Added GraspPose.py as module and UI button; SDF export with another placements
This commit is contained in:
parent
32e9b53fad
commit
8bf8235add
4 changed files with 188 additions and 157 deletions
71
ARTools.py
71
ARTools.py
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@ -3,6 +3,7 @@ import Part
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import json # For exporting part infos
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import os # for safer path handling
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import GazeboExport
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import GraspPose
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if FreeCAD.GuiUp:
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import FreeCADGui
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from PySide import QtGui
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@ -199,11 +200,9 @@ def exportGazeboModels():
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export_dir = QtGui.QFileDialog.getExistingDirectory(None, "Choose Export Directory",
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os.path.split(doc.FileName)[0])
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# Gather the unique shapes, and clone parts
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# Gather the unique shapes, and clone parts as
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# dict = { partX : { obj1: <obj>, graspposes: {}, placements : {}, mesh: <mesh_uri> } }
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unique_objs = []
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# dict for export parts = {
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# partX : { obj1: <obj>, graspposes: {}, mesh: <mesh_uri> },
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# partY : { obj2: <obj>, graspposes: {}, mesh: <mesh_uri> } }
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parts = {}
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num_objs = 0
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for obj in doc.Objects:
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@ -226,14 +225,14 @@ def exportGazeboModels():
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# if Shape is unique export mesh
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if new_shape:
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unique_objs.append(obj)
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parts[obj.Label] = {"obj": obj, "graspposes": {}, "mesh": mesh_file}
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parts[obj.Label] = {"obj": obj, "graspposes": {}, "placements": {}, "mesh": mesh_file}
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# Add grasp poses to parts dictionary
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for obj in doc.Objects:
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# Add grasp poses to parts dictionary
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if "PartToHandle" in obj.PropertiesList:
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graspposes = { obj.Container.Label: {
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"placement": placement2pose(obj.Container.Placement),
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"distance": obj.GripSize
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"distance": obj.GripSize*1e-3
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# "OperationType" : obj.OperationType
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# "Operation Priority" : obj.OperationPriority
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# obj.Operation Parameter 1 : obj.OperationParameter1
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@ -243,32 +242,44 @@ def exportGazeboModels():
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}
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parts[obj.PartToHandle.Label].update({"graspposes" : graspposes})
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# Export assets for selected objects
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for obj in selected_objects:
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model_dir = os.path.join(export_dir, obj.Label)
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# Add part placement position on Plane surface
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import ARFrames
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if hasattr(obj, 'Proxy') and "ShapeType" in obj.PropertiesList:
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if isinstance(obj.Proxy, ARFrames.FeatureFrame) and obj.ShapeType == 'Face':
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parts[obj.Part.Label].update({ "placements": { obj.Label: placement2pose(obj.Placement) } })
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# Create SDF package from Parts or other packages
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def create_package(name, objects, export_dir):
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model_dir = os.path.join(export_dir, name)
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mesh_dir = os.path.join(model_dir, 'meshes')
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os.makedirs(mesh_dir, exist_ok=True)
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GazeboExport.export_collada([obj], parts[obj.Label]["mesh"])
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GazeboExport.export_sdf({ obj.Label: parts[obj.Label] }, export_dir, obj.Label)
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GazeboExport.export_collada(objects, parts[name]["mesh"])
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GazeboExport.export_sdf({ name: parts[name] }, export_dir, obj.Label)
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with open(os.path.join(model_dir, 'model.config'), 'w') as config_file:
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config_file.write(GazeboExport.config(obj.Label,
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config_file.write(GazeboExport.config(name,
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'model.sdf', 'Author', 'Email', 'Comment', 'Version'))
