Add PDDL, 3D-assets & SDF-URDF generator from Blender Scene Config
This commit is contained in:
IDONTSUDO
parent
b77687ea14
commit
e305d486f2
41 changed files with 2793 additions and 664 deletions
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@ -6,6 +6,16 @@ from typing import List, Dict, Any, TypeVar, Callable, Type, cast
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from itertools import repeat
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class CoreList(List):
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# the list contains only True
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def onlyTrue(self) -> bool:
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print(self)
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for el in self:
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if el is not True:
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return False
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return True
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def isInListRange(listIn, index):
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try:
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listIn[index]
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@ -31,8 +41,12 @@ class AllSequences:
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inc = 0
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for matrix in self.all_sequences:
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for index in range(len(matrix)):
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result[inc][index] = list(filter(lambda el: el.get(
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'number') == matrix[index]+1, self.topologyIds))[0].get('name')
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result[inc][index] = list(
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filter(
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lambda el: el.get("number") == matrix[index] + 1,
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self.topologyIds,
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)
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)[0].get("name")
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inc += 1
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self.adj_matrix_names = result
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pass
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@ -59,11 +73,12 @@ class AllSequences:
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def findId(self, listMatrix, id):
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def filter_odd_num(in_num):
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if in_num['name'] == id:
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if in_num["name"] == id:
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return True
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else:
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return False
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return list(filter(filter_odd_num, listMatrix))[0]['number']
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return list(filter(filter_odd_num, listMatrix))[0]["number"]
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def iter_paths(self, adj, min_length=6, path=None):
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if not path:
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@ -94,7 +109,8 @@ class AllSequences:
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for k, v in matrix.items():
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inc += 1
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topologyMatrixNumber[inc] = list(
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map(lambda el: self.findId(topologyIds, el), v))
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map(lambda el: self.findId(topologyIds, el), v)
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)
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self.topologyIds = topologyIds
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adj = []
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matrixSize = matrix.keys().__len__()
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@ -102,18 +118,121 @@ class AllSequences:
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for k, v in topologyMatrixNumber.items():
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adj.append(list(repeat(0, matrixSize)))
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for el in v:
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adj[inc][el-1] = 1
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adj[inc][el - 1] = 1
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inc += 1
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return self.find_all_sequences(adj)
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class VectorModel:
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x: float
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y: float
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z: float
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def __init__(self, cadVector) -> None:
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self.x = cadVector[0]
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self.y = cadVector[1]
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self.z = cadVector[2]
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pass
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def toFreeCadVector(self):
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return App.Vector(self.x, self.y, self.z)
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class FreeCadRepository:
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_solids = []
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def isAllObjectsSolids(self) -> List[str]:
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result = []
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for part in App.ActiveDocument.Objects:
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if self.is_object_solid(part) is False:
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result.append(part.Label)
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return result
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def objectSetPosition(self, solid, cadVector):
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solid.Placement.Base = cadVector
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pass
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def objectGetPosition(self, solid) -> VectorModel:
