Delete A2Plus dependency and URDF export, add freecad_to_gazebo info to README.md
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8 changed files with 227 additions and 1065 deletions
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from freecad_to_gazebo.conversions import *
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import FreeCAD, Mesh, os, numpy as np
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import FreeCAD
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import yaml
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import argparse
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import collada
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from xml.etree import ElementTree as ET
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from xml.etree import ElementTree as ET
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from xml.dom.minidom import parseString
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from xml.dom.minidom import parseString
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from math import radians as _radians
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def export_gazebo_model(model_dir, configs={}):
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doc = FreeCAD.activeDocument()
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assembly_dir = os.path.split(doc.FileName)[0]
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scale = configs.get('scale', 0.001)
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scale_vec = FreeCAD.Vector([scale]*3)
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for obj in doc.Objects:
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if obj.isDerivedFrom("Part::Feature"):
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name = obj.Label
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density = configs.get('density', 1000)
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bounding_box = obj.Shape.BoundBox
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bounding_box.scale(*scale_vec)
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global_pose_base = FreeCAD.Vector(bounding_box.XLength/2,
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bounding_box.YLength/2,
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bounding_box.ZLength/2)
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global_pose_base -= bounding_box.Center
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global_pose = FreeCAD.Placement()
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global_pose.Base = global_pose_base
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model = Model(name=name, pose=global_pose)
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model.self_collide = False
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model.sdf_version = '1.5'
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shape = obj.Shape
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mass = shape.Mass * scale**3 * density
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com = shape.CenterOfMass * scale
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inr = shape.MatrixOfInertia
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inr.scale(*scale_vec*(scale**4) * density)
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placement = shape.Placement
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placement.Base.scale(*scale_vec)
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mesh_file = os.path.join(model_dir, name, 'meshes')
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mesh_file = os.path.splitext(mesh_file)[0] + name + '.dae'
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mesh_dir = os.path.split(mesh_file)[0]
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os.makedirs(mesh_dir, exist_ok=True)
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export_collada(doc, [obj], mesh_file, scale=scale, offset=com*-1)
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pose = placement.copy()
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pose.Base = com
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pose_rpy = pose.copy()
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pose_rpy.Base=(np.zeros(3))
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inertia = Inertia(inertia=np.array(inr.A)[[0,1,2,5,6,10]])
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inertial = Inertial(pose=pose_rpy,
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mass=mass,
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inertia=inertia)
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package = configs.get('ros_package', name)
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mesh_uri = os.path.join(package,
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os.path.relpath(mesh_file, model_dir))
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mesh_uri = os.path.normpath(mesh_uri)
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visual = Visual(name=name+'_visual', mesh=mesh_uri)
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collision = Collision(name=name+'_collision', mesh=mesh_uri)
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link = Link(name=name,
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pose=pose,
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inertial=inertial,
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visual=visual,
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collision=collision)
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model.links.append(link)
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with open(os.path.join(model_dir, name+'.sdf'), 'w') as sdf_file:
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sdf_file.write(model.to_xml_string('sdf'))
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###################################################################
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# Export helpers
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###################################################################
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def export_collada(doc, exportList, filename, scale=1, quality=1, offset=np.zeros(3)):
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'''FreeCAD collada exporter
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doc - FreeCAD document
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exportList - list of objects from doc
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scale - scaling factor for the mesh
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quality - mesh tessellation quality
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offset - offset of the origin of the resulting mesh'''
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colmesh = collada.Collada()
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colmesh.assetInfo.upaxis = collada.asset.UP_AXIS.Z_UP
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objind = 0
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scenenodes = []
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for obj in exportList:
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bHandled = False
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if obj.isDerivedFrom("Part::Feature"):
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bHandled = True
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m = obj.Shape.tessellate(quality)
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vindex = []
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nindex = []
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findex = []
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# vertex indices
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for v in m[0]:
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vindex.extend([a*scale+b for a, b in zip(v, offset)])
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# normals
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for f in obj.Shape.Faces:
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n = f.normalAt(0,0)
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for i in range(len(f.tessellate(quality)[1])):
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nindex.extend([n.x,n.y,n.z])
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# face indices
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for i in range(len(m[1])):
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f = m[1][i]
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findex.extend([f[0],i,f[1],i,f[2],i])
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elif obj.isDerivedFrom("Mesh::Feature"):
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bHandled = True
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print("exporting mesh ",obj.Name, obj.Mesh)
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m = obj.Mesh
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vindex = []
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nindex = []
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findex = []
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# vertex indices
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for v in m.Topology[0]:
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vindex.extend([a*scale+b for a, b in zip(v, offset)])
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# normals
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for f in m.Facets:
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n = f.Normal
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nindex.extend([n.x,n.y,n.z])
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# face indices
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for i in range(len(m.Topology[1])):
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f = m.Topology[1][i]
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findex.extend([f[0],i,f[1],i,f[2],i])
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if bHandled:
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vert_src = collada.source.FloatSource("cubeverts-array"+str(objind),
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np.array(vindex),
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('X', 'Y', 'Z'))
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normal_src = collada.source.FloatSource("cubenormals-array"+str(objind),
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np.array(nindex),
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('X', 'Y', 'Z'))
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geom = collada.geometry.Geometry(colmesh,
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"geometry"+str(objind),
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obj.Label,
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[vert_src, normal_src])
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input_list = collada.source.InputList()
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input_list.addInput(0, 'VERTEX', "#cubeverts-array"+str(objind))
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input_list.addInput(1, 'NORMAL', "#cubenormals-array"+str(objind))
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triset = geom.createTriangleSet(np.array(findex),
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input_list,
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"materialref")
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geom.primitives.append(triset)
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colmesh.geometries.append(geom)
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geomnode = collada.scene.GeometryNode(geom)
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node = collada.scene.Node("node"+str(objind), children=[geomnode])
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#TODO: Add materials handling
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scenenodes.append(node)
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objind += 1
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scene = collada.scene.Scene("scene", scenenodes)
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colmesh.scenes.append(scene)
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colmesh.scene = scene
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colmesh.write(filename)
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print("file %s successfully created\n" % filename)
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###################################################################
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# Conversion Helpers
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###################################################################
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def deg2rad(d):
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'''Converts degrees to radians'''
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return _radians(d)
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def flt2str(f):
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'''Converts floats to formatted string'''
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return '{:.6f}'.format(f)
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###################################################################
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# Model Helpers
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###################################################################
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def add_poses(p1, p2):
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def add_poses(p1, p2):
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return FreeCAD.Placement(p1.toMatrix() + p2.toMatrix())
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return FreeCAD.Placement(p1.toMatrix() + p2.toMatrix())
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41
README.md
41
README.md
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@ -28,5 +28,42 @@ This workbench supports versions of FreeCAD>0.16.
