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Add PDDL, 3D-assets & SDF-URDF generator from Blender Scene Config

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IDONTSUDO 2023-12-17 13:58:43 +00:00 • committed by Igor Brylyov
parent b77687ea14
commit e305d486f2
41 changed files with 2793 additions and 664 deletions
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8
cad_generation/env.json
View file

@ -1,6 +1,4 @@
{
"doc": "/home/idontsudo/framework/asp/out/disk_and_axis_n.FCStd",
"out": "/home/idontsudo/framework/asp/out",
"resultURL": "http://localhost:3002/assembly/save/out",
"projectId": "cubes"
}
"cadFilePath": "/Users/idontsudo/Desktop/asp-example/disk_and_axis_n.FCStd",
"outPath": "/Users/idontsudo/Desktop/asp-example/"
}

28
cad_generation/helper/file_system_repository.py Normal file
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@ -0,0 +1,28 @@
import os
import json
import shutil
class FileSystemRepository:
def readJSON(path: str):
return json.loads((open(path)).read())
def recursiveDeleteFolder(path: str):
shutil.rmtree(path)
pass
def deletingOldAndCreatingNewFolder(path: str):
if FileSystemRepository.isExistsPath(path):
FileSystemRepository.recursiveDeleteFolder(path)
os.makedirs(path)
pass
def isExistsPath(path: str):
return os.path.exists(path)
def writeFile(data, filePath, fileName):
file_to_open = filePath + fileName
f = open(file_to_open, "w", encoding="utf-8", errors="ignore")
f.write(data)
f.close()

15
cad_generation/helper/fs.py
View file

@ -1,15 +0,0 @@
import os
import json
class FS:
def readJSON(path: str):
return json.loads((open(path)).read())
def writeFile(data, filePath, fileName):
file_to_open = filePath + fileName
f = open(file_to_open, 'w', encoding='utf-8',
errors='ignore')
f.write(data)
f.close()

28
cad_generation/main.py
View file

@ -1,19 +1,25 @@
import requests
import FreeCAD as App
from helper.fs import FS
from scenarios.robossembler_freecad_export_scenario import RobossemblerFreeCadExportScenario
import shutil
import os
from helper.file_system_repository import FileSystemRepository
from scenarios.robossembler_freecad_export_scenari import (
RobossemblerFreeCadExportScenari,
)
import FreeCADGui as Gui
# obj.Support[0][0].Label
# 'Hex_King'
import FreeCAD as App
def main():
env = FS.readJSON('./env.json')
App.openDocument(env.get('doc'))
RobossemblerFreeCadExportScenario().call(env.get('out'))
# requests.post(url=env.get('resultURL'), files={'zip': open(env.get('out') + '/' + 'generation.zip', "rb"), 'id':env.get('projectId')})
# os.remove('./generation.zip')
env = FileSystemRepository.readJSON("./env.json")
App.openDocument(env.get("cadFilePath"))
RobossemblerFreeCadExportScenari.call(env.get("outPath"))
App.closeDocument(App.ActiveDocument.Name)
freecadQTWindow = Gui.getMainWindow()
freecadQTWindow = Gui.getMainWindow()
freecadQTWindow.close()
main()

