From b8f1ffc6183bb2e724f4b33eb96f2036f18e5bce Mon Sep 17 00:00:00 2001 From: Igor Brylyov Date: Thu, 3 Feb 2022 21:19:12 +0300 Subject: [PATCH] Delete A2Plus dependency and URDF export, add freecad_to_gazebo info to README.md --- freecad_to_gazebo/model.py => GazeboExport.py | 190 ++++- README.md | 41 +- freecad_to_gazebo/LICENSE | 674 ------------------ freecad_to_gazebo/README.md | 58 -- freecad_to_gazebo/__init__.py | 28 - freecad_to_gazebo/conversions.py | 11 - freecad_to_gazebo/freecad_exporter.py | 200 ------ freecad_to_gazebo/mesh_exporter.py | 90 --- 8 files changed, 227 insertions(+), 1065 deletions(-) rename freecad_to_gazebo/model.py => GazeboExport.py (66%) delete mode 100644 freecad_to_gazebo/LICENSE delete mode 100644 freecad_to_gazebo/README.md delete mode 100644 freecad_to_gazebo/__init__.py delete mode 100644 freecad_to_gazebo/conversions.py delete mode 100644 freecad_to_gazebo/freecad_exporter.py delete mode 100644 freecad_to_gazebo/mesh_exporter.py diff --git a/freecad_to_gazebo/model.py b/GazeboExport.py similarity index 66% rename from freecad_to_gazebo/model.py rename to GazeboExport.py index c7072a3..a1f16f7 100644 --- a/freecad_to_gazebo/model.py +++ b/GazeboExport.py @@ -1,9 +1,195 @@ -from freecad_to_gazebo.conversions import * -import FreeCAD +import FreeCAD, Mesh, os, numpy as np +import yaml +import argparse +import collada from xml.etree import ElementTree as ET from xml.dom.minidom import parseString +from math import radians as _radians +def export_gazebo_model(model_dir, configs={}): + doc = FreeCAD.activeDocument() + assembly_dir = os.path.split(doc.FileName)[0] + scale = configs.get('scale', 0.001) + scale_vec = FreeCAD.Vector([scale]*3) + + for obj in doc.Objects: + if obj.isDerivedFrom("Part::Feature"): + name = obj.Label + density = configs.get('density', 1000) + + bounding_box = obj.Shape.BoundBox + bounding_box.scale(*scale_vec) + + global_pose_base = FreeCAD.Vector(bounding_box.XLength/2, + bounding_box.YLength/2, + bounding_box.ZLength/2) + global_pose_base -= bounding_box.Center + global_pose = FreeCAD.Placement() + global_pose.Base = global_pose_base + + model = Model(name=name, pose=global_pose) + model.self_collide = False + model.sdf_version = '1.5' + + shape = obj.Shape + mass = shape.Mass * scale**3 * density + com = shape.CenterOfMass * scale + inr = shape.MatrixOfInertia + inr.scale(*scale_vec*(scale**4) * density) + placement = shape.Placement + placement.Base.scale(*scale_vec) + + mesh_file = os.path.join(model_dir, name, 'meshes') + mesh_file = os.path.splitext(mesh_file)[0] + name + '.dae' + mesh_dir = os.path.split(mesh_file)[0] + + os.makedirs(mesh_dir, exist_ok=True) + export_collada(doc, [obj], mesh_file, scale=scale, offset=com*-1) + + pose = placement.copy() + pose.Base = com + + pose_rpy = pose.copy() + pose_rpy.Base=(np.zeros(3)) + + + inertia = Inertia(inertia=np.array(inr.A)[[0,1,2,5,6,10]]) + inertial = Inertial(pose=pose_rpy, + mass=mass, + inertia=inertia) + + package = configs.get('ros_package', name) + mesh_uri = os.path.join(package, + os.path.relpath(mesh_file, model_dir)) + mesh_uri = os.path.normpath(mesh_uri) + + visual = Visual(name=name+'_visual', mesh=mesh_uri) + collision = Collision(name=name+'_collision', mesh=mesh_uri) + + link = Link(name=name, + pose=pose, + inertial=inertial, + visual=visual, + collision=collision) + model.links.append(link) + + with open(os.path.join(model_dir, name+'.sdf'), 'w') as sdf_file: + sdf_file.write(model.to_xml_string('sdf')) + + +################################################################### +# Export helpers +################################################################### + + + +def