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7. Save json
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7. Save json
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8. Use the json with whatever you want. E.g. [`arbench_part_publisher`](https://github.com/mahaarbo/arbench_part_publisher)
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8. Use the json with whatever you want. E.g. [`arbench_part_publisher`](https://github.com/mahaarbo/arbench_part_publisher)
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# Todo
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-[] Add export all parts to meshes
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# Freecad to Gazebo exporter
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To generate SDF and URDF model from freecad assembly use python call:
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```python
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freecad_exporter.export_gazebo_model(freecad_assembly_file, model_destination_folder, config)
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```
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Note: Only links and joints are generated in the SDF model. To use the model with ros, use the URDF model.
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## Config specification
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```json
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{
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"name": "robot_name",
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"joints_limits": {"upper": 90, "lower": -90, "effort": 10, "velocity": 5},
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"transmission": {
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"type": "transmission_interface/SimpleTransmission",
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"hardware_interface": "hardware_interface/PositionJointInterface"
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},
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"joints_config": {
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"type": "position_controllers/JointGroupPositionController",
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"grouped": true
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},
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"joints_pid": {"p": 20.0, "i": 10.0, "d": 0.0, "i_clamp": 0.0},
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"root_link": "base_link",
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"ros_package": "humanoid_17dof_description",
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"sdf_only": false,
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"export": true
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}
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```
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**sdf_only**: Export only SDF.
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**export**: Export mesh files.
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## Future plans
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* Extend collada exporter to export materials from assemblies.
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* Create a FreeCAD workbench to interactively assign joints and export to gazebo.
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* Support any valid structures of assemblies.
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@ -1,674 +0,0 @@
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GNU GENERAL PUBLIC LICENSE
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Version 3, 29 June 2007
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Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
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Everyone is permitted to copy and distribute verbatim copies
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of this license document, but changing it is not allowed.
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Preamble
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The GNU General Public License is a free, copyleft license for
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software and other kinds of works.
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The licenses for most software and other practical works are designed
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to take away your freedom to share and change the works. By contrast,
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the GNU General Public License is intended to guarantee your freedom to
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share and change all versions of a program--to make sure it remains free
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software for all its users. We, the Free Software Foundation, use the
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GNU General Public License for most of our software; it applies also to
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any other work released this way by its authors. You can apply it to
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your programs, too.
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When we speak of free software, we are referring to freedom, not
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price. Our General Public Licenses are designed to make sure that you
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have the freedom to distribute copies of free software (and charge for
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them if you wish), that you receive source code or can get it if you
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want it, that you can change the software or use pieces of it in new
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free programs, and that you know you can do these things.
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To protect your rights, we need to prevent others from denying you
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these rights or asking you to surrender the rights. Therefore, you have
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certain responsibilities if you distribute copies of the software, or if
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you modify it: responsibilities to respect the freedom of others.
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For example, if you distribute copies of such a program, whether
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gratis or for a fee, you must pass on to the recipients the same
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freedoms that you received. You must make sure that they, too, receive
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or can get the source code. And you must show them these terms so they
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know their rights.
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Developers that use the GNU GPL protect your rights with two steps:
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(1) assert copyright on the software, and (2) offer you this License
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giving you legal permission to copy, distribute and/or modify it.
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For the developers' and authors' protection, the GPL clearly explains
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that there is no warranty for this free software. For both users' and
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authors' sake, the GPL requires that modified versions be marked as
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changed, so that their problems will not be attributed erroneously to
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authors of previous versions.
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Some devices are designed to deny users access to install or run
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modified versions of the software inside them, although the manufacturer
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can do so. This is fundamentally incompatible with the aim of
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protecting users' freedom to change the software. The systematic
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pattern of such abuse occurs in the area of products for individuals to
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use, which is precisely where it is most unacceptable. Therefore, we
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have designed this version of the GPL to prohibit the practice for those
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products. If such problems arise substantially in other domains, we
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stand ready to extend this provision to those domains in future versions
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of the GPL, as needed to protect the freedom of users.
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Finally, every program is threatened constantly by software patents.
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States should not allow patents to restrict development and use of
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software on general-purpose computers, but in those that do, we wish to
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avoid the special danger that patents applied to a free program could
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make it effectively proprietary. To prevent this, the GPL assures that
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patents cannot be used to render the program non-free.
