Экспорт подсборок с мешами (SDF) и плана сборки (PDDL) из FreeCAD в виде архива zip
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IDONTSUDO
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37 changed files with 1022 additions and 176 deletions
161
sdf/src/model/sdf_geometry.py
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161
sdf/src/model/sdf_geometry.py
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import os
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from helper.fs import FS
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from src.model.sdf_join import SdfJoin
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import typing
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import uuid
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def from_str(x):
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assert isinstance(x, str)
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return x
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def from_none(x):
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assert x is None
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return x
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def from_union(fs, x):
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for f in fs:
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try:
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return f(x)
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except:
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pass
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assert False
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def to_class(c, x):
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assert isinstance(x, c)
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return x.to_dict()
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class SdfGeometryModel:
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def __init__(self, name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz, stl, link, friction):
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self.name = name
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self.ixx = ixx
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self.ixy = ixy
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self.ixz = ixz
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self.iyy = iyy
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self.izz = izz
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self.massSDF = massSDF
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self.posX = posX
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self.posY = posY
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self.posZ = posZ
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self.eulerX = eulerX
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self.eulerY = eulerY
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self.eulerZ = eulerZ
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self.iyz = iyz
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self.stl = stl
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self.link = link
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self.friction = friction
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@staticmethod
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def from_dict(obj):
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assert isinstance(obj, dict)
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name = from_union([from_str, from_none], obj.get("name"))
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ixx = from_union([from_str, from_none], obj.get("ixx"))
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ixy = from_union([from_str, from_none], obj.get("ixy"))
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ixz = from_union([from_str, from_none], obj.get("ixz"))
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iyy = from_union([from_str, from_none], obj.get("iyy"))
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izz = from_union([from_str, from_none], obj.get("izz"))
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massSDF = from_union([from_str, from_none], obj.get("massSDF"))
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posX = from_union([from_str, from_none], obj.get("posX"))
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posY = from_union([from_str, from_none], obj.get("posY"))
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posZ = from_union([from_str, from_none], obj.get("posZ"))
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eulerX = from_union([from_str, from_none], obj.get("eulerX"))
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eulerY = from_union([from_str, from_none], obj.get("eulerY"))
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eulerZ = from_union([from_str, from_none], obj.get("eulerZ"))
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iyz = from_union([from_str, from_none], obj.get("iyz"))
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stl = from_union([from_str, from_none], obj.get("stl"))
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link = from_union([from_str, from_none], obj.get('link'))
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friction = from_union([from_str, from_none], obj.get("friction"))
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return SdfGeometryModel(name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz, stl, link, friction)
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def to_dict(self):
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result = {}
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if self.name is not None:
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result["name"] = from_union([from_str, from_none], self.name)
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if self.ixx is not None:
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result["ixx"] = from_union([from_str, from_none], self.ixx)
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if self.ixy is not None:
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result["ixy"] = from_union([from_str, from_none], self.ixy)
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if self.ixz is not None:
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result["ixz"] = from_union([from_str, from_none], self.ixz)
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if self.iyy is not None:
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result["iyy"] = from_union([from_str, from_none], self.iyy)
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if self.izz is not None:
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result["izz"] = from_union([from_str, from_none], self.izz)