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if len(parts[obj.Label]["graspposes"]) > 0:
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with open(os.path.join(model_dir, 'frames.json'), 'w') as frames_file:
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# frames_file.write(json.dumps(parts[obj.Label]["graspposes"]))
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json.dump({"features": { "grasp-poses" : parts[obj.Label]["graspposes"]}},
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frames_file, indent=1, separators=(',', ': '))
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with open(os.path.join(model_dir, 'frames.json'), 'w') as frames_file:
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json.dump({"label": name,
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"placement": placement2pose(parts[name]["obj"].Placement),
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"features":
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{ "graspposes" : parts[name]["graspposes"]
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, "placements" : parts[name]["placements"]}},
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frames_file, indent=1, separators=(',', ': '))
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# Export assets for parts
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for obj in selected_objects:
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create_package(obj.Label, [obj], export_dir)
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# Export asset for subassembly
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# subasm_name = "_".join(list(map(lambda x: x.Label[:8], selected_objects)))
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# create_package(subasm_name, selected_objects, export_dir)
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return True
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# if (isinstance(obj.Shape, Part.Solid) if hasattr(obj, 'Shape') else False):
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# elif isinstance(obj, Part.Feature):
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# 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))
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def exportPartInfo(obj, ofile):
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"""
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@ -315,8 +326,8 @@ def exportFeatureFrames(obj, ofile):
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import ARFrames
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ff_check = lambda x: isinstance(x.Proxy, ARFrames.FeatureFrame) if hasattr(x, 'Proxy') else False
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ff_list = filter(ff_check, obj.InList)
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ff_named = {ff.Label: ff.Proxy.getDict() for ff in ff_list}
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feature_dict = {"features": ff_named}
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ff_named = { ff.Label: ff.Proxy.getDict() for ff in ff_list }
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feature_dict = { "features": ff_named }
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# File stuff
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odir, of = os.path.split(ofile)
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@ -338,8 +349,8 @@ def appendFeatureFrames(obj, ofile):
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partprops = json.load(propfile)
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ff_check = lambda x: isinstance(x.Proxy, ARFrames.FeatureFrame) if hasattr(x, 'Proxy') else False
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ff_list = filter(ff_check, obj.InList)
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ff_named = {ff.Label: ff.Proxy.getDict() for ff in ff_list}
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feature_dict = {"features": ff_named}
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ff_named = { ff.Label: {"label": ff.Label, "placement": placement2pose(ff.Placement)} for ff in ff_list }
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feature_dict = { "features": ff_named }
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if "features" not in partprops.keys():
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partprops.update(feature_dict)
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else:
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@ -521,6 +532,12 @@ spawnClassCommand("ExportGazeboModels",
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"MenuText": "Export SDF-models to Gazebo",
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"ToolTip": "Export SDF-models for all solid parts"})
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spawnClassCommand("InsertGraspPose",
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GraspPose.insert,
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{"Pixmap": str(os.path.join(icondir, "addgrasppose.svg")),
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"MenuText": "Insert Grasp Pose",
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"ToolTip": "Insert Grasp Pose for Selected Part"})
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###################################################################
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# Information from primitive type
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255
GraspPose.py
255
GraspPose.py
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@ -1,3 +1,9 @@
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import FreeCAD
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from FreeCAD import Base, Placement
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import Part
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from time import sleep
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import PySide
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# MACRO 1:
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# Select part and run it to insert gripper pose (red)