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The precise terms and conditions for copying, distribution and
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modification follow.
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TERMS AND CONDITIONS
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0. Definitions.
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"This License" refers to version 3 of the GNU General Public License.
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"Copyright" also means copyright-like laws that apply to other kinds of
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works, such as semiconductor masks.
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"The Program" refers to any copyrightable work licensed under this
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|
||||||
License. Each licensee is addressed as "you". "Licensees" and
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"recipients" may be individuals or organizations.
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To "modify" a work means to copy from or adapt all or part of the work
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in a fashion requiring copyright permission, other than the making of an
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exact copy. The resulting work is called a "modified version" of the
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earlier work or a work "based on" the earlier work.
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A "covered work" means either the unmodified Program or a work based
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|
||||||
on the Program.
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||||||
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|
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To "propagate" a work means to do anything with it that, without
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|
||||||
permission, would make you directly or secondarily liable for
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infringement under applicable copyright law, except executing it on a
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||||||
computer or modifying a private copy. Propagation includes copying,
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distribution (with or without modification), making available to the
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public, and in some countries other activities as well.
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To "convey" a work means any kind of propagation that enables other
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parties to make or receive copies. Mere interaction with a user through
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a computer network, with no transfer of a copy, is not conveying.
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An interactive user interface displays "Appropriate Legal Notices"
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to the extent that it includes a convenient and prominently visible
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feature that (1) displays an appropriate copyright notice, and (2)
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tells the user that there is no warranty for the work (except to the
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||||||
extent that warranties are provided), that licensees may convey the
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work under this License, and how to view a copy of this License. If
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the interface presents a list of user commands or options, such as a
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|
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menu, a prominent item in the list meets this criterion.
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1. Source Code.
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The "source code" for a work means the preferred form of the work
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for making modifications to it. "Object code" means any non-source
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form of a work.
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A "Standard Interface" means an interface that either is an official
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standard defined by a recognized standards body, or, in the case of
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interfaces specified for a particular programming language, one that
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is widely used among developers working in that language.
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The "System Libraries" of an executable work include anything, other
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than the work as a whole, that (a) is included in the normal form of
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packaging a Major Component, but which is not part of that Major
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Component, and (b) serves only to enable use of the work with that
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|
||||||
Major Component, or to implement a Standard Interface for which an
|
|
||||||
implementation is available to the public in source code form. A
|
|
||||||
"Major Component", in this context, means a major essential component
|
|
||||||
(kernel, window system, and so on) of the specific operating system
|
|
||||||
(if any) on which the executable work runs, or a compiler used to
|
|
||||||
produce the work, or an object code interpreter used to run it.
|
|
||||||
|
|
||||||
The "Corresponding Source" for a work in object code form means all
|
|
||||||
the source code needed to generate, install, and (for an executable
|
|
||||||
work) run the object code and to modify the work, including scripts to
|
|
||||||
control those activities. However, it does not include the work's
|
|
||||||
System Libraries, or general-purpose tools or generally available free
|
|
||||||
programs which are used unmodified in performing those activities but
|
|
||||||
which are not part of the work. For example, Corresponding Source
|
|
||||||
includes interface definition files associated with source files for
|
|
||||||
the work, and the source code for shared libraries and dynamically
|
|
||||||
linked subprograms that the work is specifically designed to require,
|
|
||||||
such as by intimate data communication or control flow between those
|
|
||||||
subprograms and other parts of the work.
|
|
||||||
|
|
||||||
The Corresponding Source need not include anything that users
|
|
||||||
can regenerate automatically from other parts of the Corresponding
|
|
||||||
Source.
|
|
||||||
|
|
||||||
The Corresponding Source for a work in source code form is that
|
|
||||||
same work.
|
|
||||||
|
|
||||||
2. Basic Permissions.
|
|
||||||
|
|
||||||
All rights granted under this License are granted for the term of
|
|
||||||
copyright on the Program, and are irrevocable provided the stated
|
|
||||||
conditions are met. This License explicitly affirms your unlimited
|
|
||||||
permission to run the unmodified Program. The output from running a
|
|
||||||
covered work is covered by this License only if the output, given its
|
|
||||||
content, constitutes a covered work. This License acknowledges your
|
|
||||||
rights of fair use or other equivalent, as provided by copyright law.
|
|
||||||
|
|
||||||
You may make, run and propagate covered works that you do not
|
|
||||||
convey, without conditions so long as your license otherwise remains
|
|
||||||
in force. You may convey covered works to others for the sole purpose
|
|
||||||
of having them make modifications exclusively for you, or provide you
|
|
||||||
with facilities for running those works, provided that you comply with
|
|
||||||
the terms of this License in conveying all material for which you do
|
|
||||||
not control copyright. Those thus making or running the covered works
|
|
||||||
for you must do so exclusively on your behalf, under your direction
|
|
||||||
and control, on terms that prohibit them from making any copies of
|
|
||||||
your copyrighted material outside their relationship with you.
|
|
||||||
|
|
||||||
Conveying under any other circumstances is permitted solely under
|
|
||||||
the conditions stated below. Sublicensing is not allowed; section 10
|
|
||||||
makes it unnecessary.
|
|
||||||
|
|
||||||
3. Protecting Users' Legal Rights From Anti-Circumvention Law.
|
|
||||||
|
|
||||||
No covered work shall be deemed part of an effective technological
|
|
||||||
measure under any applicable law fulfilling obligations under article
|
|
||||||
11 of the WIPO copyright treaty adopted on 20 December 1996, or
|
|
||||||
similar laws prohibiting or restricting circumvention of such
|
|
||||||
measures.
