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

This commit is contained in:
IDONTSUDO 2023-04-18 14:01:46 +00:00 committed by Igor Brylyov
parent 7f13c0056f
commit e65236aab6
37 changed files with 1022 additions and 176 deletions

1
.gitignore vendored
View file

@ -104,6 +104,7 @@ ENV/
*.blend1 *.blend1
install_plugin_cad.sh install_plugin_cad.sh
.vscode .vscode
.DS_Store
# emacs backup files # emacs backup files
~* ~*

View file

@ -13,7 +13,7 @@
# License along with this library. If not, see <http://www.gnu.org/licenses/>. # License along with this library. If not, see <http://www.gnu.org/licenses/>.
import FreeCAD import FreeCAD
import Tools import Tools
from usecases.asm4parser_usecase import Asm4StructureParseUseCase from scenarios.robossembler_freecad_export_scenario import RobossemblerFreeCadExportScenario
if FreeCAD.GuiUp: if FreeCAD.GuiUp:
import FreeCADGui import FreeCADGui
@ -311,8 +311,9 @@ Tools.spawnClassCommand("FrameCommand",
{"Pixmap": str(os.path.join(icondir, "frame.svg")), {"Pixmap": str(os.path.join(icondir, "frame.svg")),
"MenuText": "Make a free frame", "MenuText": "Make a free frame",
"ToolTip": "Make a freestanding reference frame."}) "ToolTip": "Make a freestanding reference frame."})
Tools.spawnClassCommand("ASM4StructureParsing", Tools.spawnClassCommand("ASM4StructureParsing",
Asm4StructureParseUseCase().initParse, RobossemblerFreeCadExportScenario().call,
{"Pixmap": str(os.path.join(icondir, "assembly4.svg")), {"Pixmap": str(os.path.join(icondir, "assembly4.svg")),
"MenuText": "Make a ASM4 parsing", "MenuText": "Make a ASM4 parsing",
"ToolTip": "Make a ASM4 1"}) "ToolTip": "Make a ASM4 1"})

View file

@ -0,0 +1,14 @@
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', )
f.write(data)

View file

@ -0,0 +1,18 @@
import FreeCAD
def is_object_solid(obj):
"""If obj is solid return True"""
if not isinstance(obj, FreeCAD.DocumentObject):
return False
if not hasattr(obj, 'Shape'):
return False
if not hasattr(obj.Shape, 'Solids'):
return False
if len(obj.Shape.Solids) == 0:
return False
return True

View file

@ -0,0 +1,12 @@
from enum import Enum
class FilesGenerator(Enum):
DETAIL = 'detail.json'
ASSEMBLY = 'assembly.json'
class FolderGenerator(Enum):
MESHES = 'meshes'
ASSETS = 'assets'
SDF = 'sdf'

View file

@ -0,0 +1,86 @@
from typing import Any, TypeVar, Type, cast
T = TypeVar("T")
def from_float(x: Any) -> float:
assert isinstance(x, (float, int)) and not isinstance(x, bool)
return float(x)
def to_float(x: Any) -> float:
assert isinstance(x, float)
return x
def to_class(c: Type[T], x: Any) -> dict:
assert isinstance(x, c)
return cast(Any, x).to_dict()
class Axis:
x: float
y: float
z: float
def __init__(self, x: float, y: float, z: float) -> None:
self.x = x
self.y = y
self.z = z
@staticmethod
def from_dict(obj: Any) -> 'Axis':
assert isinstance(obj, dict)
x = from_float(obj.get("x"))
y = from_float(obj.get("y"))
z = from_float(obj.get("z"))
return Axis(x, y, z)
def to_dict(self) -> dict:
result: dict = {}
result["x"] = to_float(self.x)
result["y"] = to_float(self.y)
result["z"] = to_float(self.z)
return result
class GeometryPart:
euler: Axis
position: Axis
rotation: Axis
center: Axis
def __init__(self, euler: Axis, position: Axis, rotation: Axis, center: Axis) -> None:
self.euler = euler
self.position = position
self.rotation = rotation
self.center = center
@staticmethod
def from_dict(obj: Any) -> 'GeometryPart':
assert isinstance(obj, dict)
euler = Axis.from_dict(obj.get("euler"))
position = Axis.from_dict(obj.get("position"))
rotation = Axis.from_dict(obj.get("rotation"))
center = Axis.from_dict(obj.get("center"))
return GeometryPart(euler, position, rotation, center)
def to_dict(self) -> dict:
result: dict = {}
result["euler"] = to_class(Axis, self.euler)
result["position"] = to_class(Axis, self.position)
result["rotation"] = to_class(Axis, self.rotation)
result["center"] = to_class(Axis, self.center)
return result
def toJson(self) -> str:
return str(self.to_dict()).replace('\'', '"')
def geometry_part_from_dict(s: Any) -> GeometryPart:
return GeometryPart.from_dict(s)
def geometry_part_to_dict(x: GeometryPart) -> Any:
return to_class(GeometryPart, x)