export_collada(doc, exportList, filename, scale=1, quality=1, offset=np.zeros(3)): + '''FreeCAD collada exporter + doc - FreeCAD document + exportList - list of objects from doc + scale - scaling factor for the mesh + quality - mesh tessellation quality + offset - offset of the origin of the resulting mesh''' + + colmesh = collada.Collada() + colmesh.assetInfo.upaxis = collada.asset.UP_AXIS.Z_UP + objind = 0 + scenenodes = [] + + for obj in exportList: + bHandled = False + if obj.isDerivedFrom("Part::Feature"): + bHandled = True + m = obj.Shape.tessellate(quality) + vindex = [] + nindex = [] + findex = [] + # vertex indices + for v in m[0]: + vindex.extend([a*scale+b for a, b in zip(v, offset)]) + # normals + for f in obj.Shape.Faces: + n = f.normalAt(0,0) + for i in range(len(f.tessellate(quality)[1])): + nindex.extend([n.x,n.y,n.z]) + # face indices + for i in range(len(m[1])): + f = m[1][i] + findex.extend([f[0],i,f[1],i,f[2],i]) + elif obj.isDerivedFrom("Mesh::Feature"): + bHandled = True + print("exporting mesh ",obj.Name, obj.Mesh) + m = obj.Mesh + vindex = [] + nindex = [] + findex = [] + # vertex indices + for v in m.Topology[0]: + vindex.extend([a*scale+b for a, b in zip(v, offset)]) + # normals + for f in m.Facets: + n = f.Normal + nindex.extend([n.x,n.y,n.z]) + # face indices + for i in range(len(m.Topology[1])): + f = m.Topology[1][i] + findex.extend([f[0],i,f[1],i,f[2],i]) + + if bHandled: + vert_src = collada.source.FloatSource("cubeverts-array"+str(objind), + np.array(vindex), + ('X', 'Y', 'Z')) + normal_src = collada.source.FloatSource("cubenormals-array"+str(objind), + np.array(nindex), + ('X', 'Y', 'Z')) + geom = collada.geometry.Geometry(colmesh, + "geometry"+str(objind), + obj.Label, + [vert_src, normal_src]) + + input_list = collada.source.InputList() + input_list.addInput(0, 'VERTEX', "#cubeverts-array"+str(objind)) + input_list.addInput(1, 'NORMAL', "#cubenormals-array"+str(objind)) + triset = geom.createTriangleSet(np.array(findex), + input_list, + "materialref") + geom.primitives.append(triset) + colmesh.geometries.append(geom) + + geomnode = collada.scene.GeometryNode(geom) + node = collada.scene.Node("node"+str(objind), children=[geomnode]) + + #TODO: Add materials handling + scenenodes.append(node) + + objind += 1 + + scene = collada.scene.Scene("scene", scenenodes) + colmesh.scenes.append(scene) + colmesh.scene = scene + + colmesh.write(filename) + print("file %s successfully created\n" % filename) + + +################################################################### +# Conversion Helpers +################################################################### + +def deg2rad(d): + '''Converts degrees to radians''' + return _radians(d) + +def flt2str(f): + '''Converts floats to formatted string''' + return '{:.6f}'.format(f) + + +################################################################### +# Model Helpers +################################################################### + def add_poses(p1, p2): return FreeCAD.Placement(p1.toMatrix() + p2.toMatrix()) diff --git a/README.md b/README.md index c2a8c49..fcc89f1 100644 --- a/README.md +++ b/README.md @@ -28,5 +28,42 @@ This workbench supports versions of FreeCAD>0.16. 