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return VectorModel(cadVector=solid.Placement.Base)
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def isObjectIntersections(self, part) -> bool:
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for solid in self.getAllSolids():
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if solid.Label != part.Label:
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collisionResult: int = int(part.Shape.distToShape(solid.Shape)[0])
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if collisionResult == 0:
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return True
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return False
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def objectHasTouches(self, part, objectIndentation: float) -> List[str]:
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positionVector = self.objectGetPosition(part)
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result = CoreList()
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result.append(self.isObjectIntersections(part=part))
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if objectIndentation != 0 and objectIndentation != None:
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result.append(
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self.axis_movement_and_intersections_observer(
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positionVector=positionVector,
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alongAxis="x",
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objectIndentation=objectIndentation,
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part=part,
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)
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)
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result.append(
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self.axis_movement_and_intersections_observer(
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positionVector=positionVector,
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alongAxis="y",
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objectIndentation=objectIndentation,
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part=part,
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)
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)
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result.append(
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self.axis_movement_and_intersections_observer(
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positionVector=positionVector,
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alongAxis="z",
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objectIndentation=objectIndentation,
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part=part,
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)
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)
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return result.onlyTrue()
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def axis_movement_and_intersections_observer(
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self,
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positionVector: VectorModel,
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alongAxis: str,
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objectIndentation: float,
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part,
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) -> bool:
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# UP
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positionVector.__setattr__(
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alongAxis, positionVector.__getattribute__(alongAxis) + objectIndentation
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)
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self.objectSetPosition(part, positionVector.toFreeCadVector())
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result = self.isObjectIntersections(part=part)
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if result:
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return True
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# DOWN
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positionVector.__setattr__(
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alongAxis, positionVector.__getattribute__(alongAxis) - objectIndentation
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)
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positionVector.__setattr__(
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alongAxis, positionVector.__getattribute__(alongAxis) - objectIndentation
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)
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result = self.isObjectIntersections(part=part)
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if result:
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return True
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self.isObjectIntersections(part=part)
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# ROLLBACK
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positionVector.__setattr__(
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alongAxis, positionVector.__getattribute__(alongAxis) + objectIndentation
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)
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self.objectSetPosition(part, positionVector.toFreeCadVector())
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return False
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def getAllSolids(self):
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if (self._solids.__len__() == 0):
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if self._solids.__len__() == 0:
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for part in App.ActiveDocument.Objects:
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if (self.is_object_solid(part)):
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if self.is_object_solid(part):
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self._solids.append(part)
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return self._solids
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@ -121,14 +240,12 @@ class FreeCadRepository:
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def is_object_solid(self, obj):
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if not isinstance(obj, App.DocumentObject):
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return False
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if hasattr(obj, 'Group'):