54
cad_generation/model/sdf_geometry_model.py
View file

@ -26,7 +26,28 @@ def to_class(c, x):
class SdfGeometryModel:
def __init__(self, name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz, stl, friction, centerMassX, centerMassY, centerMassZ,):
def __init__(
self,
name,
ixx,
ixy,
ixz,
iyy,
izz,
massSDF,
posX,
posY,
posZ,
eulerX,
eulerY,
eulerZ,
iyz,
stl,
friction,
centerMassX,
centerMassY,
centerMassZ,
):
self.name = name
self.ixx = ixx
self.ixy = ixy
@ -69,7 +90,27 @@ class SdfGeometryModel:
centerMassX = from_union([from_str, from_none], obj.get("centerMassX"))
centerMassY = from_union([from_str, from_none], obj.get("centerMassY"))
centerMassZ = from_union([from_str, from_none], obj.get("centerMassZ"))
return SdfGeometryModel(name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz, stl, friction, centerMassX, centerMassY, centerMassZ)
return SdfGeometryModel(
name,
ixx,
ixy,
ixz,
iyy,
izz,
massSDF,
posX,
posY,
posZ,
eulerX,
eulerY,
eulerZ,
iyz,
stl,
friction,
centerMassX,
centerMassY,
centerMassZ,
)
def to_dict(self):
result = {}
@ -105,14 +146,13 @@ class SdfGeometryModel:
result["stl"] = from_union([from_str, from_none], self.stl)
if self.friction is not None:
result["friction"] = from_union([from_str, from_none], self.eulerZ)
if self.centerMassX is not None:
result['centerMassX'] = from_union([from_str, from_none], self.centerMassX)
result["centerMassX"] = from_union([from_str, from_none], self.centerMassX)
if self.centerMassY is not None:
result['centerMassY'] = from_union([from_str, from_none], self.centerMassY)
result["centerMassY"] = from_union([from_str, from_none], self.centerMassY)
if self.centerMassZ is not None:
result['centerMassZ'] = from_union([from_str, from_none], self.centerMassZ)
result["centerMassZ"] = from_union([from_str, from_none], self.centerMassZ)
return result
def toJSON(self) -> str:
return str(self.to_dict()).replace('\'', '"')
return str(self.to_dict()).replace("'", '"')

49
cad_generation/scenarios/robossembler_freecad_export_scenari.py Normal file
View file

@ -0,0 +1,49 @@
from usecases.export_assembly_them_all_usecase import ExportAssemblyThemAllUseCase
import FreeCAD
from usecases.export_usecase import EXPORT_TYPES, ExportUseCase
from usecases.get_sdf_geometry_usecase import SdfGeometryUseCase
from usecases.assembly_parse_usecase import AssemblyParseUseCase
from model.files_generator import FolderGenerator
from helper.file_system_repository import FileSystemRepository
import os
class RobossemblerFreeCadExportScenari:
def call(path):
directory = path
__objs__ = FreeCAD.ActiveDocument.RootObjects
directoryExport = directory + "/"
FileSystemRepository.deletingOldAndCreatingNewFolder(
directoryExport + FolderGenerator.ASSETS.value
)
FileSystemRepository.deletingOldAndCreatingNewFolder(
directoryExport + FolderGenerator.SDF.value,
)
FileSystemRepository.deletingOldAndCreatingNewFolder(
directoryExport
+ FolderGenerator.SDF.value
+ "/"
+ FolderGenerator.MESHES.value
)
FileSystemRepository.deletingOldAndCreatingNewFolder(
directoryExport + FolderGenerator.ASSEMBlY.value
)
f = open(directory + "/step-structure.json", "w")
f.write(AssemblyParseUseCase().toJson())
f.close()
RobossemblerFreeCadExportScenari.geometry(directory)
ExportAssemblyThemAllUseCase().call(directoryExport)
return True
def geometry(outPutsPath: str):
exportUseCase = ExportUseCase.call(outPutsPath, EXPORT_TYPES.OBJ)
for el in SdfGeometryUseCase().call(exportUseCase):
FileSystemRepository.writeFile(
el.toJSON(),
outPutsPath + FolderGenerator.ASSETS.value + "/",
el.name + ".json",
)

