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

insertion_vector_predicate/.gitignore

@@ -0,0 +1,116 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# dotenv
+.env
+
+# virtualenv
+.venv
+venv/
+ENV/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+
+# blender backup files
+*.blend1
+install_plugin_cad.sh
+.vscode
+.DS_Store
+
+# emacs backup files
+~*
+*~
+*#
+.#*
+\#*\#
+out/
+/env.json

insertion_vector_predicate/README.md

@@ -0,0 +1,19 @@
+# Start dev
+create env.json
+
+```json
+{
+    "cadDoc":"CAD_DOC_PATH_REPLACE",
+    "sequences":"SEQUENCES_PATH_REPLACE",
+    "aspDir":"ASP_DIR_REPLACE"
+}
+```
+# Command generation assets
+freecad generate.py
+
+# Command generation insertion vectors
+
+git submodule update --init
+conda env create -f assembly/environment.yml
+conda activate assembly
+python3 main.py

insertion_vector_predicate/generate.py

@@ -0,0 +1,205 @@
+
+
+from typing import List
+import FreeCAD as App
+import Part
+import Mesh
+import Part
+import MeshPart
+import os
+import json
+import FreeCADGui as Gui
+
+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()
+    def createFolder(path: str):
+        if (not os.path.exists(path)):
+            return os.mkdir(path)
+
+
+
+class SimpleCopyPartModel:
+    id = None
+    copyLink = None
+    label = None
+    part = None
+
+    def getPart(self):
+        return self.part
+
+    def __init__(self, part) -> None:
+        try:
+            from random import randrange
+            self.id = str(randrange(1000000))
+            childObj = part
+            print(part)
+            __shape = Part.getShape(
+                childObj, '', needSubElement=False, refine=False)
+            obj = App.ActiveDocument.addObject('Part::Feature', self.id)
+            obj.Shape = __shape
+            self.part = obj
+            self.label = obj.Label
+            App.ActiveDocument.recompute()
+        except Exception as e:
+            print(e)
+
+    def remove(self):
+        App.ActiveDocument.removeObject(self.label)
+
+class MeshPartModel:
+    id = None
+    mesh = None
+
+    def __init__(self, part) -> None:
+        try:
+            from random import randrange
+            self.id = 'mesh' + str(randrange(1000000))
+            document = App.ActiveDocument
+            mesh = document.addObject("Mesh::Feature", self.id)
+            shape = Part.getShape(part, "")
+            mesh.Mesh = MeshPart.meshFromShape(
+                Shape=shape, LinearDeflection=20, AngularDeflection=0.1, Relative=False)
+            mesh.Label = self.id
+            self.mesh = mesh
+        except Exception as e:
+            print(e)
+        pass
+
+    def remove(self):
+        try:
+            App.ActiveDocument.removeObject(self.mesh.Label)
+        except Exception as e:
+            print(e)
+
+
+
+class JoinMeshModel:
+    id = None
+    mesh = None
+
+    def __init__(self, meshesPartModels: list['MeshPartModel']) -> None:
+        meshes = []
+        from random import randrange
+        for el in meshesPartModels:
+            meshes.append(el.mesh.Mesh)
+
+        self.id = 'MergedMesh' + str(randrange(1000000))
+        doc = App.ActiveDocument
+        merged_mesh = Mesh.Mesh()
+        for el in meshes:
+            merged_mesh.addMesh(el)
+
+        new_obj = doc.addObject("Mesh::Feature", self.id)
+        new_obj.Mesh = merged_mesh
+        new_obj.ViewObject.DisplayMode = "Flat Lines"  
+        self.mesh = new_obj
+
+    def remove(self):
+        try:
+            App.ActiveDocument.removeObject(self.id)
+        except Exception as e:
+            print(e)
+
+
+class ExportAssemblyThemAllUseCase:
+
+    def call(self, path:str, assemblys:list[str]):
+        assembly = assemblys
+        asmStructure = {}
+        inc = 0
+        for el in assembly:
+            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']
+            for el in assemblyParentList:
+                for solid in objectsFreeCad:
+                    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'].append(solid)
+
+        inc = 0
+        for k, v in asmSolids.items():
+            geometry = {"0": [], "1": []}
+            if (k != 0):
+                App.activeDocument().addObject("Part::Compound", "Compound")
+
+                copyLinks = list(
+                    map(lambda el:  SimpleCopyPartModel(el), v['parents']))
+
+                if copyLinks != None:
+                    App.activeDocument().Compound.Links = list(
+                        map(lambda el: el.getPart(), copyLinks))
+
+                    object = App.activeDocument().getObject('Compound')
+                    boundBox = object.Shape.BoundBox
+                    geometry['0'].append(boundBox.XMax)
+                    geometry['0'].append(boundBox.YMax)
+                    geometry['0'].append(boundBox.ZMax)
+
+                    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']:
+                        meshParents.append(MeshPartModel(el))
+                    joinMesh = JoinMeshModel(meshParents)
+                    for el in meshParents:
+                        el.remove()
+                    import importOBJ
+                    importOBJ.export(joinMesh.mesh, path + str(1) + '.obj')
+                    joinMesh.remove()
+                    importOBJ.export(v['child'], path + str(0) + '.obj')
+                    FS.writeFile(json.dumps(geometry), path, 'translation.json')
+
+                    App.ActiveDocument.removeObject("Compound")
+                    for el in copyLinks:
+                        el.remove()
+                    App.activeDocument().recompute()
+            inc += 1
+
+def main():
+
+    env = FS.readJSON('./env.json')
+    env.get('cadDoc')
+    aspDir = env.get('aspDir')
+    sequences = FS.readJSON(env.get('sequences')).get('sequences')
+    App.openDocument(env.get('cadDoc'))
+    for sequencyNumber in range(len(sequences)):
+        FS.createFolder(aspDir + 'assemblys/')
+        mainFolder = aspDir + 'assemblys/' + str(sequencyNumber) + '/'
+        FS.createFolder(mainFolder)
+        for subSequenceNumber in  range(len(sequences[sequencyNumber])):
+            if(subSequenceNumber != 0):
+                subFolder = aspDir + 'assemblys/' + \
+                        str(sequencyNumber) + '/' + str(subSequenceNumber) + '/'
+
+                FS.createFolder(subFolder)
+                ExportAssemblyThemAllUseCase().call(path=subFolder,assemblys=sequences[sequencyNumber][0:subSequenceNumber+1])
+
+    App.closeDocument(App.ActiveDocument.Name)
+    freecadQTWindow  = Gui.getMainWindow()
+    freecadQTWindow.close()
+main()

