Version'))
if len(parts[obj.Label]["graspposes"]) > 0: with open(os.path.join(model_dir, 'frames.json'), 'w') as frames_file:
with open(os.path.join(model_dir, 'frames.json'), 'w') as frames_file: json.dump({"label": name,
# frames_file.write(json.dumps(parts[obj.Label]["graspposes"])) "placement": placement2pose(parts[name]["obj"].Placement),
json.dump({"features": { "grasp-poses" : parts[obj.Label]["graspposes"]}}, "features":
frames_file, indent=1, separators=(',', ': ')) { "graspposes" : parts[name]["graspposes"]
, "placements" : parts[name]["placements"]}},
frames_file, indent=1, separators=(',', ': '))
# Export assets for parts
for obj in selected_objects:
create_package(obj.Label, [obj], export_dir)
# Export asset for subassembly
# subasm_name = "_".join(list(map(lambda x: x.Label[:8], selected_objects)))
# create_package(subasm_name, selected_objects, export_dir)
return True return True
# if (isinstance(obj.Shape, Part.Solid) if hasattr(obj, 'Shape') else False):
# elif isinstance(obj, Part.Feature):
# FreeCAD.Console.PrintMessage('{0} part is not valid. It has a Compound type, but Solids there are hidden. Please convert it to single Solid'.format(obj.Label))
def exportPartInfo(obj, ofile): def exportPartInfo(obj, ofile):
""" """
@ -315,8 +326,8 @@ def exportFeatureFrames(obj, ofile):
import ARFrames import ARFrames
ff_check = lambda x: isinstance(x.Proxy, ARFrames.FeatureFrame) if hasattr(x, 'Proxy') else False ff_check = lambda x: isinstance(x.Proxy, ARFrames.FeatureFrame) if hasattr(x, 'Proxy') else False
ff_list = filter(ff_check, obj.InList) ff_list = filter(ff_check, obj.InList)
ff_named = {ff.Label: ff.Proxy.getDict() for ff in ff_list} ff_named = { ff.Label: ff.Proxy.getDict() for ff in ff_list }
feature_dict = {"features": ff_named} feature_dict = { "features": ff_named }
# File stuff # File stuff
odir, of = os.path.split(ofile) odir, of = os.path.split(ofile)
@ -338,8 +349,8 @@ def appendFeatureFrames(obj, ofile):
partprops = json.load(propfile) partprops = json.load(propfile)
ff_check = lambda x: isinstance(x.Proxy, ARFrames.FeatureFrame) if hasattr(x, 'Proxy') else False ff_check = lambda x: isinstance(x.Proxy, ARFrames.FeatureFrame) if hasattr(x, 'Proxy') else False
ff_list = filter(ff_check, obj.InList) ff_list = filter(ff_check, obj.InList)
ff_named = {ff.Label: ff.Proxy.getDict() for ff in ff_list} ff_named = { ff.Label: {"label": ff.Label, "placement": placement2pose(ff.Placement)} for ff in ff_list }
feature_dict = {"features": ff_named} feature_dict = { "features": ff_named }
if "features" not in partprops.keys(): if "features" not in partprops.keys():
partprops.update(feature_dict) partprops.update(feature_dict)
else: else:
@ -521,6 +532,12 @@ spawnClassCommand("ExportGazeboModels",
"MenuText": "Export SDF-models to Gazebo", "MenuText": "Export SDF-models to Gazebo",
"ToolTip": "Export SDF-models for all solid parts"}) "ToolTip": "Export SDF-models for all solid parts"})
spawnClassCommand("InsertGraspPose",
GraspPose.insert,
{"Pixmap": str(os.path.join(icondir, "addgrasppose.svg")),
"MenuText": "Insert Grasp Pose",
"ToolTip": "Insert Grasp Pose for Selected Part"})
################################################################### ###################################################################
# Information from primitive type # Information from primitive type

255
GraspPose.py
View file

@ -1,3 +1,9 @@
import FreeCAD
from FreeCAD import Base, Placement
import Part
from time import sleep
import PySide