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# Select gripper body and run it to insert second pose (pre-gripper, blue)
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@ -9,10 +15,58 @@
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# https://gitlab.com/robosphere/robossembler-ros2/-/blob/71938716043c35689a1058b29cefb1997a8bcf0a/rasmt_support/meshes/collision/Grip_R.STL
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# https://gitlab.com/robosphere/robossembler-ros2/-/blob/71938716043c35689a1058b29cefb1997a8bcf0a/rasmt_support/urdf/tools/rasmt_hand_macro.xacro
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def insert():
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if len(FreeCAD.Gui.Selection.getSelection())>0:
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active_body = FreeCAD.Gui.Selection.getSelection()[0]
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if "IsMainPosition" in active_body.PropertiesList:
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if active_body.IsMainPosition == False:
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p = controlled_insert("P")
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p.addProperty("App::PropertyLink", "PartToPrint", "Parameter", "Part to be printed on this table")
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p.ViewObject.ShapeColor=(0.0,1.0,0.0,0.0)
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p.PartToPrint = active_body.PartToHandle
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p.ViewObject.Transparency = 90
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p.Placement = active_body.PartToHandle.getGlobalPlacement()
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p.Label = '3D_printer_table_for_'+p.PartToPrint.Name
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else:
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b = grip_helper((0.0,0.0,1.0,0.0))
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b.addProperty("App::PropertyLink", "MainPosition", "Parameter", "Main position")
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b.PartToHandle = active_body.PartToHandle
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b.MainPosition = active_body
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b.IsMainPosition = False
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b.GripSize = b.MainPosition.GripSize
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b.Container.Placement = b.MainPosition.Container.Placement
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b.Container.Label = 'PreGripper_for_'+b.PartToHandle.Name
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tempshape = Part.getShape(b.PartToHandle,'',needSubElement=False,refine=False)
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FreeCAD.ActiveDocument.addObject('Part::Feature','PartToHandle').Shape = tempshape
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n = FreeCAD.ActiveDocument.ActiveObject
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n.Label = b.PartToHandle.Label
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n.ViewObject.ShapeColor = (0.0,0.0,1.0,0.0)
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n.adjustRelativeLinks(b.Container)
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b.Container.addObject(n)
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n.Placement.Base = n.getGlobalPlacement().Base.sub(b.Container.Placement)
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n.Placement.Rotation.Axis = n.getGlobalPlacement().Rotation.Axis.sub(b.Container.Placement.Rotation.Axis)
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n.Placement.Rotation.Angle = n.getGlobalPlacement().Rotation.Angle-b.Container.Placement.Rotation.Angle
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n.ViewObject.ShowInTree = False
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n.ViewObject.Transparency = 90
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else:
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b = grip_helper((1.0,0.0,0.0,0.0))
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b.addProperty("App::PropertyInteger", "OperationPriority", "Parameter", "Priority of the operation")
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b.addProperty("App::PropertyInteger", "OperationType", "Parameter", "Priority of the operation")
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b.addProperty("App::PropertyFloat", "OperationParameter1", "Parameter", "Priority of the operation")
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b.addProperty("App::PropertyFloat", "OperationParameter2", "Parameter", "Priority of the operation")
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b.addProperty("App::PropertyFloat", "OperationParameter3", "Parameter", "Priority of the operation")
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b.PartToHandle = active_body
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b.IsMainPosition = True
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b.GripSize = active_body.Shape.BoundBox.YLength
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b.Container.Placement = active_body.getGlobalPlacement()
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b.Container.Label = 'Gripper_for_'+b.PartToHandle.Name
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def controlled_insert(code):
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a=App.ActiveDocument.Objects
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Part.insert(u"C:/Users/ibryl/AppData/Roaming/FreeCAD/Mod/ARBench/"+code+".brep",App.ActiveDocument.Name)
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b=App.ActiveDocument.Objects
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a = FreeCAD.ActiveDocument.Objects
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Part.insert(u"C:/Users/ibryl/AppData/Roaming/FreeCAD/Mod/ARBench/"+code+".brep",FreeCAD.ActiveDocument.Name)
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b = FreeCAD.ActiveDocument.Objects
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return list(set(b) - set(a))[0]