View file

@ -0,0 +1,107 @@
import json
def from_str(x):
assert isinstance(x, str)
return x
def from_none(x):
assert x is None
return x
def from_union(fs, x):
for f in fs:
try:
return f(x)
except:
pass
assert False
def to_class(c, x):
assert isinstance(x, c)
return x.to_dict()
class SdfGeometryModel:
def __init__(self, name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz, stl, friction):
self.name = name
self.ixx = ixx
self.ixy = ixy
self.ixz = ixz
self.iyy = iyy
self.izz = izz
self.massSDF = massSDF
self.posX = posX
self.posY = posY
self.posZ = posZ
self.eulerX = eulerX
self.eulerY = eulerY
self.eulerZ = eulerZ
self.iyz = iyz
self.stl = stl
self.friction = friction
@staticmethod
def from_dict(obj):
assert isinstance(obj, dict)
name = from_union([from_str, from_none], obj.get("name"))
ixx = from_union([from_str, from_none], obj.get("ixx"))
ixy = from_union([from_str, from_none], obj.get("ixy"))
ixz = from_union([from_str, from_none], obj.get("ixz"))
iyy = from_union([from_str, from_none], obj.get("iyy"))
izz = from_union([from_str, from_none], obj.get("izz"))
massSDF = from_union([from_str, from_none], obj.get("massSDF"))
posX = from_union([from_str, from_none], obj.get("posX"))
posY = from_union([from_str, from_none], obj.get("posY"))
posZ = from_union([from_str, from_none], obj.get("posZ"))
eulerX = from_union([from_str, from_none], obj.get("eulerX"))
eulerY = from_union([from_str, from_none], obj.get("eulerY"))
eulerZ = from_union([from_str, from_none], obj.get("eulerZ"))
iyz = from_union([from_str, from_none], obj.get("iyz"))
stl = from_union([from_str, from_none], obj.get("stl") )
friction = from_union([from_str, from_none], obj.get("friction"))
return SdfGeometryModel(name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz,stl,friction)
def to_dict(self):
result = {}
if self.name is not None:
result["name"] = from_union([from_str, from_none], self.name)
if self.ixx is not None:
result["ixx"] = from_union([from_str, from_none], self.ixx)
if self.ixy is not None:
result["ixy"] = from_union([from_str, from_none], self.ixy)
if self.ixz is not None:
result["ixz"] = from_union([from_str, from_none], self.ixz)
if self.iyy is not None:
result["iyy"] = from_union([from_str, from_none], self.iyy)
if self.izz is not None:
result["izz"] = from_union([from_str, from_none], self.izz)
if self.massSDF is not None:
result["massSDF"] = from_union([from_str, from_none], self.massSDF)
if self.posX is not None:
result["posX"] = from_union([from_str, from_none], self.posX)
if self.posY is not None:
result["posY"] = from_union([from_str, from_none], self.posY)
if self.posZ is not None:
result["posZ"] = from_union([from_str, from_none], self.posZ)
if self.eulerX is not None:
result["eulerX"] = from_union([from_str, from_none], self.eulerX)
if self.eulerY is not None:
result["eulerY"] = from_union([from_str, from_none], self.eulerY)
if self.eulerZ is not None:
result["eulerZ"] = from_union([from_str, from_none], self.eulerZ)
if self.iyz is not None:
result["iyz"] = from_union([from_str, from_none], self.iyz)
if self.stl is not None:
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)
return result
def toJSON(self) -> str:
return str(self.to_dict()).replace('\'', '"')