# MACRO 1: # MACRO 1:
# Select part and run it to insert gripper pose (red) # Select part and run it to insert gripper pose (red)
# Select gripper body and run it to insert second pose (pre-gripper, blue) # Select gripper body and run it to insert second pose (pre-gripper, blue)
@ -9,10 +15,58 @@
# https://gitlab.com/robosphere/robossembler-ros2/-/blob/71938716043c35689a1058b29cefb1997a8bcf0a/rasmt_support/meshes/collision/Grip_R.STL # https://gitlab.com/robosphere/robossembler-ros2/-/blob/71938716043c35689a1058b29cefb1997a8bcf0a/rasmt_support/meshes/collision/Grip_R.STL
# https://gitlab.com/robosphere/robossembler-ros2/-/blob/71938716043c35689a1058b29cefb1997a8bcf0a/rasmt_support/urdf/tools/rasmt_hand_macro.xacro # https://gitlab.com/robosphere/robossembler-ros2/-/blob/71938716043c35689a1058b29cefb1997a8bcf0a/rasmt_support/urdf/tools/rasmt_hand_macro.xacro
def insert():
if len(FreeCAD.Gui.Selection.getSelection())>0:
active_body = FreeCAD.Gui.Selection.getSelection()[0]
if "IsMainPosition" in active_body.PropertiesList:
if active_body.IsMainPosition == False:
p = controlled_insert("P")
p.addProperty("App::PropertyLink", "PartToPrint", "Parameter", "Part to be printed on this table")
p.ViewObject.ShapeColor=(0.0,1.0,0.0,0.0)
p.PartToPrint = active_body.PartToHandle
p.ViewObject.Transparency = 90
p.Placement = active_body.PartToHandle.getGlobalPlacement()
p.Label = '3D_printer_table_for_'+p.PartToPrint.Name
else:
b = grip_helper((0.0,0.0,1.0,0.0))
b.addProperty("App::PropertyLink", "MainPosition", "Parameter", "Main position")
b.PartToHandle = active_body.PartToHandle
b.MainPosition = active_body
b.IsMainPosition = False
b.GripSize = b.MainPosition.GripSize
b.Container.Placement = b.MainPosition.Container.Placement
b.Container.Label = 'PreGripper_for_'+b.PartToHandle.Name
tempshape = Part.getShape(b.PartToHandle,'',needSubElement=False,refine=False)
FreeCAD.ActiveDocument.addObject('Part::Feature','PartToHandle').Shape = tempshape
n = FreeCAD.ActiveDocument.ActiveObject
n.Label = b.PartToHandle.Label
n.ViewObject.ShapeColor = (0.0,0.0,1.0,0.0)
n.adjustRelativeLinks(b.Container)
b.Container.addObject(n)
n.Placement.Base = n.getGlobalPlacement().Base.sub(b.Container.Placement)
n.Placement.Rotation.Axis = n.getGlobalPlacement().Rotation.Axis.sub(b.Container.Placement.Rotation.Axis)
n.Placement.Rotation.Angle = n.getGlobalPlacement().Rotation.Angle-b.Container.Placement.Rotation.Angle
n.ViewObject.ShowInTree = False
n.ViewObject.Transparency = 90
else:
b = grip_helper((1.0,0.0,0.0,0.0))
b.addProperty("App::PropertyInteger", "OperationPriority", "Parameter", "Priority of the operation")
b.addProperty("App::PropertyInteger", "OperationType", "Parameter", "Priority of the operation")
b.addProperty("App::PropertyFloat", "OperationParameter1", "Parameter", "Priority of the operation")
b.addProperty("App::PropertyFloat", "OperationParameter2", "Parameter", "Priority of the operation")
b.addProperty("App::PropertyFloat", "OperationParameter3", "Parameter", "Priority of the operation")
b.PartToHandle = active_body
b.IsMainPosition = True
b.GripSize = active_body.Shape.BoundBox.YLength
b.Container.Placement = active_body.getGlobalPlacement()
b.Container.Label = 'Gripper_for_'+b.PartToHandle.Name
def controlled_insert(code): def controlled_insert(code):
a=App.ActiveDocument.Objects a = FreeCAD.ActiveDocument.Objects
Part.insert(u"C:/Users/ibryl/AppData/Roaming/FreeCAD/Mod/ARBench/"+code+".brep",App.ActiveDocument.Name) Part.insert(u"C:/Users/ibryl/AppData/Roaming/FreeCAD/Mod/ARBench/"+code+".brep",FreeCAD.ActiveDocument.Name)
b=App.ActiveDocument.Objects b = FreeCAD.ActiveDocument.Objects
return list(set(b) - set(a))[0] return list(set(b) - set(a))[0]
def grip_helper(color): def grip_helper(color):
@ -25,147 +79,90 @@ def grip_helper(color):