|
|
||||||
|
|
||||||
When you convey a covered work, you waive any legal power to forbid
|
|
||||||
circumvention of technological measures to the extent such circumvention
|
|
||||||
is effected by exercising rights under this License with respect to
|
|
||||||
the covered work, and you disclaim any intention to limit operation or
|
|
||||||
modification of the work as a means of enforcing, against the work's
|
|
||||||
users, your or third parties' legal rights to forbid circumvention of
|
|
||||||
technological measures.
|
|
||||||
|
|
||||||
4. Conveying Verbatim Copies.
|
|
||||||
|
|
||||||
You may convey verbatim copies of the Program's source code as you
|
|
||||||
receive it, in any medium, provided that you conspicuously and
|
|
||||||
appropriately publish on each copy an appropriate copyright notice;
|
|
||||||
keep intact all notices stating that this License and any
|
|
||||||
non-permissive terms added in accord with section 7 apply to the code;
|
|
||||||
keep intact all notices of the absence of any warranty; and give all
|
|
||||||
recipients a copy of this License along with the Program.
|
|
||||||
|
|
||||||
You may charge any price or no price for each copy that you convey,
|
|
||||||
and you may offer support or warranty protection for a fee.
|
|
||||||
|
|
||||||
5. Conveying Modified Source Versions.
|
|
||||||
|
|
||||||
You may convey a work based on the Program, or the modifications to
|
|
||||||
produce it from the Program, in the form of source code under the
|
|
||||||
terms of section 4, provided that you also meet all of these conditions:
|
|
||||||
|
|
||||||
a) The work must carry prominent notices stating that you modified
|
|
||||||
it, and giving a relevant date.
|
|
||||||
|
|
||||||
b) The work must carry prominent notices stating that it is
|
|
||||||
released under this License and any conditions added under section
|
|
||||||
7. This requirement modifies the requirement in section 4 to
|
|
||||||
"keep intact all notices".
|
|
||||||
|
|
||||||
c) You must license the entire work, as a whole, under this
|
|
||||||
License to anyone who comes into possession of a copy. This
|
|
||||||
License will therefore apply, along with any applicable section 7
|
|
||||||
additional terms, to the whole of the work, and all its parts,
|
|
||||||
regardless of how they are packaged. This License gives no
|
|
||||||
permission to license the work in any other way, but it does not
|
|
||||||
invalidate such permission if you have separately received it.
|
|
||||||
|
|
||||||
d) If the work has interactive user interfaces, each must display
|
|
||||||
Appropriate Legal Notices; however, if the Program has interactive
|
|
||||||
interfaces that do not display Appropriate Legal Notices, your
|
|
||||||
work need not make them do so.
|
|
||||||
|
|
||||||
A compilation of a covered work with other separate and independent
|
|
||||||
works, which are not by their nature extensions of the covered work,
|
|
||||||
and which are not combined with it such as to form a larger program,
|
|
||||||
in or on a volume of a storage or distribution medium, is called an
|
|
||||||
"aggregate" if the compilation and its resulting copyright are not
|
|
||||||
used to limit the access or legal rights of the compilation's users
|
|
||||||
beyond what the individual works permit. Inclusion of a covered work
|
|
||||||
in an aggregate does not cause this License to apply to the other
|
|
||||||
parts of the aggregate.
|
|
||||||
|
|
||||||
6. Conveying Non-Source Forms.
|
|
||||||
|
|
||||||
You may convey a covered work in object code form under the terms
|
|
||||||
of sections 4 and 5, provided that you also convey the
|
|
||||||
machine-readable Corresponding Source under the terms of this License,
|
|
||||||
in one of these ways:
|
|
||||||
|
|
||||||
a) Convey the object code in, or embodied in, a physical product
|
|
||||||
(including a physical distribution medium), accompanied by the
|
|
||||||
Corresponding Source fixed on a durable physical medium
|
|
||||||
customarily used for software interchange.
|
|
||||||
|
|
||||||
b) Convey the object code in, or embodied in, a physical product
|
|
||||||
(including a physical distribution medium), accompanied by a
|
|
||||||
written offer, valid for at least three years and valid for as
|
|
||||||
long as you offer spare parts or customer support for that product
|
|
||||||
model, to give anyone who possesses the object code either (1) a
|
|
||||||
copy of the Corresponding Source for all the software in the
|
|
||||||
product that is covered by this License, on a durable physical
|
|
||||||
medium customarily used for software interchange, for a price no
|
|
||||||
more than your reasonable cost of physically performing this
|
|
||||||
conveying of source, or (2) access to copy the
|
|
||||||
Corresponding Source from a network server at no charge.
|
|
||||||
|
|
||||||
c) Convey individual copies of the object code with a copy of the
|
|
||||||
written offer to provide the Corresponding Source. This
|
|
||||||
alternative is allowed only occasionally and noncommercially, and
|
|
||||||
only if you received the object code with such an offer, in accord
|
|
||||||
with subsection 6b.