View file

@ -0,0 +1,70 @@
import FreeCAD
from usecases.export_usecase import 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
from PySide import QtGui
import os
import ImportGui
import shutil
class RobossemblerFreeCadExportScenario:
def call(self):
path = self.qtGuiFeature()
if path == None:
return
self.systemHelper(path)
def qtGuiFeature(self):
if FreeCAD.ActiveDocument == None:
FreeCAD.Console.PrintError("No active document")
p = QtGui.QFileDialog.getExistingDirectoryUrl()
path = p.path()
if path == '':
return None
return path
def systemHelper(self, path: str):
root_label = FreeCAD.ActiveDocument.RootObjects[0].Label
directory = path + '/' + root_label
if not os.path.exists(directory):
os.makedirs(directory)
__objs__ = FreeCAD.ActiveDocument.RootObjects
os.makedirs(directory + '/' + FolderGenerator.ASSETS.value)
os.makedirs(directory + '/' + FolderGenerator.SDF.value)
os.makedirs(directory + '/' + FolderGenerator.SDF.value + '/' + FolderGenerator.MESHES.value)
f = open(directory + "/step-structure.json", "w")
f.write(AssemblyParseUseCase().toJson())
f.close()
self.geometry(directory)
ImportGui.export(__objs__, directory + '/' + 'assembly.step')
shutil.make_archive(directory, 'zip', directory)
shutil.rmtree(directory)
return True
def geometry(self, outPutsPath: str):
meshesExportUseCase = ExportUseCase.call(outPutsPath)
for el in SdfGeometryUseCase.call(meshesExportUseCase):
FS.writeFile(el.toJSON(), outPutsPath +
'/' + FolderGenerator.ASSETS.value + '/', el.name + '.json',)

View file

@ -1,53 +0,0 @@
import FreeCAD as App
class Asm4StructureParseUseCase:
_parts = []
_label = []
def getSubPartsLabel(self, group):
groupLabel = []
for el in group:
if str(el) == '<Part::PartFeature>':
groupLabel.append(el.Label)
return groupLabel
def parseLabel(self, nextGroup, label, level=2, nextGroupParse=0):
if nextGroup.__len__() == nextGroupParse:
return
else:
groupParts = []
for el in nextGroup:
if str(el) == '<App::Link object>':
groupParts.append(el)
for el in groupParts:
if str(el) == '<App::Link object>':
label.append({
"level": level,
"attachedTo": el.AttachedTo.split('#'),
"label": el.Label,
"axis": self.getSubPartsLabel(el.Group)
})
def initParse(self):
model = App.ActiveDocument.RootObjects[1]
self._label.append({
"level": 1,
"attachedTo": "Parent Assembly",
"label": model.Label,
"axis": self.getSubPartsLabel(model.Group)
})
for parent in model.Group:
if str(parent) == '<App::Link object>':
self._label.append({
"level": 1,
"attachedTo": parent.AttachedTo.split('#'),
"label": parent.Label,
"axis": self.getSubPartsLabel(parent.Group)
})
print(self._label)

View file

@ -0,0 +1,42 @@
import FreeCAD as App
from helper.is_solid import is_object_solid
class AssemblyParseUseCase:
_parts = []
_asm = []
def __init__(self) -> None:
self.initParse()
pass
def initParse(self):
for el in App.ActiveDocument.Objects:
if(is_object_solid(el)):
self._asm.append(el.Label)
def toJson(self):
return str(self._asm).replace('\'', "\"")
def getSubPartsLink(self, group):
groupLink = {}
for el in group:
if (is_object_solid(el)):
if str(el.Shape).find('Solid') != -1:
if groupLink.get(el.Label) == None:
groupLink[el.Label] = []
for i in el.Group:
if str(i).find('Pad') != -1:
groupLink[el.Label].append(i)
if groupLink.__len__() == 0:
return None
return groupLink
def getLinkedProperty(self):
return self._asm

View file

@ -0,0 +1,16 @@
import importDAE
import FreeCAD as App
from model.files_generator import FolderGenerator
from helper.is_solid import is_object_solid
class ExportUseCase:
def call(path):
meshes = {}
for el in App.ActiveDocument.Objects:
if (is_object_solid(el)):
importDAE.export([el], path + '/' + FolderGenerator.SDF.value +
'/' + FolderGenerator.MESHES.value + '/' + el.Label + '.dae')
meshes[el.Label] = '/' + FolderGenerator.MESHES.value + \
'/' + el.Label + '.dae'
return meshes