b.addProperty("App::PropertyLink", "PartToHandle", "Parameter", "Part to be manipulated by this gripper") b.addProperty("App::PropertyLink", "PartToHandle", "Parameter", "Part to be manipulated by this gripper")
r.setExpression('.Placement.Base.y', b.Name+'.GripSize / 2') r.setExpression('.Placement.Base.y', b.Name+'.GripSize / 2')
l.setExpression('.Placement.Base.y', '-'+b.Name+'.GripSize / 2') l.setExpression('.Placement.Base.y', '-'+b.Name+'.GripSize / 2')
b.ViewObject.ShapeColor=color b.ViewObject.ShapeColor = color
r.ViewObject.ShapeColor=color r.ViewObject.ShapeColor = color
l.ViewObject.ShapeColor=color l.ViewObject.ShapeColor = color
NewPart = App.activeDocument().addObject('App::Part','Part') NewPart = FreeCAD.activeDocument().addObject('App::Part','Part')
b.adjustRelativeLinks(NewPart) b.adjustRelativeLinks(NewPart)
NewPart.addObject(b) NewPart.addObject(b)
r.adjustRelativeLinks(NewPart) r.adjustRelativeLinks(NewPart)
NewPart.addObject(r) NewPart.addObject(r)
l.adjustRelativeLinks(NewPart) l.adjustRelativeLinks(NewPart)
NewPart.addObject(l) NewPart.addObject(l)
r.ViewObject.ShowInTree=False r.ViewObject.ShowInTree = False
l.ViewObject.ShowInTree=False l.ViewObject.ShowInTree = False
b.Container=NewPart b.Container = NewPart
b.ViewObject.Transparency=90 b.ViewObject.Transparency = 90
r.ViewObject.Transparency=90 r.ViewObject.Transparency = 90
l.ViewObject.Transparency=90 l.ViewObject.Transparency = 90
return b return b
if len(Gui.Selection.getSelection())>0:
active_body=Gui.Selection.getSelection()[0]
if "IsMainPosition" in active_body.PropertiesList:
if active_body.IsMainPosition == False:
p=controlled_insert("P")
p.addProperty("App::PropertyLink", "PartToPrint", "Parameter", "Part to be printed on this table")
p.ViewObject.ShapeColor=(0.0,1.0,0.0,0.0)
p.PartToPrint=active_body.PartToHandle
p.ViewObject.Transparency=90
p.Placement=active_body.PartToHandle.getGlobalPlacement()
p.Label = '3D_printer_table_for_'+p.PartToPrint.Name
else:
b=grip_helper((0.0,0.0,1.0,0.0))
b.addProperty("App::PropertyLink", "MainPosition", "Parameter", "Main position")
b.PartToHandle=active_body.PartToHandle
b.MainPosition=active_body
b.IsMainPosition=False
b.GripSize=b.MainPosition.GripSize
b.Container.Placement=b.MainPosition.Container.Placement
b.Container.Label = 'PreGripper_for_'+b.PartToHandle.Name
tempshape = Part.getShape(b.PartToHandle,'',needSubElement=False,refine=False)
App.ActiveDocument.addObject('Part::Feature','PartToHandle').Shape=tempshape
n=App.ActiveDocument.ActiveObject
n.Label=b.PartToHandle.Label
n.ViewObject.ShapeColor=(0.0,0.0,1.0,0.0)
n.adjustRelativeLinks(b.Container)
b.Container.addObject(n)
n.Placement.Base = n.getGlobalPlacement().Base.sub(b.Container.Placement)
n.Placement.Rotation.Axis = n.getGlobalPlacement().Rotation.Axis.sub(b.Container.Placement.Rotation.Axis)
n.Placement.Rotation.Angle = n.getGlobalPlacement().Rotation.Angle-b.Container.Placement.Rotation.Angle
n.ViewObject.ShowInTree=False
n.ViewObject.Transparency=90
else:
b=grip_helper((1.0,0.0,0.0,0.0))
b.addProperty("App::PropertyInteger", "OperationPriority", "Parameter", "Priority of the operation")
b.addProperty("App::PropertyInteger", "OperationType", "Parameter", "Priority of the operation")
b.addProperty("App::PropertyFloat", "OperationParameter1", "Parameter", "Priority of the operation")
b.addProperty("App::PropertyFloat", "OperationParameter2", "Parameter", "Priority of the operation")
b.addProperty("App::PropertyFloat", "OperationParameter3", "Parameter", "Priority of the operation")
b.PartToHandle=active_body
b.IsMainPosition=True
b.GripSize=active_body.Shape.BoundBox.YLength