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def grip_helper(color):
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@ -25,147 +79,90 @@ def grip_helper(color):
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b.addProperty("App::PropertyLink", "PartToHandle", "Parameter", "Part to be manipulated by this gripper")
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r.setExpression('.Placement.Base.y', b.Name+'.GripSize / 2')
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l.setExpression('.Placement.Base.y', '-'+b.Name+'.GripSize / 2')
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b.ViewObject.ShapeColor=color
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r.ViewObject.ShapeColor=color
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l.ViewObject.ShapeColor=color
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NewPart = App.activeDocument().addObject('App::Part','Part')
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b.ViewObject.ShapeColor = color
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r.ViewObject.ShapeColor = color
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l.ViewObject.ShapeColor = color
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NewPart = FreeCAD.activeDocument().addObject('App::Part','Part')
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b.adjustRelativeLinks(NewPart)
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NewPart.addObject(b)
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r.adjustRelativeLinks(NewPart)
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NewPart.addObject(r)
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l.adjustRelativeLinks(NewPart)
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NewPart.addObject(l)
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r.ViewObject.ShowInTree=False
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l.ViewObject.ShowInTree=False
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b.Container=NewPart
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b.ViewObject.Transparency=90
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r.ViewObject.Transparency=90
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l.ViewObject.Transparency=90
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r.ViewObject.ShowInTree = False
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l.ViewObject.ShowInTree = False
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b.Container = NewPart
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b.ViewObject.Transparency = 90
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r.ViewObject.Transparency = 90
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l.ViewObject.Transparency = 90
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return b
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if len(Gui.Selection.getSelection())>0:
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active_body=Gui.Selection.getSelection()[0]
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if "IsMainPosition" in active_body.PropertiesList:
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if active_body.IsMainPosition == False:
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p=controlled_insert("P")
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p.addProperty("App::PropertyLink", "PartToPrint", "Parameter", "Part to be printed on this table")
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p.ViewObject.ShapeColor=(0.0,1.0,0.0,0.0)
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p.PartToPrint=active_body.PartToHandle
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p.ViewObject.Transparency=90
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p.Placement=active_body.PartToHandle.getGlobalPlacement()
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p.Label = '3D_printer_table_for_'+p.PartToPrint.Name
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else:
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b=grip_helper((0.0,0.0,1.0,0.0))
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b.addProperty("App::PropertyLink", "MainPosition", "Parameter", "Main position")
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b.PartToHandle=active_body.PartToHandle
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b.MainPosition=active_body
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b.IsMainPosition=False
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b.GripSize=b.MainPosition.GripSize
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b.Container.Placement=b.MainPosition.Container.Placement
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b.Container.Label = 'PreGripper_for_'+b.PartToHandle.Name
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tempshape = Part.getShape(b.PartToHandle,'',needSubElement=False,refine=False)
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App.ActiveDocument.addObject('Part::Feature','PartToHandle').Shape=tempshape
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n=App.ActiveDocument.ActiveObject
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n.Label=b.PartToHandle.Label
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n.ViewObject.ShapeColor=(0.0,0.0,1.0,0.0)
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n.adjustRelativeLinks(b.Container)
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b.Container.addObject(n)
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n.Placement.Base = n.getGlobalPlacement().Base.sub(b.Container.Placement)
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n.Placement.Rotation.Axis = n.getGlobalPlacement().Rotation.Axis.sub(b.Container.Placement.Rotation.Axis)
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n.Placement.Rotation.Angle = n.getGlobalPlacement().Rotation.Angle-b.Container.Placement.Rotation.Angle
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n.ViewObject.ShowInTree=False
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n.ViewObject.Transparency=90
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else:
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b=grip_helper((1.0,0.0,0.0,0.0))