insertion_vector_predicate/main.py

@@ -1,4 +1,14 @@
-# Алгоритм генерации графа с помощью вычисления векторов вставки при разборке изделия
+import os
+import sys
+
+project_base_dir = os.path.abspath(os.path.join(
+    os.path.dirname(os.path.abspath(__file__)), './')) + '/assembly/'
+
+
+sys.path.append(project_base_dir)
+sys.path.append(project_base_dir + '/baselines/')
+sys.path.append(project_base_dir + '/assets/')
+
 from scipy.spatial.transform import Rotation
 import shutil
 from spatialmath import *
@@ -9,18 +19,32 @@ from assembly.baselines.run_joint_plan import PyPlanner
 from assembly.assets.subdivide import subdivide_to_size
 import numpy as np
 import json
-import sys
-import os
+import trimesh
+
+import re
+def merge_meshes(meshes):
+    # Создание пустого меша
+    merged_mesh = trimesh.Trimesh()
+
+    # Объединение каждого меша в один
+    for mesh in meshes:
+        merged_mesh = trimesh.util.concatenate(
+            [merged_mesh, trimesh.load(mesh)])
+    i = True
+    while i:
+        if merged_mesh.fill_holes():
+            i = False
+ 
+      
+
+
+
+    return merged_mesh
+
+
 os.environ['OMP_NUM_THREADS'] = '1'
 