|
|
||||||
|
|
||||||
d) Convey the object code by offering access from a designated
|
|
||||||
place (gratis or for a charge), and offer equivalent access to the
|
|
||||||
Corresponding Source in the same way through the same place at no
|
|
||||||
further charge. You need not require recipients to copy the
|
|
||||||
Corresponding Source along with the object code. If the place to
|
|
||||||
copy the object code is a network server, the Corresponding Source
|
|
||||||
may be on a different server (operated by you or a third party)
|
|
||||||
that supports equivalent copying facilities, provided you maintain
|
|
||||||
clear directions next to the object code saying where to find the
|
|
||||||
Corresponding Source. Regardless of what server hosts the
|
|
||||||
Corresponding Source, you remain obligated to ensure that it is
|
|
||||||
available for as long as needed to satisfy these requirements.
|
|
||||||
|
|
||||||
e) Convey the object code using peer-to-peer transmission, provided
|
|
||||||
you inform other peers where the object code and Corresponding
|
|
||||||
Source of the work are being offered to the general public at no
|
|
||||||
charge under subsection 6d.
|
|
||||||
|
|
||||||
A separable portion of the object code, whose source code is excluded
|
|
||||||
from the Corresponding Source as a System Library, need not be
|
|
||||||
included in conveying the object code work.
|
|
||||||
|
|
||||||
A "User Product" is either (1) a "consumer product", which means any
|
|
||||||
tangible personal property which is normally used for personal, family,
|
|
||||||
or household purposes, or (2) anything designed or sold for incorporation
|
|
||||||
into a dwelling. In determining whether a product is a consumer product,
|
|
||||||
doubtful cases shall be resolved in favor of coverage. For a particular
|
|
||||||
product received by a particular user, "normally used" refers to a
|
|
||||||
typical or common use of that class of product, regardless of the status
|
|
||||||
of the particular user or of the way in which the particular user
|
|
||||||
actually uses, or expects or is expected to use, the product. A product
|
|
||||||
is a consumer product regardless of whether the product has substantial
|
|
||||||
commercial, industrial or non-consumer uses, unless such uses represent
|
|
||||||
the only significant mode of use of the product.
|
|
||||||
|
|
||||||
"Installation Information" for a User Product means any methods,
|
|
||||||
procedures, authorization keys, or other information required to install
|
|
||||||
and execute modified versions of a covered work in that User Product from
|
|
||||||
a modified version of its Corresponding Source. The information must
|
|
||||||
suffice to ensure that the continued functioning of the modified object
|
|
||||||
code is in no case prevented or interfered with solely because
|
|
||||||
modification has been made.
|
|
||||||
|
|
||||||
If you convey an object code work under this section in, or with, or
|
|
||||||
specifically for use in, a User Product, and the conveying occurs as
|
|
||||||
part of a transaction in which the right of possession and use of the
|
|
||||||
User Product is transferred to the recipient in perpetuity or for a
|
|
||||||
fixed term (regardless of how the transaction is characterized), the
|
|
||||||
Corresponding Source conveyed under this section must be accompanied
|
|
||||||
by the Installation Information. But this requirement does not apply
|
|
||||||
if neither you nor any third party retains the ability to install
|
|
||||||
modified object code on the User Product (for example, the work has
|
|
||||||
been installed in ROM).
|
|
||||||
|
|
||||||
The requirement to provide Installation Information does not include a
|
|
||||||
requirement to continue to provide support service, warranty, or updates
|
|
||||||
for a work that has been modified or installed by the recipient, or for
|
|
||||||
the User Product in which it has been modified or installed. Access to a
|
|
||||||
network may be denied when the modification itself materially and
|
|
||||||
adversely affects the operation of the network or violates the rules and
|
|
||||||
protocols for communication across the network.
|
|
||||||
|
|
||||||
Corresponding Source conveyed, and Installation Information provided,
|
|
||||||
in accord with this section must be in a format that is publicly
|
|
||||||
documented (and with an implementation available to the public in
|
|
||||||
source code form), and must require no special password or key for
|
|
||||||
unpacking, reading or copying.
|
|
||||||
|
|
||||||
7. Additional Terms.
|
|
||||||
|
|
||||||
"Additional permissions" are terms that supplement the terms of this
|
|
||||||
License by making exceptions from one or more of its conditions.
|
|
||||||
Additional permissions that are applicable to the entire Program shall
|
|
||||||
be treated as though they were included in this License, to the extent
|
|
||||||
that they are valid under applicable law. If additional permissions
|
|
||||||
apply only to part of the Program, that part may be used separately
|
|
||||||
under those permissions, but the entire Program remains governed by
|
|
||||||
this License without regard to the additional permissions.
|
|
||||||
|
|
||||||
When you convey a copy of a covered work, you may at your option
|
|
||||||
remove any additional permissions from that copy, or from any part of
|
|
||||||
it. (Additional permissions may be written to require their own
|
|
||||||
removal in certain cases when you modify the work.) You may place
|
|
||||||
additional permissions on material, added by you to a covered work,
|
|
||||||
for which you have or can give appropriate copyright permission.
|
|
||||||
|
|
||||||
Notwithstanding any other provision of this License, for material you
|
|
||||||
add to a covered work, you may (if authorized by the copyright holders of
|
|
||||||
that material) supplement the terms of this License with terms:
|
|
||||||
|
|
||||||
a) Disclaiming warranty or limiting liability differently from the
|
|
||||||
terms of sections 15 and 16 of this License; or
|
|
||||||
|
|
||||||
b) Requiring preservation of specified reasonable legal notices or
|
|
||||||
author attributions in that material or in the Appropriate Legal
|
|
||||||
Notices displayed by works containing it; or
|
|
||||||
|
|
||||||
c) Prohibiting misrepresentation of the origin of that material, or
|
|
||||||
requiring that modified versions of such material be marked in
|
|
||||||
reasonable ways as different from the original version; or
|
|
||||||
|
|
||||||
d) Limiting the use for publicity purposes of names of licensors or
|
|
||||||
authors of the material; or
|
|
||||||
|
|
||||||
e) Declining to grant rights under trademark law for use of some
|
|
||||||
trade names, trademarks, or service marks; or
|
|
||||||
|
|
||||||
f) Requiring indemnification of licensors and authors of that
|
|
||||||
material by anyone who conveys the material (or modified versions of
|
|
||||||
it) with contractual assumptions of liability to the recipient, for
|
|
||||||
any liability that these contractual assumptions directly impose on
|
|
||||||
those licensors and authors.