View file

@ -0,0 +1,54 @@
import FreeCAD as App
from helper.is_solid import is_object_solid
class GeometryUseCase:
def call() -> dict:
labels = []
for el in App.ActiveDocument.Objects:
if is_object_solid(el):
labels.append(el.Label)
geometry = {
"euler": {
"x": None,
"y": None,
"z": None
},
"position": {
"x": None,
"y": None,
"z": None
},
"rotation": {
"x": None,
"y": None,
"z": None
},
"center": {
"x": None,
"y": None,
"z": None
},
}
boundBox = el.Shape.BoundBox
geometry["center"]["x"] = boundBox.Center.x
geometry["center"]["y"] = boundBox.Center.y
geometry["center"]["z"] = boundBox.Center.z
geometry["position"]['x'] = boundBox.XMax
geometry["position"]['y'] = boundBox.YMax
geometry["position"]['z'] = boundBox.ZMax
rotation = el.Placement.Rotation
geometry["rotation"]['x'] = rotation.Axis.z
geometry["rotation"]['y'] = rotation.Axis.y
geometry["rotation"]['z'] = rotation.Axis.z
euler = el.Placement.Rotation.toEuler()
geometry["euler"]['x'] = euler[0]
geometry["euler"]['y'] = euler[1]
geometry["euler"]['z'] = euler[2]
return {"geometry": geometry, "labels": labels, "label": el.Label}

View file

@ -0,0 +1,63 @@
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

View file

@ -12,6 +12,8 @@ class FS:
f = open(file_to_open, 'w', ) f = open(file_to_open, 'w', )
f.write(data) f.write(data)
def readFile(path):
return open(path).read()
def readFile(path:str): def readFile(path:str):
return open(path).read() return open(path).read()

View file

@ -2,25 +2,23 @@ import argparse
from helper.fs import FS from helper.fs import FS
from src.model.asm4_structure import Asm4Structure from src.model.asm4_structure import Asm4Structure
from src.usecases.asm4_to_assembly_use_case import Asm4ToAssemblyUseCase
from src.usecases.assembly_to_pddl_use_case import AssemblyToPddlUseCase from src.usecases.assembly_to_pddl_use_case import AssemblyToPddlUseCase
# python3 main.py --stepStructurePath /Users/idontsudo/robo/Cube3/step-structure.json --outPath /Users/idontsudo/robo/Cube3/pddl/
if __name__ == "__main__": if __name__ == "__main__":
parser = argparse.ArgumentParser() parser = argparse.ArgumentParser()
parser.add_argument('--asm4Path', help='asm4 json FreeCad') parser.add_argument('--stepStructurePath', help='json step by FreeCad')
parser.add_argument('--outPath', help='save pddl path') parser.add_argument('--outPath', help='save pddl path')
args = parser.parse_args() args = parser.parse_args()
if args.asm4Path == None or args.outPath == None: if args.stepStructurePath == None or args.outPath == None:
parser.print_help() parser.print_help()
data = FS.readJSON(args.asm4Path) data = FS.readJSON(args.stepStructurePath)
asm4 = Asm4Structure.parse(data)
asm4usecase = Asm4ToAssemblyUseCase().call(asm4) assemblyToPddlUseCase = AssemblyToPddlUseCase.call(assembly=data,rootLabel=data[0])
assemblyToPddlUseCase = AssemblyToPddlUseCase.call(assembly=asm4usecase['asm'],rootLabel=asm4usecase['rootLabel'])
FS.writeFile(assemblyToPddlUseCase['problem'] ,args.outPath, 'problem.pddl') FS.writeFile(assemblyToPddlUseCase['problem'] ,args.outPath, 'problem.pddl')
FS.writeFile(assemblyToPddlUseCase['domain'] ,args.outPath, 'domain.pddl') FS.writeFile(assemblyToPddlUseCase['domain'] ,args.outPath, 'domain.pddl')

View file

@ -1,86 +0,0 @@
[
{
"level": 1,
"attachedTo": "Parent Assembly",
"label": "Model",
"axis": [
"LCS_Origin"
]
},
{
"level": 1,
"attachedTo": [
"Parent Assembly",
"LCS_Origin"
],
"label": "CubePart001",
"axis": [
"LCS_0"
]
},
{
"level": 1,
"attachedTo": [
"CubePart001",
"LCS_0"
],
"label": "CubePart002",
"axis": [
"LCS_0"
]
},
{
"level": 1,
"attachedTo": [
"CubePart001",
"LCS_0"
],
"label": "CubePart003",
"axis": [
"LCS_0"
]
},
{
"level": 1,
"attachedTo": [
""
],
"label": "CubePart004",
"axis": [
"LCS_0"
]
},
{
"level": 1,
"attachedTo": [
"CubePart001",
"LCS_0"
],
"label": "CubePart005",
"axis": [
"LCS_0"
]
},
{
"level": 1,
"attachedTo": [
"CubePart005",
"LCS_0"
],
"label": "CubePart006",
"axis": [
"LCS_0"
]
},
{
"level": 1,
"attachedTo": [
"CubePart006",
"LCS_0"
],
"label": "CubePart007",
"axis": [
"LCS_0"
]
}
]