52
cad_generation/scenarios/robossembler_freecad_export_scenario.py
View file

@ -1,52 +0,0 @@
from usecases.export_assembly_them_all_usecase import ExportAssemblyThemAllUseCase
import FreeCAD
from usecases.export_usecase import EXPORT_TYPES, ExportUseCase
from usecases.get_sdf_geometry_usecase import SdfGeometryUseCase
from usecases.assembly_parse_usecase import AssemblyParseUseCase
from usecases.geometry_usecase import GeometryUseCase
from model.geometry_part import GeometryPart
from model.files_generator import FolderGenerator
from helper.fs import FS
import os
import shutil
class RobossemblerFreeCadExportScenario:
def call(self, path):
directory = path + '/' + 'generation'
if os.path.exists(directory):
shutil.rmtree(directory)
if not os.path.exists(directory):
os.makedirs(directory)
__objs__ = FreeCAD.ActiveDocument.RootObjects
directoryExport = directory + '/'
os.makedirs(directoryExport + FolderGenerator.ASSETS.value)
os.makedirs(directoryExport + FolderGenerator.SDF.value)
os.makedirs(directoryExport + FolderGenerator.SDF.value + '/' + FolderGenerator.MESHES.value)
os.makedirs(directoryExport + FolderGenerator.ASSEMBlY.value)
f = open(directory + "/step-structure.json", "w")
f.write(AssemblyParseUseCase().toJson())
f.close()
self.geometry(directory)
ExportAssemblyThemAllUseCase().call(directoryExport)
# shutil.make_archive(directory, 'zip', directory)
# shutil.rmtree(directory)
return True
def geometry(self, outPutsPath: str):
exportUseCase = ExportUseCase.call(outPutsPath,EXPORT_TYPES.OBJ)
for el in SdfGeometryUseCase().call(exportUseCase):
FS.writeFile(el.toJSON(), outPutsPath + '/' + FolderGenerator.ASSETS.value + '/', el.name + '.json',)

106
cad_generation/usecases/export_assembly_them_all_usecase.py
View file

@ -1,11 +1,9 @@
from typing import List
import FreeCAD as App
import Part
from model.join_mesh_model import JoinMeshModel
from model.mesh_part_model import MeshPartModel
from helper.fs import FS
from helper.file_system_repository import FileSystemRepository
from helper.is_solid import is_object_solid
from model.simple_copy_part_model import SimpleCopyPartModel
from model.files_generator import FolderGenerator
@ -15,78 +13,106 @@ import json
class ExportAssemblyThemAllUseCase:
def call(self, path):
assembly = AssemblyParseUseCase().getAsm()
asmStructure = {}
inc = 0
for el in assembly:
if (inc != 0):
asmStructure[inc] = {
"child": el,
"parents": assembly[0:inc]
}
if inc != 0:
asmStructure[inc] = {"child": el, "parents": assembly[0:inc]}
inc += 1
objectsFreeCad = App.ActiveDocument.Objects
asmSolids = {}
for k, v in asmStructure.items():
assemblyParentList = v['parents']
assemblyChild = v['child']
assemblyParentList = v["parents"]
assemblyChild = v["child"]
for el in assemblyParentList:
for solid in objectsFreeCad:
if (el == solid.Label):
if (asmSolids.get(k) is None):
if el == solid.Label:
if asmSolids.get(k) is None:
asmSolids[k] = {
"parents": [],
"child": list(
filter(
lambda x: x.Label == assemblyChild,
objectsFreeCad,
)
)[0],
}
asmSolids[k] = {'parents': [], 'child': list(
filter(lambda x: x.Label == assemblyChild, objectsFreeCad))[0]}
asmSolids[k]['parents'].append(solid)
asmSolids[k]["parents"].append(solid)
inc = 0
for k, v in asmSolids.items():
geometry = {"0": [], "1": []}
if (k != 0):
if k != 0:
App.activeDocument().addObject("Part::Compound", "Compound")
copyLinks = list(
map(lambda el: SimpleCopyPartModel(el), v['parents']))
copyLinks = list(map(lambda el: SimpleCopyPartModel(el), v["parents"]))
if copyLinks != None:
App.activeDocument().Compound.Links = list(
map(lambda el: el.getPart(), copyLinks))
map(lambda el: el.getPart(), copyLinks)
)
object = App.activeDocument().getObject('Compound')
object = App.activeDocument().getObject("Compound")
boundBox = object.Shape.BoundBox
geometry['0'].append(boundBox.XMax)
geometry['0'].append(boundBox.YMax)
geometry['0'].append(boundBox.ZMax)
geometry["0"].append(boundBox.XMax)
geometry["0"].append(boundBox.YMax)
geometry["0"].append(boundBox.ZMax)
os.makedirs(
path + FolderGenerator.ASSEMBlY.value + '/' + '0000' + str(k))
boundBoxChild = v['child'].Shape.BoundBox
geometry['1'].append(boundBoxChild.XMax)
geometry['1'].append(boundBoxChild.YMax)
geometry['1'].append(boundBoxChild.ZMax)
path + FolderGenerator.ASSEMBlY.value + "/" + "0000" + str(k)
)
boundBoxChild = v["child"].Shape.BoundBox
geometry["1"].append(boundBoxChild.XMax)
geometry["1"].append(boundBoxChild.YMax)
geometry["1"].append(boundBoxChild.ZMax)
meshParents = []
for el in v['parents']:
for el in v["parents"]:
meshParents.append(MeshPartModel(el))
joinMesh = JoinMeshModel(meshParents)
for el in meshParents:
el.remove()
import importOBJ
importOBJ.export(joinMesh.mesh, path + FolderGenerator.ASSEMBlY.value +
'/' + '0000' + str(k) + '/' + str(1) + '.obj')
importOBJ.export(
joinMesh.mesh,
path
+ FolderGenerator.ASSEMBlY.value
+ "/"
+ "0000"
+ str(k)
+ "/"
+ str(1)
+ ".obj",
)
joinMesh.remove()
importOBJ.export(v['child'], path + FolderGenerator.ASSEMBlY.value +
'/' + '0000' + str(k) + '/' + str(0) + '.obj')
FS.writeFile(json.dumps(geometry), path + FolderGenerator.ASSEMBlY.value +
'/' + '0000' + str(k) + '/', 'translation.json')
importOBJ.export(
v["child"],
path
+ FolderGenerator.ASSEMBlY.value
+ "/"
+ "0000"
+ str(k)
+ "/"
+ str(0)
+ ".obj",
)
FileSystemRepository.writeFile(
json.dumps(geometry),
path
+ FolderGenerator.ASSEMBlY.value
+ "/"
+ "0000"
+ str(k)
+ "/",
"translation.json",
)
App.ActiveDocument.removeObject("Compound")
for el in copyLinks:
el.remove()
App.activeDocument().recompute()
inc += 1