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if self.massSDF is not None:
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result["massSDF"] = from_union([from_str, from_none], self.massSDF)
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if self.posX is not None:
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result["posX"] = from_union([from_str, from_none], self.posX)
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if self.posY is not None:
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result["posY"] = from_union([from_str, from_none], self.posY)
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if self.posZ is not None:
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result["posZ"] = from_union([from_str, from_none], self.posZ)
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if self.eulerX is not None:
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result["eulerX"] = from_union([from_str, from_none], self.eulerX)
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if self.eulerY is not None:
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result["eulerY"] = from_union([from_str, from_none], self.eulerY)
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if self.eulerZ is not None:
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result["eulerZ"] = from_union([from_str, from_none], self.eulerZ)
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if self.iyz is not None:
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result["iyz"] = from_union([from_str, from_none], self.iyz)
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if self.stl is not None:
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result["stl"] = from_union([from_str, from_none], self.stl)
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if self.link is not None:
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result['link'] = from_union([from_str, from_none], self.link)
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if self.friction is not None:
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result["friction"] = from_union([from_str, from_none], self.eulerZ)
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return result
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def toJSON(self) -> str:
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return str(self.to_dict()).replace('\'', '"')
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def toSDF(self):
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return FS.readFile(os.path.dirname(os.path.realpath(__file__))
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+ '/../../mocks/sdf/model.sdf').replace('{name}', self.name,).replace('{posX}', self.posX).replace('{posY}', self.posY).replace('{posZ}', self.posZ).replace('{eulerX}', self.eulerX).replace('{eulerY}', self.eulerY).replace('{eulerZ}', self.eulerZ).replace('{ixx}', self.ixx).replace('{ixy}', self.ixy).replace('{ixz}', self.ixz).replace('{iyy}', self.iyy).replace('{iyz}', self.iyz).replace('{izz}', self.izz).replace('{massSDF}', self.massSDF,).replace('{stl}', self.stl).replace('{friction}',self.friction)
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def toSdfLink(self):
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return FS.readFile(os.path.dirname(os.path.realpath(__file__))
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+ '/../../mocks/sdf/link.sdf').replace('{name}', self.name,).replace('{posX}', self.posX).replace('{posY}', self.posY).replace('{posZ}', self.posZ).replace('{eulerX}', self.eulerX).replace('{eulerY}', self.eulerY).replace('{eulerZ}', self.eulerZ).replace('{ixx}', self.ixx).replace('{ixy}', self.ixy).replace('{ixz}', self.ixz).replace('{iyy}', self.iyy).replace('{iyz}', self.iyz).replace('{izz}', self.izz).replace('{massSDF}', self.massSDF,).replace('{stl}', self.stl).replace('{friction}',self.friction)
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def includeLink(self, pose = False):
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if(pose == False):
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return FS.readFile(os.path.dirname(os.path.realpath(__file__))
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+ '/../../mocks/sdf/include.sdf').replace('{name}', self.name).replace('{uri}', '/' + self.name)
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return FS.readFile(os.path.dirname(os.path.realpath(__file__))
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+ '/../../mocks/sdf/include_pose.sdf').replace('{name}', self.name).replace('{uri}', '/' + self.name).replace('{posX}', self.posX).replace('{posY}', self.posY).replace('{posZ}', self.posZ).replace('{eulerX}', self.eulerX).replace('{eulerY}', self.eulerY).replace('{eulerZ}', self.eulerZ).replace('{ixx}', self.ixx).replace('{ixy}', self.ixy).replace('{ixz}', self.ixz).replace('{iyy}', self.iyy).replace('{iyz}', self.iyz).replace('{izz}', self.izz)
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def generateSDFatJoinFixed(self, sdfModels: list['SdfGeometryModel']):
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sdf = '\n<model name="assembly">\n'
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sdf+= ' <link name="base_link">\n'
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sdf += " <pose>0 0 0 0 0 0</pose>\n"
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sdf+= " </link>\n"
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link = sdf + self.includeLink(pose=True)
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if sdfModels.__len__() == 0:
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return link
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endTagLinkInc = link.__len__()
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beginSDF = link[0: endTagLinkInc]
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sdfJoin = beginSDF + '\n'
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for el in sdfModels:
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if el.name != self.name:
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sdfJoin += el.includeLink(pose=True) + '\n'
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endSDF = link[endTagLinkInc:link.__len__()]
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for el in sdfModels:
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if el.name != self.name:
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sdfJoin += SdfJoin(name=str(uuid.uuid4()),
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parent=self.name, child=el.name,modelAt=el).toSDF() + '\n'
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sdfJoin += endSDF
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sdfJoin += '</model>'
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return sdfJoin
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