View file

@ -0,0 +1 @@
["Cube3", "Cube1", "Cube2"]

View file

@ -1,19 +0,0 @@
from src.model.asm4_structure import Asm4Structure
from typing import List
class Asm4ToAssemblyUseCase:
_asm4Assembly = []
def call(self,asm4:List[Asm4Structure] ):
rootPart = asm4[0]
self._asm4Assembly.append(rootPart.label)
for el in asm4[1:asm4.__len__()]:
self.parse(lead=el)
return {'asm':self._asm4Assembly[1:self._asm4Assembly.__len__()],'rootLabel':rootPart.label}
def parse(self,lead:Asm4Structure ):
if lead.attached_to[0] == 'Parent Assembly':
self._asm4Assembly.append(lead.label)
for i in self._asm4Assembly:
if i == lead.attached_to[0]:
self._asm4Assembly.append(lead.label)

View file

@ -7,6 +7,7 @@ import os
class AssemblyToPddlUseCase: class AssemblyToPddlUseCase:
def call(assembly: List[str], rootLabel: str): def call(assembly: List[str], rootLabel: str):
print(assembly)
partType = UserType("part") partType = UserType("part")
assemblyType = UserType('assembly') assemblyType = UserType('assembly')
@ -36,8 +37,8 @@ class AssemblyToPddlUseCase:
goal = Fluent(rootLabel) goal = Fluent(rootLabel)
problem.add_goal(connected(objectsPartPddl[objectsPartPddl.__len__( problem.add_goal(connected(objectsPartPddl[objectsPartPddl.__len__(
) - 1], objectsAsmToPddl[objectsAsmToPddl.__len__() - 1]),) ) - 1], objectsAsmToPddl[objectsAsmToPddl.__len__() - 1]),)
return { return {
"problem": unified_planning.io.PDDLWriter(problem).get_problem(), "problem": unified_planning.io.PDDLWriter(problem).get_problem(),
'domain': FS.readFile(os.path.dirname(os.path.realpath(__file__)) + '/../../mocks' + '/domain.txt'), 'domain': FS.readFile(os.path.dirname(os.path.realpath(__file__)) + '/../../mocks' + '/domain.txt'),
} }

View file

@ -1,5 +1,4 @@
import unittest import unittest
from src.usecases.asm4_to_assembly_use_case import Asm4ToAssemblyUseCase
from src.usecases.assembly_to_pddl_use_case import AssemblyToPddlUseCase from src.usecases.assembly_to_pddl_use_case import AssemblyToPddlUseCase
from src.model.asm4_structure import Asm4Structure from src.model.asm4_structure import Asm4Structure
@ -7,17 +6,16 @@ from helper.fs import FS
import os import os
mock = FS.readJSON(os.path.dirname(os.path.realpath(__file__)) + '/mocks/asm4-mock.json') mock = FS.readJSON(os.path.dirname(os.path.realpath(__file__)) + '/mocks/step-mock.json')
asm4 = Asm4Structure.parse(mock)
asm4usecase = Asm4ToAssemblyUseCase().call(asm4) assemblyToPddl = AssemblyToPddlUseCase.call(assembly=mock,rootLabel=mock[0])
assemblyToPddl = AssemblyToPddlUseCase.call(assembly=asm4usecase['asm'],rootLabel=asm4usecase['rootLabel'])
class TestStringMethods(unittest.TestCase): class TestStringMethods(unittest.TestCase):
def test_problem(self): def test_problem(self):
print(assemblyToPddl["problem"])
self.assertIsInstance(assemblyToPddl["problem"], str) self.assertIsInstance(assemblyToPddl["problem"], str)
def test_domain(self): def test_domain(self):
self.assertIsInstance(assemblyToPddl["domain"], str) self.assertIsInstance(assemblyToPddl["domain"], str)

23
sdf/helper/fs.py Normal file
View file

@ -0,0 +1,23 @@
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', )
f.write(data)
def readFile(path:str):
return open(path).read()
def readFilesTypeFolder(pathFolder: str, fileType = '.json'):
filesJson = list(
filter(lambda x: x[-fileType.__len__():] == fileType, os.listdir(pathFolder)))
return filesJson