|
|
||||||
|
|
||||||
All other non-permissive additional terms are considered "further
|
|
||||||
restrictions" within the meaning of section 10. If the Program as you
|
|
||||||
received it, or any part of it, contains a notice stating that it is
|
|
||||||
governed by this License along with a term that is a further
|
|
||||||
restriction, you may remove that term. If a license document contains
|
|
||||||
a further restriction but permits relicensing or conveying under this
|
|
||||||
License, you may add to a covered work material governed by the terms
|
|
||||||
of that license document, provided that the further restriction does
|
|
||||||
not survive such relicensing or conveying.
|
|
||||||
|
|
||||||
If you add terms to a covered work in accord with this section, you
|
|
||||||
must place, in the relevant source files, a statement of the
|
|
||||||
additional terms that apply to those files, or a notice indicating
|
|
||||||
where to find the applicable terms.
|
|
||||||
|
|
||||||
Additional terms, permissive or non-permissive, may be stated in the
|
|
||||||
form of a separately written license, or stated as exceptions;
|
|
||||||
the above requirements apply either way.
|
|
||||||
|
|
||||||
8. Termination.
|
|
||||||
|
|
||||||
You may not propagate or modify a covered work except as expressly
|
|
||||||
provided under this License. Any attempt otherwise to propagate or
|
|
||||||
modify it is void, and will automatically terminate your rights under
|
|
||||||
this License (including any patent licenses granted under the third
|
|
||||||
paragraph of section 11).
|
|
||||||
|
|
||||||
However, if you cease all violation of this License, then your
|
|
||||||
license from a particular copyright holder is reinstated (a)
|
|
||||||
provisionally, unless and until the copyright holder explicitly and
|
|
||||||
finally terminates your license, and (b) permanently, if the copyright
|
|
||||||
holder fails to notify you of the violation by some reasonable means
|
|
||||||
prior to 60 days after the cessation.
|
|
||||||
|
|
||||||
Moreover, your license from a particular copyright holder is
|
|
||||||
reinstated permanently if the copyright holder notifies you of the
|
|
||||||
violation by some reasonable means, this is the first time you have
|
|
||||||
received notice of violation of this License (for any work) from that
|
|
||||||
copyright holder, and you cure the violation prior to 30 days after
|
|
||||||
your receipt of the notice.
|
|
||||||
|
|
||||||
Termination of your rights under this section does not terminate the
|
|
||||||
licenses of parties who have received copies or rights from you under
|
|
||||||
this License. If your rights have been terminated and not permanently
|
|
||||||
reinstated, you do not qualify to receive new licenses for the same
|
|
||||||
material under section 10.
|
|
||||||
|
|
||||||
9. Acceptance Not Required for Having Copies.
|
|
||||||
|
|
||||||
You are not required to accept this License in order to receive or
|
|
||||||
run a copy of the Program. Ancillary propagation of a covered work
|
|
||||||
occurring solely as a consequence of using peer-to-peer transmission
|
|
||||||
to receive a copy likewise does not require acceptance. However,
|
|
||||||
nothing other than this License grants you permission to propagate or
|
|
||||||
modify any covered work. These actions infringe copyright if you do
|
|
||||||
not accept this License. Therefore, by modifying or propagating a
|
|
||||||
covered work, you indicate your acceptance of this License to do so.
|
|
||||||
|
|
||||||
10. Automatic Licensing of Downstream Recipients.
|
|
||||||
|
|
||||||
Each time you convey a covered work, the recipient automatically
|
|
||||||
receives a license from the original licensors, to run, modify and
|
|
||||||
propagate that work, subject to this License. You are not responsible
|
|
||||||
for enforcing compliance by third parties with this License.
|
|
||||||
|
|
||||||
An "entity transaction" is a transaction transferring control of an
|
|
||||||
organization, or substantially all assets of one, or subdividing an
|
|
||||||
organization, or merging organizations. If propagation of a covered
|
|
||||||
work results from an entity transaction, each party to that
|
|
||||||
transaction who receives a copy of the work also receives whatever
|
|
||||||
licenses to the work the party's predecessor in interest had or could
|
|
||||||
give under the previous paragraph, plus a right to possession of the
|
|
||||||
Corresponding Source of the work from the predecessor in interest, if
|
|
||||||
the predecessor has it or can get it with reasonable efforts.
|
|
||||||
|
|
||||||
You may not impose any further restrictions on the exercise of the
|
|
||||||
rights granted or affirmed under this License. For example, you may
|
|
||||||
not impose a license fee, royalty, or other charge for exercise of
|
|
||||||
rights granted under this License, and you may not initiate litigation
|
|
||||||
(including a cross-claim or counterclaim in a lawsuit) alleging that
|
|
||||||
any patent claim is infringed by making, using, selling, offering for
|
|
||||||
sale, or importing the Program or any portion of it.