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b.addProperty("App::PropertyInteger", "OperationPriority", "Parameter", "Priority of the operation")
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b.addProperty("App::PropertyInteger", "OperationType", "Parameter", "Priority of the operation")
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b.addProperty("App::PropertyFloat", "OperationParameter1", "Parameter", "Priority of the operation")
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b.addProperty("App::PropertyFloat", "OperationParameter2", "Parameter", "Priority of the operation")
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b.addProperty("App::PropertyFloat", "OperationParameter3", "Parameter", "Priority of the operation")
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b.PartToHandle=active_body
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b.IsMainPosition=True
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b.GripSize=active_body.Shape.BoundBox.YLength
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b.Container.Placement=active_body.getGlobalPlacement()
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b.Container.Label = 'Gripper_for_'+b.PartToHandle.Name
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# MACRO 3:
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# Select pre-gripper body and run it to animate its movement
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def select_pregripper():
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apart = FreeCAD.Gui.Selection.getSelection()[0]
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sp = apart.Container.Placement.Base
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ep = apart.MainPosition.Container.Placement.Base
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sa = apart.Container.Placement.Rotation.Angle
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ea = apart.MainPosition.Container.Placement.Rotation.Angle
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print (sp,ep)
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from FreeCAD import Base,Placement
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import Part
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from time import sleep
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import PySide
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i = 0.0
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def updatePlacement():
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global timer
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global i
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global sp
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global ep
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global sa
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global ea
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apart.Container.Placement.Base = ep.multiply(i).add(sp.multiply(1.0-i))
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apart.Container.Placement.Rotation.Angle = (ea*i)+(sa*(1.0-i))
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i += 0.02
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if i>=1:
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#apart.Container.Placement.Base=sp
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#apart.Container.Placement.Rotation.Angle=sa
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timer.stop()
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FreeCAD.Gui.updateGui()
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apart=Gui.Selection.getSelection()[0]
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sp=apart.Container.Placement.Base
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ep=apart.MainPosition.Container.Placement.Base
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sa=apart.Container.Placement.Rotation.Angle
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ea=apart.MainPosition.Container.Placement.Rotation.Angle
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print (sp,ep)
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i=0.0
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def updatePlacement():
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global timer
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global i
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global sp
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global ep
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global sa
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global ea
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apart.Container.Placement.Base=ep.multiply(i).add(sp.multiply(1.0-i))
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apart.Container.Placement.Rotation.Angle=(ea*i)+(sa*(1.0-i))
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i+=0.02
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if i>=1:
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#apart.Container.Placement.Base=sp
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#apart.Container.Placement.Rotation.Angle=sa
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timer.stop()
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FreeCAD.Gui.updateGui()
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timer = PySide.QtCore.QTimer()
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timer.timeout.connect(updatePlacement)
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timer.start(100)
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timer = PySide.QtCore.QTimer()
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timer.timeout.connect(updatePlacement)
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timer.start(100)
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# MACRO 4:
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#Raw advanced version of MACRO 1
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#Does not work properly yet
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def controlled_insert(code):
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a=App.ActiveDocument.Objects