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if hasattr(obj, "Group"):
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return False
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if not hasattr(obj, 'Shape'):
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if not hasattr(obj, "Shape"):
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return False
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if not hasattr(obj.Shape, 'Mass'):
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return False
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if not hasattr(obj.Shape, 'Solids'):
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if not hasattr(obj.Shape, "Solids"):
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return False
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if len(obj.Shape.Solids) == 0:
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@ -159,6 +276,7 @@ def to_class(c: Type[T], x: Any) -> dict:
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assert isinstance(x, c)
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return cast(Any, x).to_dict()
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# Вспомогательный класс который делает генрацию JSON на основе пайтон обьектов
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@ -168,7 +286,9 @@ class AdjacencyMatrix:
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first_detail: str
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matrix: Dict[str, List[str]]
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def __init__(self, all_parts: List[str], first_detail: str, matrix: Dict[str, List[str]]) -> None:
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def __init__(
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self, all_parts: List[str], first_detail: str, matrix: Dict[str, List[str]]
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) -> None:
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self.all_parts = all_parts
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self.first_detail = first_detail
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self.matrix = matrix
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@ -183,11 +303,11 @@ class AdjacencyMatrix:
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def validateMatrix(self):
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for el in self.all_parts:
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if (self.matrix.get(el) == None):
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self.matrixError[el] = 'Not found adjacency ' + el
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if self.matrix.get(el) == None:
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self.matrixError[el] = "Not found adjacency " + el
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@staticmethod
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def from_dict(obj: Any) -> 'AdjacencyMatrix':
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def from_dict(obj: Any) -> "AdjacencyMatrix":
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assert isinstance(obj, dict)
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all_pars = from_list(from_str, obj.get("allParts"))
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first_detail = from_str(obj.get("firstDetail"))
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@ -199,12 +319,11 @@ class AdjacencyMatrix:
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result: dict = {}
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result["allParts"] = from_list(from_str, self.all_parts)
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result["firstDetail"] = from_str(self.first_detail)
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result["matrix"] = from_dict(
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lambda x: from_list(from_str, x), self.matrix)
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if (self.matrixError.values().__len__() == 0):
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result['matrixError'] = None
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result["matrix"] = from_dict(lambda x: from_list(from_str, x), self.matrix)
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if self.matrixError.values().__len__() == 0:
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result["matrixError"] = None
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else:
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result['matrixError'] = self.matrixError
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result["matrixError"] = self.matrixError
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return result
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def getDictMatrix(self) -> dict:
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@ -225,11 +344,11 @@ def adjacency_matrix_from_dict(s: Any) -> AdjacencyMatrix:
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def adjacency_matrix_to_dict(x: AdjacencyMatrix) -> Any:
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return to_class(AdjacencyMatrix, x)
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# Вспомогательный класс для работы с Freecad
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class FreeCadMetaModel(object):
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def __init__(self, label, vertex) -> None:
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self.label = label
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self.vertex = vertex
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@ -240,12 +359,18 @@ collision_squares_labels = []
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class MeshGeometryCoordinateModel(object):
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# Получение геометрии мешей
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def __init__(self, x, y, z, label,):
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def __init__(
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self,
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x,
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y,
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z,
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label,
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):
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self.x = x
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self.y = y
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self.z = z
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self.label = label
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self.cadLabel = ''