b.Container.Placement=active_body.getGlobalPlacement()
b.Container.Label = 'Gripper_for_'+b.PartToHandle.Name
# MACRO 3: # MACRO 3:
# Select pre-gripper body and run it to animate its movement # Select pre-gripper body and run it to animate its movement
def select_pregripper():
apart = FreeCAD.Gui.Selection.getSelection()[0]
sp = apart.Container.Placement.Base
ep = apart.MainPosition.Container.Placement.Base
sa = apart.Container.Placement.Rotation.Angle
ea = apart.MainPosition.Container.Placement.Rotation.Angle
print (sp,ep)
from FreeCAD import Base,Placement i = 0.0
import Part def updatePlacement():
from time import sleep global timer
import PySide global i
global sp
global ep
global sa
global ea
apart.Container.Placement.Base = ep.multiply(i).add(sp.multiply(1.0-i))
apart.Container.Placement.Rotation.Angle = (ea*i)+(sa*(1.0-i))
i += 0.02
if i>=1:
#apart.Container.Placement.Base=sp
#apart.Container.Placement.Rotation.Angle=sa
timer.stop()
FreeCAD.Gui.updateGui()
apart=Gui.Selection.getSelection()[0] timer = PySide.QtCore.QTimer()
sp=apart.Container.Placement.Base timer.timeout.connect(updatePlacement)
ep=apart.MainPosition.Container.Placement.Base timer.start(100)
sa=apart.Container.Placement.Rotation.Angle
ea=apart.MainPosition.Container.Placement.Rotation.Angle
print (sp,ep)
i=0.0
def updatePlacement():
global timer
global i
global sp
global ep
global sa
global ea
apart.Container.Placement.Base=ep.multiply(i).add(sp.multiply(1.0-i))
apart.Container.Placement.Rotation.Angle=(ea*i)+(sa*(1.0-i))
i+=0.02
if i>=1:
#apart.Container.Placement.Base=sp
#apart.Container.Placement.Rotation.Angle=sa
timer.stop()
FreeCAD.Gui.updateGui()
timer = PySide.QtCore.QTimer()
timer.timeout.connect(updatePlacement)
timer.start(100)
# MACRO 4: # MACRO 4:
#Raw advanced version of MACRO 1 #Raw advanced version of MACRO 1
#Does not work properly yet #Does not work properly yet
def controlled_insert(code): def insert_advanced():
a=App.ActiveDocument.Objects if len(FreeCAD.Gui.Selection.getSelection())>0:
Part.insert(u"C:/Users/MariaR/Desktop/"+code+".brep",App.ActiveDocument.Name) active_body = FreeCAD.Gui.Selection.getSelection()[0]
b=App.ActiveDocument.Objects b = controlled_insert("B")
return list(set(b) - set(a))[0] r = controlled_insert("R")
l = controlled_insert("L")
if len(Gui.Selection.getSelection())>0: b.ViewObject.ShapeColor = (1.0,0.0,0.0,0.0)
active_body=Gui.Selection.getSelection()[0] r.ViewObject.ShapeColor = (1.0,0.0,0.0,0.0)
b = controlled_insert("B") l.ViewObject.ShapeColor = (1.0,0.0,0.0,0.0)
r = controlled_insert("R") b.ViewObject.ShowInTree = False
l = controlled_insert("L") r.ViewObject.ShowInTree = False
b.ViewObject.ShapeColor=(1.0,0.0,0.0,0.0) l.ViewObject.ShowInTree = False
r.ViewObject.ShapeColor=(1.0,0.0,0.0,0.0) b.ViewObject.Transparency = 90
l.ViewObject.ShapeColor=(1.0,0.0,0.0,0.0) r.ViewObject.Transparency = 90
b.ViewObject.ShowInTree=False l.ViewObject.Transparency = 90
r.ViewObject.ShowInTree=False a = FreeCAD.ActiveDocument.addObject("App::FeaturePython",'Gripper_for_'+active_body.Name)
l.ViewObject.ShowInTree=False a.addProperty("App::PropertyFloat", "GripSize", "Parameter", "Size between fingers")
b.ViewObject.Transparency=90 a.addProperty("App::PropertyLink", "PartToHandle", "Parameter", "Part to be manipulated by this gripper")
r.ViewObject.Transparency=90 a.addProperty("App::PropertyLink", "GripperBody", "Parameter", "Body")
l.ViewObject.Transparency=90 a.addProperty("App::PropertyLink", "GripperLF", "Parameter", "Body")
a=FreeCAD.ActiveDocument.addObject("App::FeaturePython",'Gripper_for_'+active_body.Name) a.addProperty("App::PropertyLink", "GripperRF", "Parameter", "Body")