7. Save json 8. Use the json with whatever you want. E.g. [`arbench_part_publisher`](https://github.com/mahaarbo/arbench_part_publisher) -# Todo - -[] Add export all parts to meshes + +# Freecad to Gazebo exporter + +To generate SDF and URDF model from freecad assembly use python call: + +```python +freecad_exporter.export_gazebo_model(freecad_assembly_file, model_destination_folder, config) +``` +Note: Only links and joints are generated in the SDF model. To use the model with ros, use the URDF model. + +## Config specification +```json +{ + "name": "robot_name", + "joints_limits": {"upper": 90, "lower": -90, "effort": 10, "velocity": 5}, + "transmission": { + "type": "transmission_interface/SimpleTransmission", + "hardware_interface": "hardware_interface/PositionJointInterface" + }, + "joints_config": { + "type": "position_controllers/JointGroupPositionController", + "grouped": true + }, + "joints_pid": {"p": 20.0, "i": 10.0, "d": 0.0, "i_clamp": 0.0}, + "root_link": "base_link", + "ros_package": "humanoid_17dof_description", + "sdf_only": false, + "export": true +} +``` + +**sdf_only**: Export only SDF. + +**export**: Export mesh files. + +## Future plans +* Extend collada exporter to export materials from assemblies. +* Create a FreeCAD workbench to interactively assign joints and export to gazebo. +* Support any valid structures of assemblies. diff --git a/freecad_to_gazebo/LICENSE b/freecad_to_gazebo/LICENSE deleted file mode 100644 index f288702..0000000 --- a/freecad_to_gazebo/LICENSE +++ /dev/null @@ -1,674 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The GNU General Public License is a free, copyleft license for -software and other kinds of works. - - The licenses for most software and other practical works are designed -to take away your freedom to share and change the works. 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But first, please read -. diff --git a/freecad_to_gazebo/README.md b/freecad_to_gazebo/README.md deleted file mode 100644 index b1c4f14..0000000 --- a/freecad_to_gazebo/README.md +++ /dev/null @@ -1,58 +0,0 @@ -# Freecad to Gazebo exporter - -## Introduction -Freecad to gazebo exporter is a tool for exporting freecad assembly project to gazebo/ros model. - -## Design Rules -This project is in its early stage therefore specific design rules must be followed to work with it. -* The assmbly file must be created with `A2Plus` (freecad's prefered assembly workspace). -* Parts of the assembly must be in separate files. -* Imovable parts of the main assembly must be made in separate subasssemblies. -* Joints should be represented by AxisConsident constraints with lock rotation turned off. -* For URDF files to work properly, tree structure must be maintained (ie. parent and childs of constraints must follow tree structure). - -## Requirements -* [Freecad][freecad] with [A2Plus][a2plus] workspace installed - -## Usage - -#### To generate SDF and URDF model from freecad assembly use python call: -```python -freecad_exporter.export_gazebo_model(freecad_assembly_file, model_destination_folder, config) -``` -Note: Only links and joints are generated in the SDF model. To use the model with ros, use the URDF model. - -## Config specification -```json -{ - "name": "robot_name", - "joints_limits": {"upper": 90, "lower": -90, "effort": 10, "velocity": 5}, - "transmission": { - "type": "transmission_interface/SimpleTransmission", - "hardware_interface": "hardware_interface/PositionJointInterface" - }, - "joints_config": { - "type": "position_controllers/JointGroupPositionController", - "grouped": true - }, - "joints_pid": {"p": 20.0, "i": 10.0, "d": 0.0, "i_clamp": 0.0}, - "root_link": "base_link", - "ros_package": "humanoid_17dof_description", - "sdf_only": false, - "export": true -} -``` - -**sdf_only**: Export only SDF. - -**export**: Export mesh files. - - -## Future plans -* Extend collada exporter to export materials from assemblies. -* Create a FreeCAD workbench to interactively assign joints and export to gazebo. -* Reduce set of design rules by making it more robust and general purpose. -* Support any valid structures of assemblies. - -[freecad]:https://freecadweb.org -[a2plus]:https://github.com/kbwbe/A2plus diff --git a/freecad_to_gazebo/__init__.py b/freecad_to_gazebo/__init__.py deleted file mode 100644 index 4cf8a65..0000000 --- a/freecad_to_gazebo/__init__.py +++ /dev/null @@ -1,28 +0,0 @@ -import os, platform -import distro - -FREECAD_PATH = '' - -# check os types to search for freecad libraries -if 'linux' in platform.system().lower(): - dist = distro.linux_distribution(full_distribution_name=False)[0].lower() - # TODO: check freecad libs on different distros - if dist in ['ubuntu', 'debian', 'fedora', 'arch']: - FREECAD_PATH = '/usr/lib/freecad' - else: - # fallback to default path - FREECAD_PATH = '/usr/lib/freecad' - print(dist, FREECAD_PATH) -elif 'nt' in platform.dist().lower(): - pass - # TODO: Find freecad libs on windows -else: - raise Exception("Platform not supported") - -# Extend sys.path to include freecad python libraries (including workbenches) -os.sys.path.extend(os.path.join(FREECAD_PATH, d) for d in os.listdir(FREECAD_PATH)) - -from freecad_to_gazebo.mesh_exporter import export -from freecad_to_gazebo.model import * -from freecad_to_gazebo.freecad_exporter import * - diff --git a/freecad_to_gazebo/conversions.py b/freecad_to_gazebo/conversions.py deleted file mode 100644 index 60f151c..0000000 --- a/freecad_to_gazebo/conversions.py +++ /dev/null @@ -1,11 +0,0 @@ -from math import radians as _radians - - -def deg2rad(d): - '''Converts degrees to radians''' - return _radians(d) - -def flt2str(f): - '''Converts floats to formatted string''' - return '{:.6f}'.format(f) - diff --git a/freecad_to_gazebo/freecad_exporter.py b/freecad_to_gazebo/freecad_exporter.py deleted file mode 100644 index 74e2ab6..0000000 --- a/freecad_to_gazebo/freecad_exporter.py +++ /dev/null @@ -1,200 +0,0 @@ -import FreeCAD -from xml.etree import ElementTree as ET -from xml.dom.minidom import parseString -import yaml -from freecad_to_gazebo.model import * -from freecad_to_gazebo.mesh_exporter import * -import a2plib -import argparse - - -def export_gazebo_model(assembly_file, model_dir, configs={}): - doc = FreeCAD.open(assembly_file) - - robot_name = configs.get('name', doc.Label) - scale = configs.get('scale', 0.001) - scale_vec = FreeCAD.Vector([scale]*3) - density = configs.get('density', 1000) - - export_mesh = configs.get('export', True) - - assembly_dir = os.path.split(doc.FileName)[0] - - bounding_box = FreeCAD.BoundBox() - for obj in doc.findObjects('Part::Feature'): - bounding_box.add(obj.Shape.BoundBox) - - bounding_box.scale(*scale_vec) - - global_pose_base = FreeCAD.Vector(bounding_box.XLength/2, - bounding_box.YLength/2, - bounding_box.ZLength/2) - global_pose_base -= bounding_box.Center - global_pose = FreeCAD.Placement() - global_pose.Base = global_pose_base - - model = Model(name=robot_name, pose=global_pose) - model.self_collide = configs.get('self_collide', False) - model.sdf_version = '1.5' - - joint_limits = configs.get('joints_limits', {}) - joint_dynamics = configs.get('joints_dynamics', {}) - - constraints = [] - for obj in doc.Objects: - if a2plib.isA2pPart(obj): - name = obj.Label - shape = obj.Shape - mass = shape.Mass * scale**3 * density - com = shape.CenterOfMass * scale - inr = shape.MatrixOfInertia - inr.scale(*scale_vec*(scale**4) * density) - placement = shape.Placement - placement.Base.scale(*scale_vec) - - part_file = os.path.join(assembly_dir, obj.sourceFile) - part_file = os.path.normpath(part_file) - mesh_file = os.path.join(model_dir, - 'meshes', - os.path.relpath(part_file, assembly_dir)) - mesh_file = os.path.splitext(mesh_file)[0] + '.dae' - mesh_dir = os.path.split(mesh_file)[0] - - if export_mesh: - os.makedirs(mesh_dir, exist_ok=True) - export(doc, [obj], mesh_file, scale=scale, offset=com*-1) - - pose = placement.copy() - pose.Base = com - - pose_rpy = pose.copy() - pose_rpy.Base=(np.zeros(3)) - - - inertia = Inertia(inertia=np.array(inr.A)[[0,1,2,5,6,10]]) - inertial = Inertial(pose=pose_rpy, - mass=mass, - inertia=inertia) - - package = configs.get('ros_package', robot_name) - mesh_uri = os.path.join(package, - os.path.relpath(mesh_file, model_dir)) - mesh_uri = os.path.normpath(mesh_uri) - - visual = Visual(name=name+'_visual', - mesh=mesh_uri) - collision = Collision(name=name+'_collision', - mesh=mesh_uri) - - link = Link(name=name, - pose=pose, - inertial=inertial, - visual=visual, - collision=collision) - model.links.append(link) - - elif a2plib.isA2pConstraint(obj): - parent = doc.getObject(obj.Object1) - child = doc.getObject(obj.Object2) - - if sorted([parent.Label, child.Label]) in constraints: - continue - - if obj.Type == 'axial' and not obj.lockRotation: - pose = a2plib.getPos(parent, obj.SubElement1) - pose = pose - child.Shape.CenterOfMass - pose.scale(*scale_vec) - - joint_pose = FreeCAD.Placement() - joint_pose.Base = pose - axis_pose = a2plib.getAxis(parent, obj.SubElement1) - - axis = Axis(pose=axis_pose, - lower_limit=joint_limits.get('lower', -90), - upper_limit=joint_limits.get('upper', 90), - effort_limit=joint_limits.get('effort', 10), - velocity_limit=joint_limits.get('velocity', 10), - friction=joint_dynamics.get('friction', 0), - damping=joint_dynamics.get('damping', 0)) - - joint = Joint(name=parent.Label+'_'+child.Label, - pose=joint_pose, - parent=parent.Label, - child=child.Label, - type='revolute', - axis=axis) - - model.joints.append(joint) - - constraints.append(sorted([parent.Label, child.Label])) - - os.makedirs(os.path.join(model_dir, 'models'), exist_ok=True) - - with open(os.path.join(model_dir, 'models', robot_name+'.sdf'), 'w') as sdf_file: - sdf_file.write(model.to_xml_string('sdf')) - - if not configs.get('sdf_only', None): - with open(os.path.join(model_dir, 'models', robot_name+'.urdf'), 'w') as urdf_file: - urdf_file.write(model.to_xml_string('urdf')) - - actuators = ET.Element('robot', name=robot_name) - gazebo = ET.SubElement(actuators, 'gazebo') - plugin = ET.SubElement(gazebo, 'plugin') - plugin.set('filename', 'libgazebo_ros_control.so') - plugin.set('name', 'gazebo_ros_control') - namespace = ET.SubElement(plugin, 'robotNamespace') - namespace.text = '/'+robot_name - simtype = ET.SubElement(plugin, 'robotSimType') - simtype.text = 'gazebo_ros_control/DefaultRobotHWSim' - - tr_configs = configs.get('transmission', {}) - jt_configs = configs.get('joints_config') - pid = configs.get('joints_pid') - - joint_names = [joint.name for joint in model.joints] - - for joint in joint_names: - transmission = ET.SubElement(actuators, 'transmission', name=joint) - tr_type = ET.SubElement(transmission, 'type') - tr_type.text = tr_configs.get('type', 'transmission_interface/SimpleTransmission') - actuator = ET.SubElement(transmission, 'actuator', name=joint) - hw_interface = ET.SubElement(actuator, 'hardwareInterface') - hw_interface.text = tr_configs.get('hardware_interface', 'hardware_interface/PositionJointInterface') - reduction = ET.SubElement(actuator, 'mechanicalReduction') - reduction.text = '1' - - tr_joint = ET.SubElement(transmission, 'joint', name=joint) - hw_interface = ET.SubElement(tr_joint, 'hardwareInterface') - hw_interface.text = tr_configs.get('hardware_interface', 'hardware_interface/PositionJointInterface') - - with open(os.path.join(model_dir, 'models', robot_name+'_actuators.urdf'), 'w') as actuators_file: - actuators_file.write(parseString(ET.tostring(actuators)).toprettyxml(indent=' '*2)) - - control_configs={} - control_configs[robot_name] = { - 