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self.cadLabel = ""
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def initializePrimitivesByCoordinate(self, detailSquares):
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uuidDoc = str(uuid.uuid1())
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@ -259,8 +384,9 @@ class MeshGeometryCoordinateModel(object):
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part.Length = 2
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part.Placement = App.Placement(
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App.Vector(self.x - 1, self.y - 1, self.z - 1),
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App.Rotation(App.Vector(0.00, 0.00, 1.00), 0.00))
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if (detailSquares.get(self.label) is None):
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App.Rotation(App.Vector(0.00, 0.00, 1.00), 0.00),
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)
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if detailSquares.get(self.label) is None:
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detailSquares[self.label] = []
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detailSquares[self.label].append(self)
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self.cadLabel = uuidDoc
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@ -272,19 +398,21 @@ class FS:
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return json.loads((open(path)).read())
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def writeFile(data, filePath, fileName):
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file_to_open = filePath + fileName
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f = open(file_to_open, 'w', encoding='utf8')
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f = open(file_to_open, "w", encoding="utf8")
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f.write(data)
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def readFile(path: str):
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return open(path).read()
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def readFilesTypeFolder(pathFolder: str, fileType='.json'):
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def readFilesTypeFolder(pathFolder: str, fileType=".json"):
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filesJson = list(
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filter(lambda x: x[-fileType.__len__():] == fileType, os.listdir(pathFolder)))
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filter(
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lambda x: x[-fileType.__len__() :] == fileType, os.listdir(pathFolder)
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)
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)
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return filesJson
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@ -312,20 +440,20 @@ class GetCollisionAtPrimitiveUseCase(object):
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for model in freeCadMetaModels:
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activePart = App.ActiveDocument.getObjectsByLabel(model.label)[0]
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for key in detailSquares:
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if (model.label != key):
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if model.label != key:
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for renderPrimitive in detailSquares[key]:
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primitivePart = App.ActiveDocument.getObjectsByLabel(
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renderPrimitive.cadLabel)[0]
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renderPrimitive.cadLabel
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)[0]
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collisionResult: int = int(
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activePart.Shape.distToShape(primitivePart.Shape)[0])
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if (collisionResult == 0):
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activePart.Shape.distToShape(primitivePart.Shape)[0]
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)
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if collisionResult == 0:
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if matrix.get(model.label) == None:
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matrix[model.label] = [renderPrimitive.label]
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else:
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if isUnique(matrix[model.label], renderPrimitive.label):
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matrix[model.label].append(
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renderPrimitive.label
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)
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matrix[model.label].append(renderPrimitive.label)
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return matrix
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@ -354,21 +482,23 @@ class GetPartPrimitiveCoordinatesUseCase(object):
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return meshCoordinates
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class InitPartsParseUseCase():
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class InitPartsParseUseCase:
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# Инициализация парсинга
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def call(self):
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product_details = []
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for part in FreeCadRepository().getAllSolids():
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if part is not None:
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model = FreeCadMetaModel(part.Label, part.Shape.Vertexes)
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if (model is not None):
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if model is not None:
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product_details.append(model)
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return product_details
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class RenderPrimitiveUseCase(object):
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# Рендеринг премитивов
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def call(self, meshModels: list[MeshGeometryCoordinateModel], detailSquares) -> None:
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def call(