-project_base_dir = os.path.abspath(os.path.join(
-    os.path.dirname(os.path.abspath(__file__)), './')) + '/assembly/'
-
-
-sys.path.append(project_base_dir)
-sys.path.append(project_base_dir + '/baselines/')
-sys.path.append(project_base_dir + '/assets/')
-
+ 
 
 class FS:
     def readJSON(path: str):
@@ -43,6 +67,10 @@ class FS:
     def readFolder(pathFolder: str):
         return list(map(lambda el: pathFolder + '/' + el,  os.listdir(pathFolder)))
 
+    def createFolder(path: str):
+        if (not os.path.exists(path)):
+            return os.mkdir(path)
+
 
 def listGetFirstValue(iterable, default=False, pred=None):
     return next(filter(pred, iterable), default)
@@ -56,31 +84,44 @@ def filterModels(filterModels, filterModelsDescription):
     return models
 
 
+# mesh1 = trimesh.load('/Users/idontsudo/framework/asp/out/sdf-generation/meshes/Cube.obj')
+# mesh2 = trimesh.load('/Users/idontsudo/framework/asp/out/sdf-generation/meshes/Cube001.obj')
+
+
+# # Объединение мешей
+# merged_mesh = merge_meshes([mesh1, mesh2])
+
+# # Сохранение объединенного меша в файл
+# merged_mesh.export('merged.obj')
 def main():
-    from argparse import ArgumentParser
-    parser = ArgumentParser()
-    parser.add_argument('--asp-path', type=str, required=True)
-    args = parser.parse_args()
-    aspDir = args.asp_dir
+    # from argparse import ArgumentParser
+    # parser = ArgumentParser()
+    # parser.add_argument('--asp-path', type=str, required=True)
+    # args = parser.parse_args()
+    # aspDir = args.asp_dir
+
+    # # Коректировка пути до папки с генерацией ASP
+    # if (aspDir == None):
+    #     args.print_helper()
+    # if (aspDir[aspDir.__len__() - 1] != '/'):
+    #     aspDir += '/'
+    aspDir = '/home/idontsudo/framework/asp/out/'
+    sequences = FS.readJSON(aspDir + 'sequences.json').get('sequences')
 
-    # Коректировка пути до папки с генерацией ASP
-    if (aspDir == None):
-        args.print_helper()
-    if (aspDir[aspDir.__len__() - 1] != '/'):
-        aspDir += '/'
-    # Получение списка папок с .obj обьектами
-    assembles = FS.readFolder(aspDir + 'assembly')
     assemblyDirNormalize = []
-    for el in assembles:
-        try:
-            # Пост обработка .obj обьектов
-            process_mesh(source_dir=el, target_dir=el +
-                         '/process/', subdivide=el, verbose=True)
-            assemblyDirNormalize.append(el + '/process/')
-        except Exception as e:
-            print('ERRROR:')
-            print(e)
+    for el in FS.readFolder(aspDir + 'assemblys'):
+       for e in FS.readFolder(el):
+                try:
+                    # Пост обработка .obj обьектов
+                    process_mesh(source_dir=e, target_dir=e +
+                                '/process/', subdivide=e, verbose=True)
+                    assemblyDirNormalize.append(e + '/process/')
+                except Exception as e:
+                    print('ERRROR:')
+                    print(e)
+ 
 
+    print(assemblyDirNormalize)
     for el in assemblyDirNormalize:
         asset_folder = os.path.join(project_base_dir, aspDir)
         assembly_dir = os.path.join(asset_folder, el)
@@ -113,13 +154,13 @@ def main():
         try:
             planner = PyPlanner(assembly_dir, 'process', still_ids=[1],)
             status, t_plan, path = planner.plan(
-                planner_name=args.planner,
-                step_size=args.step_size,
-                max_time=args.max_time,
-                seed=args.seed,
+                planner_name='rrt',
+                step_size=None,
+                max_time=None,
+                seed=1,
                 return_path=True,
-                simplify=args.simplify,
-                render=args.render
+                simplify=False,
+                render=False
             )
 
             print(f'Status: {status}, planning time: {t_plan}')

insertion_vector_predicate/requirements.txt

@@ -1,2 +1,3 @@
 spatialmath
-scipy
+scipy
+uuid