71
sdf/main.py Normal file
View file

@ -0,0 +1,71 @@
import argparse
import shutil
from distutils.dir_util import copy_tree
import asyncio
from helper.fs import FS
from src.usecases.generate_world import SdfGenerateWorldUseCase
from src.model.sdf_geometry import SdfGeometryModel
from src.usecases.sdf_sub_assembly_usecase import SdfSubAssemblyUseCase
import os
import typing
import xmlformatter
# python3 main.py --generationFolder /Users/idontsudo/robo/Cube3/ --outPath /Users/idontsudo/robo/ --world true
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument('--generationFolder', help='FreeCad generation folder')
parser.add_argument('--outPath', help='save SDF path')
parser.add_argument('--world', help='adding sdf world')
args = parser.parse_args()
if args.generationFolder == None or args.outPath == None:
parser.print_help()
outPath = args.outPath
geometryFiles = FS.readFilesTypeFolder(args.generationFolder + '/assets/')
assemblyStructure = FS.readJSON(
args.generationFolder + '/step-structure.json')
sdfGeometryModels: list[SdfGeometryModel] = []
for el in geometryFiles:
sdfGeometryModels.append(SdfGeometryModel.from_dict(
FS.readJSON(args.generationFolder + '/assets/' + el)))
sdfSubAssemblyUseCase = SdfSubAssemblyUseCase().call(
sdfGeometryModels, assemblyStructure,)
if os.path.exists(outPath + 'sdf-generation/'):
shutil.rmtree(path=outPath + 'sdf-generation/')
copy_tree(args.generationFolder + 'sdf/', outPath + 'sdf-generation/')
dirPath = outPath + 'sdf-generation/'
for el in sdfGeometryModels:
path = dirPath + el.name + '/'
os.makedirs(path)
FS.writeFile(data=el.toSDF(), filePath=path,
fileName='/model' + '.sdf')
FS.writeFile(data=FS.readFile(os.path.dirname(os.path.realpath(__file__))
+ '/mocks/sdf/model.config'), filePath=path, fileName='/model' + '.config')
if(args.world == None):
for key, v in sdfSubAssemblyUseCase.items():
FS.writeFile(data=v['assembly'], filePath=dirPath,
fileName='/' + key + '.sdf')
else:
for key, v in sdfSubAssemblyUseCase.items():
FS.writeFile(data=SdfGenerateWorldUseCase.call(v['assembly']), filePath=dirPath,
fileName='/' + key + '.sdf')
formatter = xmlformatter.Formatter(indent="1", indent_char="\t", encoding_output="ISO-8859-1", preserve=["literal"])
files = FS.readFilesTypeFolder(outPath + 'sdf-generation/', fileType= '.sdf')
for el in files:
FS.writeFile(data=str(formatter.format_file(outPath + 'sdf-generation/' + el) , 'utf-8'), filePath=outPath + 'sdf-generation/', fileName=el)

18
sdf/mocks/Cube1.json Normal file
View file

@ -0,0 +1,18 @@
{
"name": "Cube1",
"ixx": "16.66666666666667",
"ixy": "0.0",
"ixz": "0.0",
"iyy": "16.66666666666667",
"izz": "16.66666666666667",
"massSDF": "0.9999999999999998",
"posX": "0.0",
"posY": "-0.015",
"posZ": "0.0",
"eulerX": "0.0",
"eulerY": "0.0",
"eulerZ": "0.0",
"iyz": "0.0",
"stl": "/meshes/Cube1.stl",
"link": "1554"
}

18
sdf/mocks/Cube2.json Normal file
View file

@ -0,0 +1,18 @@
{
"name": "Cube2",
"ixx": "16.66666666666667",
"ixy": "0.0",
"ixz": "-3.637978807091713e-15",
"iyy": "16.66666666666667",
"izz": "16.66666666666667",
"massSDF": "0.9999999999999998",
"posX": "0.0",
"posY": "-0.009",
"posZ": "0.01",
"eulerX": "0.0",
"eulerY": "0.0",
"eulerZ": "0.0",
"iyz": "-3.637978807091713e-15",
"stl": "/meshes/Cube2.stl",
"link": "8838"
}

View file

@ -0,0 +1,4 @@
<include>
<name>{name}</name>
<uri>{uri}</uri>
</include>

View file

@ -0,0 +1,5 @@
<include>
<name>{name}</name>
<uri>{uri}</uri>
<pose>{posX} {posY} {posZ} {eulerX} {eulerY} {eulerZ}</pose>
</include>

View file

@ -0,0 +1,7 @@
<joint name="{name}" type="fixed">
<parent>base_link</parent>
<child>{child}::{child}</child>
<pose>{posX} {posY} {posZ} {eulerX} {eulerY} {eulerZ}</pose>
</joint>

36
sdf/mocks/sdf/link.sdf Normal file
View file

@ -0,0 +1,36 @@
<link name="{name}">
<pose>{posX} {posY} {posZ} {eulerX} {eulerY} {eulerZ}</pose>
<inertial>
<pose>{posX} {posY} {posZ} {eulerX} {eulerY} {eulerZ}</pose>
<inertia>
<ixx>{ixx}</ixx>
<ixy>{ixy}</ixy>
<ixz>{ixz}</ixz>
<iyy>{iyy}</iyy>
<iyz>{iyz}</iyz>
<izz>{izz}</izz>
</inertia>
<mass>{massSDF}</mass>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model:/{stl}</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model:/{stl}</uri>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>{friction}</mu>
</ode>
</friction>
</surface>
</visual>
</link>

View file

@ -0,0 +1,5 @@
<?xml version="1.0" ?>
<model>
<sdf version="1.5">model.sdf</sdf>
</model>

27
sdf/mocks/sdf/model.sdf Normal file
View file

@ -0,0 +1,27 @@
<?xml version='1.0'?>
<sdf version="1.4">
<model name="{name}">
<link name="{name}">
<gravity>0</gravity>
<collision name="collision">
<mesh>
<uri>model:/{stl}</uri>
</mesh>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model:/{stl}</uri>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>{friction}</mu>
</ode>
</friction>
</surface>
</visual>
</link>
</model>
</sdf>

71
sdf/mocks/sdf/world.sdf Normal file
View file

@ -0,0 +1,71 @@
<sdf version='1.7'>
<world name='empty'>
<physics name='1ms' type='ignored'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<model name='ground_plane'>
<static>true</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='visual'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<enable_wind>false</enable_wind>
</link>
<pose>0 0 0 0 -0 0</pose>
<self_collide>false</self_collide>
</model>
</world>
</sdf>