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self, meshModels: list[MeshGeometryCoordinateModel], detailSquares
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) -> None:
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for mesh in meshModels:
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mesh.initializePrimitivesByCoordinate(detailSquares)
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@ -379,12 +509,12 @@ class ClearWorkSpaceDocumentUseCase(object):
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for key in detailSquares:
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for renderPrimitive in detailSquares[key]:
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primitivePart = App.ActiveDocument.getObjectsByLabel(
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renderPrimitive.cadLabel)[0]
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renderPrimitive.cadLabel
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)[0]
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App.ActiveDocument.removeObject(primitivePart.Name)
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class RenderPrimitivesScenario(object):
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def __init__(
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self,
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initPartsParseUseCase: InitPartsParseUseCase,
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@ -416,7 +546,8 @@ class ClearWorkSpaceDocumentUseCase(object):
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for key in detailSquares:
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for renderPrimitive in detailSquares[key]:
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primitivePart = App.ActiveDocument.getObjectsByLabel(
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renderPrimitive.cadLabel)[0]
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renderPrimitive.cadLabel
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)[0]
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App.ActiveDocument.removeObject(primitivePart.Name)
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@ -436,6 +567,7 @@ class CadAdjacencyMatrix:
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first_detail=GetFirstDetailUseCase().call(),
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matrix=matrix,
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)
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# Матрица основанная на соприкосновении обьектов
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def matrixBySurfaces(self):
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@ -446,12 +578,17 @@ class CadAdjacencyMatrix:
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if part.Label != nextPart.Label:
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# Вычисление соприконсоновения площади деталей
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collisionResult: int = int(
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part.Shape.distToShape(nextPart.Shape)[0])
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if (collisionResult == 0):
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part.Shape.distToShape(nextPart.Shape)[0]
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)
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print(collisionResult)
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print("collisionResult")
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if collisionResult == 0:
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matrix[part.Label].append(nextPart.Label)
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return AdjacencyMatrix(all_parts=GetAllPartsLabelsUseCase(
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).call(), first_detail=GetFirstDetailUseCase().call(),
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matrix=matrix
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return AdjacencyMatrix(
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all_parts=GetAllPartsLabelsUseCase().call(),
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first_detail=GetFirstDetailUseCase().call(),
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matrix=matrix,
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)
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@ -472,67 +609,166 @@ def to_ascii_hash(text):
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def matrixGetUniqueContact(matrix):
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detailsToCheck = []
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detailsHashCheck = {}
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for k, v in matrix.items():
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for el in v:
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if (el != k):
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if el != k:
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hash = to_ascii_hash(k + el)
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if (detailsHashCheck.get(hash) == None):
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if detailsHashCheck.get(hash) == None:
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detailsHashCheck[hash] = hash
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detailsToCheck.append({
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'child': el,
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'parent': k
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})
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detailsToCheck.append({"child": el, "parent": k})
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return detailsToCheck
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def intersectionComputed(parts):
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App.activeDocument().addObject("Part::MultiCommon", "Common")
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App.activeDocument().Common.Shapes = [parts[0], parts[1]]
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App.activeDocument().getObject('Common').ViewObject.ShapeColor = getattr(parts[0].getLinkedObject(True).ViewObject, 'ShapeColor', App.activeDocument().getObject('Common').ViewObject.ShapeColor)
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App.activeDocument().getObject('Common').ViewObject.DisplayMode = getattr(parts[0].getLinkedObject(True).ViewObject, 'DisplayMode', App.activeDocument().getObject('Common').ViewObject.DisplayMode)
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App.ActiveDocument.recompute()