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Part.insert(u"C:/Users/MariaR/Desktop/"+code+".brep",App.ActiveDocument.Name)
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b=App.ActiveDocument.Objects
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return list(set(b) - set(a))[0]
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if len(Gui.Selection.getSelection())>0:
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active_body=Gui.Selection.getSelection()[0]
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b = controlled_insert("B")
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r = controlled_insert("R")
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l = controlled_insert("L")
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b.ViewObject.ShapeColor=(1.0,0.0,0.0,0.0)
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r.ViewObject.ShapeColor=(1.0,0.0,0.0,0.0)
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l.ViewObject.ShapeColor=(1.0,0.0,0.0,0.0)
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b.ViewObject.ShowInTree=False
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r.ViewObject.ShowInTree=False
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l.ViewObject.ShowInTree=False
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b.ViewObject.Transparency=90
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r.ViewObject.Transparency=90
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l.ViewObject.Transparency=90
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a=FreeCAD.ActiveDocument.addObject("App::FeaturePython",'Gripper_for_'+active_body.Name)
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a.addProperty("App::PropertyFloat", "GripSize", "Parameter", "Size between fingers")
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a.addProperty("App::PropertyLink", "PartToHandle", "Parameter", "Part to be manipulated by this gripper")
|
||||
a.addProperty("App::PropertyLink", "GripperBody", "Parameter", "Body")
|
||||
a.addProperty("App::PropertyLink", "GripperLF", "Parameter", "Body")
|
||||
a.addProperty("App::PropertyLink", "GripperRF", "Parameter", "Body")
|
||||
a.GripperBody=b
|
||||
a.GripperLF=l
|
||||
a.GripperRF=r
|
||||
#r.setExpression('.Placement.Base.y', a.Name+'.GripSize / 2')
|
||||
#l.setExpression('.Placement.Base.y', '-'+a.Name+'.GripSize / 2')
|
||||
a.addProperty("App::PropertyInteger", "OperationPriority", "Parameter", "Priority of the operation")
|
||||
a.addProperty("App::PropertyInteger", "OperationType", "Parameter", "Priority of the operation")
|
||||
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
|
||||
def insert_advanced():
|
||||
if len(FreeCAD.Gui.Selection.getSelection())>0:
|
||||
active_body = FreeCAD.Gui.Selection.getSelection()[0]
|
||||
b = controlled_insert("B")
|
||||
r = controlled_insert("R")
|
||||
l = controlled_insert("L")
|
||||
b.ViewObject.ShapeColor = (1.0,0.0,0.0,0.0)
|
||||
r.ViewObject.ShapeColor = (1.0,0.0,0.0,0.0)
|
||||
l.ViewObject.ShapeColor = (1.0,0.0,0.0,0.0)
|
||||
b.ViewObject.ShowInTree = False
|
||||
r.ViewObject.ShowInTree = False
|
||||
l.ViewObject.ShowInTree = False
|
||||
b.ViewObject.Transparency = 90
|
||||
r.ViewObject.Transparency = 90
|
||||
l.ViewObject.Transparency = 90
|
||||
a = FreeCAD.ActiveDocument.addObject("App::FeaturePython",'Gripper_for_'+active_body.Name)
|
||||
a.addProperty("App::PropertyFloat", "GripSize", "Parameter", "Size between fingers")
|
||||
a.addProperty("App::PropertyLink", "PartToHandle", "Parameter", "Part to be manipulated by this gripper")
|
||||
a.addProperty("App::PropertyLink", "GripperBody", "Parameter", "Body")
|
||||
a.addProperty("App::PropertyLink", "GripperLF", "Parameter", "Body")
|
||||
a.addProperty("App::PropertyLink", "GripperRF", "Parameter", "Body")
|
||||
a.GripperBody = b
|
||||
a.GripperLF = l
|
||||
a.GripperRF = r
|
||||
#r.setExpression('.Placement.Base.y', a.Name+'.GripSize / 2')
|
||||
#l.setExpression('.Placement.Base.y', '-'+a.Name+'.GripSize / 2')
|
||||
a.addProperty("App::PropertyInteger", "OperationPriority", "Parameter", "Priority of the operation")
|
||||
a.addProperty("App::PropertyInteger", "OperationType", "Parameter", "Priority of the operation")
|
||||
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
|
||||
|
||||
|
|
|
|||
|
|
@ -15,7 +15,8 @@ class ARBench(Workbench):
|
|||
"AllPartFramesCommand",
|
||||
"FeatureFrameCommand"]
|
||||
self.toolcommands = ["ExportPartInfoAndFeaturesDialogueCommand",
|
||||
"ExportGazeboModels"]
|
||||
"ExportGazeboModels",
|
||||
"InsertGraspPose"]
|
||||
self.appendToolbar("AR Frames", self.framecommands)
|
||||
self.appendToolbar("AR Tools", self.toolcommands)
|
||||
|
||||
|
|
|
|||
16
UI/icons/addgrasppose.svg
Normal file
16
UI/icons/addgrasppose.svg
Normal 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" />
|
||||
</g>
|
||||
<g transform="matrix(1.26 0 0 0.42 255.73 403.9)" id="KZAuNuTP6AVzRqOV5xyr0" >
|
||||
<path style="stroke: rgb(31,2,45); stroke-width: 0; stroke-dasharray: none; stroke-linecap: butt; stroke-dashoffset: 0; stroke-linejoin: miter; stroke-miterlimit: 4; fill: rgb(17,22,21); fill-rule: nonzero; opacity: 1;" vector-effect="non-scaling-stroke" transform=" translate(0, 0)" d="M -111 -63.90669 C -111 -76.39661 -109.36253 -88.37498 -106.44782000000001 -97.20669 C -103.5331 -106.0384 -99.57990000000001 -111 -95.45787000000001 -111 L 95.45785999999998 -111 L 95.45785999999998 -111 C 99.57988999999998 -111 103.53308999999999 -106.0384 106.44780999999998 -97.20669 C 109.36252999999998 -88.37498 110.99998999999997 -76.39661 110.99998999999997 -63.90669 L 110.99998999999997 63.90668000000001 L 110.99998999999997 63.90668000000001 C 110.99998999999997 89.91560000000001 104.04153999999997 110.99999000000001 95.45785999999997 110.99999000000001 L -95.45787000000003 110.99999000000001 L -95.45787000000003 110.99999000000001 C -104.04155000000003 110.99999000000001 -111.00000000000003 89.91560000000001 -111.00000000000003 63.90668000000001 z" stroke-linecap="round" />
|
||||
</g>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 2.4 KiB |
Loading…
Add table
Add a link
Reference in a new issue