Support "Assemble them all" trajectory generation from CAD

cg/freecad/Frames/Tools.py

@@ -17,6 +17,7 @@ import json  # For exporting part infos
 import os    # for safer path handling
 import GazeboExport
 import GraspPose
+from scenarios.robossembler_freecad_export_scenario import RobossemblerFreeCadExportScenario
 if FreeCAD.GuiUp:
     import FreeCADGui
     from PySide import QtGui
@@ -556,6 +557,12 @@ spawnClassCommand("InsertGraspPose",
                    "MenuText": "Insert Grasp Pose",
                    "ToolTip": "Insert Grasp Pose for Selected Part"})
 
+spawnClassCommand("ASM4StructureParsing",
+                          RobossemblerFreeCadExportScenario().call,
+                          {"Pixmap":  str(os.path.join(icondir, "assembly4.svg")),
+                           "MenuText": "Make a ASM4 parsing",
+                           "ToolTip": "Make a ASM4 1"})
+
 
 ###################################################################
 # Information from primitive type