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area = App.activeDocument().getObject('Common').Shape.Area
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App.ActiveDocument.removeObject('Common')
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return area
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class IntersectionComputedUseCase:
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def call(parts):
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App.activeDocument().addObject("Part::MultiCommon", "Common")
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App.activeDocument().Common.Shapes = [parts[0], parts[1]]
|
||||
App.activeDocument().getObject("Common").ViewObject.ShapeColor = getattr(
|
||||
parts[0].getLinkedObject(True).ViewObject,
|
||||
"ShapeColor",
|
||||
App.activeDocument().getObject("Common").ViewObject.ShapeColor,
|
||||
)
|
||||
App.activeDocument().getObject("Common").ViewObject.DisplayMode = getattr(
|
||||
parts[0].getLinkedObject(True).ViewObject,
|
||||
"DisplayMode",
|
||||
App.activeDocument().getObject("Common").ViewObject.DisplayMode,
|
||||
)
|
||||
App.ActiveDocument.recompute()
|
||||
area = App.activeDocument().getObject("Common").Shape.Area
|
||||
App.ActiveDocument.removeObject("Common")
|
||||
return area
|
||||
|
||||
|
||||
class ErrorStringModel:
|
||||
def __init__(self, error: str) -> None:
|
||||
self.error = error
|
||||
pass
|
||||
|
||||
error: str
|
||||
|
||||
def toString(self) -> str:
|
||||
return json.dumps(
|
||||
{
|
||||
"error": self.error,
|
||||
},
|
||||
ensure_ascii=False,
|
||||
indent=4,
|
||||
)
|
||||
|
||||
|
||||
class IsAllObjectSolidsCheckUseCase:
|
||||
def call() -> ErrorStringModel:
|
||||
result = FreeCadRepository().isAllObjectsSolids()
|
||||
if result.__len__() == 0:
|
||||
return None
|
||||
|
||||
return ErrorStringModel(error="Is not solid objects: " + ",".join(result))
|
||||
|
||||
|
||||
class CheckObjectHasTouchesUseCase:
|
||||
def call(objectIndentation: float) -> ErrorStringModel:
|
||||
result = []
|
||||
for part in FreeCadRepository().getAllSolids():
|
||||
if (
|
||||
FreeCadRepository().objectHasTouches(
|
||||
part=part, objectIndentation=objectIndentation
|
||||
)
|
||||
is False
|
||||
):
|
||||
result.append(part.Label)
|
||||
if result.__len__() == 0:
|
||||
return None
|
||||
return ErrorStringModel(
|
||||
error="Solids bodies have no recounts: " + ",".join(result)
|
||||
)
|
||||
|
||||
|
||||
class CheckCadIntersectionObjects:
|
||||
report = []
|
||||
|
||||
def call() -> bool:
|
||||
FreeCadRepository().getAllSolids()
|
||||
return False
|
||||
|
||||
|
||||
class ExitFreeCadUseCase:
|
||||
def call():
|
||||
import FreeCADGui as Gui
|
||||
|
||||
freecadQTWindow = Gui.getMainWindow()
|
||||
freecadQTWindow.close()
|
||||
|
||||
|
||||
# class CheckValidIntersectionUseCase:
|
||||
# def call() -> ErrorStringModel:
|
||||
# for part in FreeCadRepository().getAllSolids():
|
||||
# print(part)
|
||||
# FreeCadRepository().obj
|
||||
# pass
|
||||
|
||||
|
||||
def main():
|
||||
env = FS.readJSON('env.json')
|
||||
cadFile = env['cadFilePath']
|
||||
outPath = env['outPath']
|
||||
if (cadFile == None):
|
||||
return TypeError('CadFile not found env.json')
|
||||
App.open(u'' + cadFile)
|
||||
env = FS.readJSON("env.json")
|
||||
cadFilePath = str(env["cadFilePath"])
|
||||
outPath = str(env["outPath"])
|
||||
objectIndentation = float(env["objectIndentation"])
|
||||
|
||||
if cadFilePath == None:
|
||||
return TypeError("CadFile not found env.json")
|
||||
App.open("" + cadFilePath)
|
||||
|
||||
# isAllObjectSolidsCheckUseCase = IsAllObjectSolidsCheckUseCase.call()
|
||||
|
||||
# if isAllObjectSolidsCheckUseCase != None:
|
||||
# FS.writeFile(isAllObjectSolidsCheckUseCase.toString(), outPath, 'error.json')
|
||||
# ExitFreeCadUseCase.call()
|
||||
# return
|
||||
|
||||
# checkObjectHasTouchesUseCase = CheckObjectHasTouchesUseCase.call(objectIndentation)
|
||||
|
||||
# if checkObjectHasTouchesUseCase != None:
|
||||
# FS.writeFile(checkObjectHasTouchesUseCase.toString(), outPath, 'error.json')
|
||||
# ExitFreeCadUseCase.call()
|
||||
# return
|
||||
|
||||
topologyMatrix = CadAdjacencyMatrix().matrixBySurfaces()
|
||||
import json
|
||||
sequences = json.dumps({"sequences": AllSequences(
|
||||
topologyMatrix.matrix).adj_matrix_names}, ensure_ascii=False, indent=4)
|
||||
|
||||
sequences = json.dumps(
|
||||
{"sequences": AllSequences(topologyMatrix.matrix).adj_matrix_names},
|
||||
ensure_ascii=False,
|
||||
indent=4,
|
||||
)
|
||||
matrix = topologyMatrix.matrix
|
||||
contacts = matrixGetUniqueContact(matrix)
|
||||
intersection_geometry = {
|
||||
'status':True,
|
||||
'recalculations':None
|
||||
}
|
||||
intersection_geometry = {"status": True, "recalculations": None}
|
||||
for el in contacts:
|
||||
child = App.ActiveDocument.getObjectsByLabel(el.get('child'))[0]
|
||||
parent = App.ActiveDocument.getObjectsByLabel(el.get('parent'))[0]
|
||||
area = intersectionComputed([child,parent])
|
||||
if(area != 0.0):
|
||||
if(intersection_geometry.get('recalculations') == None):
|
||||
intersection_geometry['status'] = False
|
||||
intersection_geometry['recalculations'] = []
|
||||
intersection_geometry['recalculations'].append({
|
||||
'area':area,
|
||||
'connect': el.get('child') + ' ' + el.get('parent')
|
||||
})
|
||||
child = App.ActiveDocument.getObjectsByLabel(el.get("child"))[0]
|
||||
parent = App.ActiveDocument.getObjectsByLabel(el.get("parent"))[0]
|
||||
area = IntersectionComputedUseCase.call([child, parent])
|
||||
if area != 0.0:
|
||||
if intersection_geometry.get("recalculations") == None:
|
||||
intersection_geometry["status"] = False
|
||||
intersection_geometry["recalculations"] = []
|
||||
intersection_geometry["recalculations"].append(
|
||||
{"area": area, "connect": el.get("child") + " " + el.get("parent")}
|
||||
)
|
||||
|
||||
FS.writeFile(
|
||||
json.dumps(intersection_geometry, ensure_ascii=False, indent=4),
|
||||
outPath,
|
||||
"intersection_geometry.json",
|
||||
)
|
||||
FS.writeFile(sequences, outPath, "sequences.json")
|
||||
|
||||
FS.writeFile(
|
||||
json.dumps(topologyMatrix.to_dict(), ensure_ascii=False, indent=4),
|
||||
outPath,
|
||||
"adjacency_matrix.json",
|
||||
)
|
||||
ExitFreeCadUseCase.call()
|
||||
|
||||
|
||||
|
||||
FS.writeFile(json.dumps(intersection_geometry, ensure_ascii=False, indent=4), outPath, 'intersection_geometry.json')
|
||||
FS.writeFile(sequences, outPath, 'sequences.json')
|
||||
FS.writeFile(json.dumps(topologyMatrix.to_dict(),
|
||||
ensure_ascii=False, indent=4), outPath, 'adjacency_matrix.json')
|
||||
|
||||
main()
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue