Экспорт подсборок с мешами (SDF) и плана сборки (PDDL) из FreeCAD в виде архива zip

cg/freecad/Frames/usecases/get_sdf_geometry_usecase.py

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+import FreeCAD as App
+from model.sdf_geometry_model import SdfGeometryModel
+ 
+from helper.is_solid import is_object_solid
+
+
+class SdfGeometryUseCase:
+    def call(stlPaths:dict) -> list[SdfGeometryModel]:
+        materialSolid = {}
+        for el in App.ActiveDocument.Objects:
+            if str(el) == '<App::MaterialObjectPython object>':   
+                friction = el.Material.get('SlidingFriction')
+                for i in el.References:
+                    materialSolid[i[0].Label] = friction
+        geometry = []
+        for el in App.ActiveDocument.Objects:
+            if is_object_solid(el):
+                com = el.Shape.CenterOfMass
+                mass = el.Shape.Mass
+                inertia = el.Shape.MatrixOfInertia
+                pos = el.Shape.Placement
+                inertia = el.Shape.MatrixOfInertia
+                name = el.Label
+                ixx = str(inertia.A11 / 1000000)
+                ixy = str(inertia.A12 / 1000000)
+                ixz = str(inertia.A13 / 1000000)
+                iyy = str(inertia.A22 / 1000000)
+                iyz = str(inertia.A23 / 1000000)
+                izz = str(inertia.A33 / 1000000)
+                massSDF = str(mass / 1000000)
+                posX = str(pos.Base[0] / 1000000)
+                posY = str(pos.Base[1] / 1000000)
+                posZ = str(pos.Base[2] / 1000000)
+                eulerX = str(pos.Rotation.toEuler()[0])
+                eulerY = str(pos.Rotation.toEuler()[1])
+                eulerZ = str(pos.Rotation.toEuler()[2])
+                
+                geometry.append(
+                    SdfGeometryModel(
+                        stl=stlPaths.get(el.Label),
+                        name=name, 
+                        ixx=ixx,
+                        ixz=ixz, 
+                        ixy=ixy, 
+                        iyy=iyy,
+                        iyz=iyz,
+                        izz=izz,
+                        massSDF=massSDF,
+                        posX=posX,
+                        posY=posY,
+                        posZ=posZ,
+                        eulerX=eulerX, 
+                        eulerY=eulerY, 
+                        eulerZ=eulerZ,
+                        friction=materialSolid.get(el.Label) or '',
+                    )
+                )
+        return geometry
+
+ 
+ 
+
+