'joint_state_controller':{ - 'type': 'joint_state_controller/JointStateController', - 'publish_rate': 50, - } - } - - if jt_configs.get('groupped', False): - for joint in joint_names: - control_configs[robot_name][joint+'_controller'] = { - 'type': jt_configs.get('type', 'position_controllers/JointGroupPositionController'), - 'joint': joint, - 'pid': pid.copy() - } - else: - control_configs[robot_name]['joints_controller'] = { - 'type': jt_configs.get('type', 'position_controllers/JointGroupPositionController'), - 'publish_rate': 50, - 'joints': joint_names - } - control_configs[robot_name]['gazebo_ros_control/pid_gains'] = {} - for joint in joint_names: - control_configs[robot_name]['gazebo_ros_control/pid_gains'][joint] = pid.copy() - os.makedirs(os.path.join(model_dir, 'config'), exist_ok=True) - with open(os.path.join(model_dir, 'config', robot_name+'_controll.yaml'), 'w') as control_configs_file: - yaml.dump_all([control_configs], control_configs_file, sort_keys=False) - diff --git a/freecad_to_gazebo/mesh_exporter.py b/freecad_to_gazebo/mesh_exporter.py deleted file mode 100644 index 4bb6990..0000000 --- a/freecad_to_gazebo/mesh_exporter.py +++ /dev/null @@ -1,90 +0,0 @@ -import FreeCAD, Mesh, os, numpy as np -import collada - - -def export(doc, exportList, filename, scale=1, quality=1, offset=np.zeros(3)): - '''FreeCAD collada exporter - scale - scaling factor for the mesh - quality - mesh tessellation quality - offset - offset of the origin of the resulting mesh''' - - colmesh = collada.Collada() - colmesh.assetInfo.upaxis = collada.asset.UP_AXIS.Z_UP - objind = 0 - scenenodes = [] - - for obj in exportList: - bHandled = False - if obj.isDerivedFrom("Part::Feature"): - bHandled = True - m = obj.Shape.tessellate(quality) - vindex = [] - nindex = [] - findex = [] - # vertex indices - for v in m[0]: - vindex.extend([a*scale+b for a, b in zip(v, offset)]) - # normals - for f in obj.Shape.Faces: - n = f.normalAt(0,0) - for i in range(len(f.tessellate(quality)[1])): - nindex.extend([n.x,n.y,n.z]) - # face indices - for i in range(len(m[1])): - f = m[1][i] - findex.extend([f[0],i,f[1],i,f[2],i]) - elif obj.isDerivedFrom("Mesh::Feature"): - bHandled = True - print("exporting mesh ",obj.Name, obj.Mesh) - m = obj.Mesh - vindex = [] - nindex = [] - findex = [] - # vertex indices - for v in m.Topology[0]: - vindex.extend([a*scale+b for a, b in zip(v, offset)]) - # normals - for f in m.Facets: - n = f.Normal - nindex.extend([n.x,n.y,n.z]) - # face indices - for i in range(len(m.Topology[1])): - f = m.Topology[1][i] - findex.extend([f[0],i,f[1],i,f[2],i]) - - if bHandled: - vert_src = collada.source.FloatSource("cubeverts-array"+str(objind), - np.array(vindex), - ('X', 'Y', 'Z')) - normal_src = collada.source.FloatSource("cubenormals-array"+str(objind), - np.array(nindex), - ('X', 'Y', 'Z')) - geom = collada.geometry.Geometry(colmesh, - "geometry"+str(objind), - obj.Label, - [vert_src, normal_src]) - - input_list = collada.source.InputList() - input_list.addInput(0, 'VERTEX', "#cubeverts-array"+str(objind)) - input_list.addInput(1, 'NORMAL', "#cubenormals-array"+str(objind)) - triset = geom.createTriangleSet(np.array(findex), - input_list, - "materialref") - geom.primitives.append(triset) - colmesh.geometries.append(geom) - - geomnode = collada.scene.GeometryNode(geom) - node = collada.scene.Node("node"+str(objind), children=[geomnode]) - - #TODO: Add materials handling - scenenodes.append(node) - - objind += 1 - - scene = collada.scene.Scene("scene", scenenodes) - colmesh.scenes.append(scene) - colmesh.scene = scene - - colmesh.write(filename) - print("file %s successfully created\n" % filename) -