a.addProperty("App::PropertyFloat", "GripSize", "Parameter", "Size between fingers") a.GripperBody = b
a.addProperty("App::PropertyLink", "PartToHandle", "Parameter", "Part to be manipulated by this gripper") a.GripperLF = l
a.addProperty("App::PropertyLink", "GripperBody", "Parameter", "Body") a.GripperRF = r
a.addProperty("App::PropertyLink", "GripperLF", "Parameter", "Body") #r.setExpression('.Placement.Base.y', a.Name+'.GripSize / 2')
a.addProperty("App::PropertyLink", "GripperRF", "Parameter", "Body") #l.setExpression('.Placement.Base.y', '-'+a.Name+'.GripSize / 2')
a.GripperBody=b a.addProperty("App::PropertyInteger", "OperationPriority", "Parameter", "Priority of the operation")
a.GripperLF=l a.addProperty("App::PropertyInteger", "OperationType", "Parameter", "Priority of the operation")
a.GripperRF=r a.addProperty("App::PropertyFloat", "OperationParameter1", "Parameter", "Priority of the operation")
#r.setExpression('.Placement.Base.y', a.Name+'.GripSize / 2') a.addProperty("App::PropertyFloat", "OperationParameter2", "Parameter", "Priority of the operation")
#l.setExpression('.Placement.Base.y', '-'+a.Name+'.GripSize / 2') a.addProperty("App::PropertyFloat", "OperationParameter3", "Parameter", "Priority of the operation")
a.addProperty("App::PropertyInteger", "OperationPriority", "Parameter", "Priority of the operation") a.PartToHandle = active_body
a.addProperty("App::PropertyInteger", "OperationType", "Parameter", "Priority of the operation") a.GripSize = active_body.Shape.BoundBox.YLength
a.addProperty("App::PropertyFloat", "OperationParameter1", "Parameter", "Priority of the operation")
a.addProperty("App::PropertyFloat", "OperationParameter2", "Parameter", "Priority of the operation")
a.addProperty("App::PropertyFloat", "OperationParameter3", "Parameter", "Priority of the operation")
a.PartToHandle=active_body
a.GripSize=active_body.Shape.BoundBox.YLength

3
InitGui.py
View file

@ -15,7 +15,8 @@ class ARBench(Workbench):
"AllPartFramesCommand", "AllPartFramesCommand",
"FeatureFrameCommand"] "FeatureFrameCommand"]
self.toolcommands = ["ExportPartInfoAndFeaturesDialogueCommand", self.toolcommands = ["ExportPartInfoAndFeaturesDialogueCommand",
"ExportGazeboModels"] "ExportGazeboModels",
"InsertGraspPose"]
self.appendToolbar("AR Frames", self.framecommands) self.appendToolbar("AR Frames", self.framecommands)
self.appendToolbar("AR Tools", self.toolcommands) self.appendToolbar("AR Tools", self.toolcommands)

16
UI/icons/addgrasppose.svg Normal file
View file

@ -0,0 +1,16 @@
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="500" height="500" viewBox="0 0 500 500" xml:space="preserve">
<desc>Created with Fabric.js 4.6.0</desc>
<defs>
</defs>
<g transform="matrix(1.81 1.81 -1.81 1.81 157.08 195.51)" id="ENBcDxvriCbqvxnFDMXb5" >
<path style="stroke: none; stroke-width: 1; stroke-dasharray: none; stroke-linecap: butt; stroke-dashoffset: 0; stroke-linejoin: miter; stroke-miterlimit: 4; fill: rgb(247,47,58); fill-rule: nonzero; opacity: 1;" vector-effect="non-scaling-stroke" transform=" translate(-40, -40)" d="M 0 0 L 80 80 L 0 80 L 0 0 z" stroke-linecap="round" />
</g>
<g transform="matrix(-1.79 -1.79 1.79 -1.79 345.03 196.99)" id="zyTA1L_TKItNRJbg9UYKc" >
<path style="stroke: none; stroke-width: 1; stroke-dasharray: none; stroke-linecap: butt; stroke-dashoffset: 0; stroke-linejoin: miter; stroke-miterlimit: 4; fill: rgb(247,47,58); fill-rule: nonzero; opacity: 1;" vector-effect="non-scaling-stroke" transform=" translate(-40, -40)" d="M 0 0 L 80 80 L 0 80 L 0 0 z" stroke-linecap="round" />
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