|
|
||||||
|
|
||||||
11. Patents.
|
|
||||||
|
|
||||||
A "contributor" is a copyright holder who authorizes use under this
|
|
||||||
License of the Program or a work on which the Program is based. The
|
|
||||||
work thus licensed is called the contributor's "contributor version".
|
|
||||||
|
|
||||||
A contributor's "essential patent claims" are all patent claims
|
|
||||||
owned or controlled by the contributor, whether already acquired or
|
|
||||||
hereafter acquired, that would be infringed by some manner, permitted
|
|
||||||
by this License, of making, using, or selling its contributor version,
|
|
||||||
but do not include claims that would be infringed only as a
|
|
||||||
consequence of further modification of the contributor version. For
|
|
||||||
purposes of this definition, "control" includes the right to grant
|
|
||||||
patent sublicenses in a manner consistent with the requirements of
|
|
||||||
this License.
|
|
||||||
|
|
||||||
Each contributor grants you a non-exclusive, worldwide, royalty-free
|
|
||||||
patent license under the contributor's essential patent claims, to
|
|
||||||
make, use, sell, offer for sale, import and otherwise run, modify and
|
|
||||||
propagate the contents of its contributor version.
|
|
||||||
|
|
||||||
In the following three paragraphs, a "patent license" is any express
|
|
||||||
agreement or commitment, however denominated, not to enforce a patent
|
|
||||||
(such as an express permission to practice a patent or covenant not to
|
|
||||||
sue for patent infringement). To "grant" such a patent license to a
|
|
||||||
party means to make such an agreement or commitment not to enforce a
|
|
||||||
patent against the party.
|
|
||||||
|
|
||||||
If you convey a covered work, knowingly relying on a patent license,
|
|
||||||
and the Corresponding Source of the work is not available for anyone
|
|
||||||
to copy, free of charge and under the terms of this License, through a
|
|
||||||
publicly available network server or other readily accessible means,
|
|
||||||
then you must either (1) cause the Corresponding Source to be so
|
|
||||||
available, or (2) arrange to deprive yourself of the benefit of the
|
|
||||||
patent license for this particular work, or (3) arrange, in a manner
|
|
||||||
consistent with the requirements of this License, to extend the patent
|
|
||||||
license to downstream recipients. "Knowingly relying" means you have
|
|
||||||
actual knowledge that, but for the patent license, your conveying the
|
|
||||||
covered work in a country, or your recipient's use of the covered work
|
|
||||||
in a country, would infringe one or more identifiable patents in that
|
|
||||||
country that you have reason to believe are valid.
|
|
||||||
|
|
||||||
If, pursuant to or in connection with a single transaction or
|
|
||||||
arrangement, you convey, or propagate by procuring conveyance of, a
|
|
||||||
covered work, and grant a patent license to some of the parties
|
|
||||||
receiving the covered work authorizing them to use, propagate, modify
|
|
||||||
or convey a specific copy of the covered work, then the patent license
|
|
||||||
you grant is automatically extended to all recipients of the covered
|
|
||||||
work and works based on it.
|
|
||||||
|
|
||||||
A patent license is "discriminatory" if it does not include within
|
|
||||||
the scope of its coverage, prohibits the exercise of, or is
|
|
||||||
conditioned on the non-exercise of one or more of the rights that are
|
|
||||||
specifically granted under this License. You may not convey a covered
|
|
||||||
work if you are a party to an arrangement with a third party that is
|
|
||||||
in the business of distributing software, under which you make payment
|
|
||||||
to the third party based on the extent of your activity of conveying
|
|
||||||
the work, and under which the third party grants, to any of the
|
|
||||||
parties who would receive the covered work from you, a discriminatory
|
|
||||||
patent license (a) in connection with copies of the covered work
|
|
||||||
conveyed by you (or copies made from those copies), or (b) primarily
|
|
||||||
for and in connection with specific products or compilations that
|
|
||||||
contain the covered work, unless you entered into that arrangement,
|
|
||||||
or that patent license was granted, prior to 28 March 2007.
|
|
||||||
|
|
||||||
Nothing in this License shall be construed as excluding or limiting
|
|
||||||
any implied license or other defenses to infringement that may
|
|
||||||
otherwise be available to you under applicable patent law.
|
|
||||||
|
|
||||||
12. No Surrender of Others' Freedom.
|
|
||||||
|
|
||||||
If conditions are imposed on you (whether by court order, agreement or
|
|
||||||
otherwise) that contradict the conditions of this License, they do not
|
|
||||||
excuse you from the conditions of this License. If you cannot convey a
|
|
||||||
covered work so as to satisfy simultaneously your obligations under this
|
|
||||||
License and any other pertinent obligations, then as a consequence you may
|
|
||||||
not convey it at all. For example, if you agree to terms that obligate you
|
|
||||||
to collect a royalty for further conveying from those to whom you convey
|
|
||||||
the Program, the only way you could satisfy both those terms and this
|
|
||||||
License would be to refrain entirely from conveying the Program.
|
|
||||||
|
|
||||||
13. Use with the GNU Affero General Public License.
|
|
||||||
|
|
||||||
Notwithstanding any other provision of this License, you have
|
|
||||||
permission to link or combine any covered work with a work licensed
|
|
||||||
under version 3 of the GNU Affero General Public License into a single
|
|
||||||
combined work, and to convey the resulting work. The terms of this
|
|
||||||
License will continue to apply to the part which is the covered work,
|
|
||||||
but the special requirements of the GNU Affero General Public License,
|
|
||||||
section 13, concerning interaction through a network will apply to the
|
|
||||||
combination as such.