51
cad_generation/usecases/export_usecase.py
View file

@ -4,33 +4,54 @@ import FreeCAD as App
from model.files_generator import FolderGenerator
from helper.is_solid import is_object_solid
from enum import Enum
class EXPORT_TYPES(Enum):
STL = 'STL'
DAO = 'DAO'
OBJ = 'OBJ'
STL = "STL"
DAO = "DAO"
OBJ = "OBJ"
class ExportUseCase:
def call(path: str, type: EXPORT_TYPES):
meshes = {}
for el in App.ActiveDocument.Objects:
if (is_object_solid(el)):
if is_object_solid(el):
match type.value:
case EXPORT_TYPES.STL.value:
Mesh.export([el], path + '/' + FolderGenerator.SDF.value +
'/' + FolderGenerator.MESHES.value + '/' + el.Label + '.stl')
meshes[el.Label] = '/' + FolderGenerator.MESHES.value + \
'/' + el.Label + '.stl'
Mesh.export(
[el],
path
+ "/"
+ FolderGenerator.SDF.value
+ "/"
+ FolderGenerator.MESHES.value
+ "/"
+ el.Label
+ ".stl",
)
meshes[el.Label] = (
"/" + FolderGenerator.MESHES.value + "/" + el.Label + ".stl"
)
# case EXPORT_TYPES.DAO.value:
# importDAE.export([el], path + '/' + FolderGenerator.SDF.value +
# '/' + FolderGenerator.MESHES.value + '/' + el.Label + '.dae')
case EXPORT_TYPES.OBJ.value:
import importOBJ
importOBJ.export([el], path + '/' + FolderGenerator.SDF.value +
'/' + FolderGenerator.MESHES.value + '/' + el.Label + '.obj')
meshes[el.Label] = '/' + FolderGenerator.MESHES.value + \
'/' + el.Label + '.obj'
print(300)
importOBJ.export(
[el],
path
+ "/"
+ FolderGenerator.SDF.value
+ "/"
+ FolderGenerator.MESHES.value
+ "/"
+ el.Label
+ ".obj",
)
meshes[el.Label] = (
"/" + FolderGenerator.MESHES.value + "/" + el.Label + ".obj"
)
return meshes