|
|
||||||
|
|
||||||
14. Revised Versions of this License.
|
|
||||||
|
|
||||||
The Free Software Foundation may publish revised and/or new versions of
|
|
||||||
the GNU 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
|
|
||||||
Program specifies that a certain numbered version of the GNU General
|
|
||||||
Public License "or any later version" applies to it, you have the
|
|
||||||
option of following the terms and conditions either of that numbered
|
|
||||||
version or of any later version published by the Free Software
|
|
||||||
Foundation. If the Program does not specify a version number of the
|
|
||||||
GNU General Public License, you may choose any version ever published
|
|
||||||
by the Free Software Foundation.
|
|
||||||
|
|
||||||
If the Program specifies that a proxy can decide which future
|
|
||||||
versions of the GNU General Public License can be used, that proxy's
|
|
||||||
public statement of acceptance of a version permanently authorizes you
|
|
||||||
to choose that version for the Program.
|
|
||||||
|
|
||||||
Later license versions may give you additional or different
|
|
||||||
permissions. However, no additional obligations are imposed on any
|
|
||||||
author or copyright holder as a result of your choosing to follow a
|
|
||||||
later version.
|
|
||||||
|
|
||||||
15. Disclaimer of Warranty.
|
|
||||||
|
|
||||||
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
|
|
||||||
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
|
|
||||||
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "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 PROGRAM
|
|
||||||
IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
|
|
||||||
ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
|
||||||
|
|
||||||
16. Limitation of Liability.
|
|
||||||
|
|
||||||
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
|
|
||||||
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
|
|
||||||
THE PROGRAM 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 PROGRAM (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 PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
|
|
||||||
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
|
|
||||||
SUCH DAMAGES.
|
|
||||||
|
|
||||||
17. Interpretation of Sections 15 and 16.
|
|
||||||
|
|
||||||
If the disclaimer of warranty and limitation of liability provided
|
|
||||||
above cannot be given local legal effect according to their terms,
|
|
||||||
reviewing courts shall apply local law that most closely approximates
|
|
||||||
an absolute waiver of all civil liability in connection with the
|
|
||||||
Program, unless a warranty or assumption of liability accompanies a
|
|
||||||
copy of the Program in return for a fee.
|
|
||||||
|
|
||||||
END OF TERMS AND CONDITIONS
|
|
||||||
|
|
||||||
How to Apply These Terms to Your New Programs
|
|
||||||
|
|
||||||
If you develop a new program, and you want it to be of the greatest
|
|
||||||
possible use to the public, the best way to achieve this is to make it
|
|
||||||
free software which everyone can redistribute and change under these terms.
|
|
||||||
|
|
||||||
To do so, attach the following notices to the program. It is safest
|
|
||||||
to attach them to the start of each source file to most effectively
|
|
||||||
state the exclusion of warranty; and each file should have at least
|
|
||||||
the "copyright" line and a pointer to where the full notice is found.
|
|
||||||
|
|
||||||
<one line to give the program's name and a brief idea of what it does.>
|
|
||||||
Copyright (C) <year> <name of author>
|
|
||||||
|
|
||||||
This program is free software: you can redistribute it and/or modify
|
|
||||||
it under the terms of the GNU General Public License as published by
|
|
||||||
the Free Software Foundation, either version 3 of the License, or
|
|
||||||
(at your option) any later version.
|
|
||||||
|
|
||||||
This program 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 General Public License for more details.
|
|
||||||
|
|
||||||
You should have received a copy of the GNU General Public License
|
|
||||||
along with this program. If not, see <https://www.gnu.org/licenses/>.
|
|
||||||
|
|
||||||
Also add information on how to contact you by electronic and paper mail.
|
|
||||||
|
|
||||||
If the program does terminal interaction, make it output a short
|
|
||||||
notice like this when it starts in an interactive mode:
|
|
||||||
|
|
||||||
<program> Copyright (C) <year> <name of author>
|
|
||||||
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
|
|
||||||
This is free software, and you are welcome to redistribute it
|
|
||||||
under certain conditions; type `show c' for details.
|
|
||||||
|
|
||||||
The hypothetical commands `show w' and `show c' should show the appropriate
|
|
||||||
parts of the General Public License. Of course, your program's commands
|
|
||||||
might be different; for a GUI interface, you would use an "about box".
|
|
||||||
|
|
||||||
You should also get your employer (if you work as a programmer) or school,
|
|
||||||
if any, to sign a "copyright disclaimer" for the program, if necessary.
|
|
||||||
For more information on this, and how to apply and follow the GNU GPL, see
|
|
||||||
<https://www.gnu.org/licenses/>.
|
|
||||||
|
|
||||||
The GNU General Public License does not permit incorporating your program
|
|
||||||
into proprietary programs. If your program is a subroutine library, you
|
|
||||||
may consider it more useful to permit linking proprietary applications with
|
|
||||||
the library. If this is what you want to do, use the GNU Lesser General
|
|
||||||
Public License instead of this License. But first, please read
|
|
||||||
<https://www.gnu.org/licenses/why-not-lgpl.html>.
|
|
||||||
|
|
@ -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
|
|
||||||
|
|
@ -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 *
|
|
||||||
|
|
||||||
|
|
@ -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)
|
|
||||||
|
|
||||||
|
|
@ -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)
|
|
||||||
|
|
||||||
|
|
@ -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)
|
|
||||||
|
|
||||||
Loading…
Add table
Add a link
Reference in a new issue