1
sdf/requirements.txt Normal file
View file

@ -0,0 +1 @@
argparse

View file

@ -0,0 +1,161 @@
import os
from helper.fs import FS
from src.model.sdf_join import SdfJoin
import typing
import uuid
def from_str(x):
assert isinstance(x, str)
return x
def from_none(x):
assert x is None
return x
def from_union(fs, x):
for f in fs:
try:
return f(x)
except:
pass
assert False
def to_class(c, x):
assert isinstance(x, c)
return x.to_dict()
class SdfGeometryModel:
def __init__(self, name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz, stl, link, friction):
self.name = name
self.ixx = ixx
self.ixy = ixy
self.ixz = ixz
self.iyy = iyy
self.izz = izz
self.massSDF = massSDF
self.posX = posX
self.posY = posY
self.posZ = posZ
self.eulerX = eulerX
self.eulerY = eulerY
self.eulerZ = eulerZ
self.iyz = iyz
self.stl = stl
self.link = link
self.friction = friction
@staticmethod
def from_dict(obj):
assert isinstance(obj, dict)
name = from_union([from_str, from_none], obj.get("name"))
ixx = from_union([from_str, from_none], obj.get("ixx"))
ixy = from_union([from_str, from_none], obj.get("ixy"))
ixz = from_union([from_str, from_none], obj.get("ixz"))
iyy = from_union([from_str, from_none], obj.get("iyy"))
izz = from_union([from_str, from_none], obj.get("izz"))
massSDF = from_union([from_str, from_none], obj.get("massSDF"))
posX = from_union([from_str, from_none], obj.get("posX"))
posY = from_union([from_str, from_none], obj.get("posY"))
posZ = from_union([from_str, from_none], obj.get("posZ"))
eulerX = from_union([from_str, from_none], obj.get("eulerX"))
eulerY = from_union([from_str, from_none], obj.get("eulerY"))
eulerZ = from_union([from_str, from_none], obj.get("eulerZ"))
iyz = from_union([from_str, from_none], obj.get("iyz"))
stl = from_union([from_str, from_none], obj.get("stl"))
link = from_union([from_str, from_none], obj.get('link'))
friction = from_union([from_str, from_none], obj.get("friction"))
return SdfGeometryModel(name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz, stl, link, friction)
def to_dict(self):
result = {}
if self.name is not None:
result["name"] = from_union([from_str, from_none], self.name)
if self.ixx is not None:
result["ixx"] = from_union([from_str, from_none], self.ixx)
if self.ixy is not None:
result["ixy"] = from_union([from_str, from_none], self.ixy)
if self.ixz is not None:
result["ixz"] = from_union([from_str, from_none], self.ixz)
if self.iyy is not None:
result["iyy"] = from_union([from_str, from_none], self.iyy)
if self.izz is not None:
result["izz"] = from_union([from_str, from_none], self.izz)
if self.massSDF is not None:
result["massSDF"] = from_union([from_str, from_none], self.massSDF)
if self.posX is not None:
result["posX"] = from_union([from_str, from_none], self.posX)
if self.posY is not None:
result["posY"] = from_union([from_str, from_none], self.posY)
if self.posZ is not None:
result["posZ"] = from_union([from_str, from_none], self.posZ)
if self.eulerX is not None:
result["eulerX"] = from_union([from_str, from_none], self.eulerX)
if self.eulerY is not None:
result["eulerY"] = from_union([from_str, from_none], self.eulerY)
if self.eulerZ is not None:
result["eulerZ"] = from_union([from_str, from_none], self.eulerZ)
if self.iyz is not None:
result["iyz"] = from_union([from_str, from_none], self.iyz)
if self.stl is not None:
result["stl"] = from_union([from_str, from_none], self.stl)
if self.link is not None:
result['link'] = from_union([from_str, from_none], self.link)
if self.friction is not None:
result["friction"] = from_union([from_str, from_none], self.eulerZ)
return result
def toJSON(self) -> str:
return str(self.to_dict()).replace('\'', '"')
def toSDF(self):
return FS.readFile(os.path.dirname(os.path.realpath(__file__))
+ '/../../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)
def toSdfLink(self):
return FS.readFile(os.path.dirname(os.path.realpath(__file__))
+ '/../../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)
def includeLink(self, pose = False):
if(pose == False):
return FS.readFile(os.path.dirname(os.path.realpath(__file__))
+ '/../../mocks/sdf/include.sdf').replace('{name}', self.name).replace('{uri}', '/' + self.name)
return FS.readFile(os.path.dirname(os.path.realpath(__file__))
+ '/../../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)
def generateSDFatJoinFixed(self, sdfModels: list['SdfGeometryModel']):
sdf = '\n<model name="assembly">\n'
sdf+= ' <link name="base_link">\n'
sdf += " <pose>0 0 0 0 0 0</pose>\n"
sdf+= " </link>\n"
link = sdf + self.includeLink(pose=True)
if sdfModels.__len__() == 0:
return link
endTagLinkInc = link.__len__()
beginSDF = link[0: endTagLinkInc]
sdfJoin = beginSDF + '\n'
for el in sdfModels:
if el.name != self.name:
sdfJoin += el.includeLink(pose=True) + '\n'
endSDF = link[endTagLinkInc:link.__len__()]
for el in sdfModels:
if el.name != self.name:
sdfJoin += SdfJoin(name=str(uuid.uuid4()),
parent=self.name, child=el.name,modelAt=el).toSDF() + '\n'
sdfJoin += endSDF
sdfJoin += '</model>'
return sdfJoin

16
sdf/src/model/sdf_join.py Normal file
View file

@ -0,0 +1,16 @@
from helper.fs import FS
import os
class SdfJoin:
def __init__(self, name, parent, modelAt, child) -> None:
self.name = name
self.parent = parent
self.child = child
self.modelAt = modelAt
pass
def toSDF(self):
return (FS.readFile(os.path.dirname(os.path.realpath(__file__)) + '/../../mocks/sdf/joint_fixed.sdf')).replace('{name}', self.name,).replace('{parent}', self.parent).replace('{child}', self.child).replace('{posX}', self.modelAt.posX).replace('{posY}', self.modelAt.posY).replace('{posZ}', self.modelAt.posZ).replace('{eulerX}', self.modelAt.eulerX).replace('{eulerY}', self.modelAt.eulerY).replace('{eulerZ}', self.modelAt.eulerZ).replace('{ixx}', self.modelAt.ixx).replace('{ixy}', self.modelAt.ixy).replace('{ixz}', self.modelAt.ixz).replace('{iyy}', self.modelAt.iyy).replace('{iyz}', self.modelAt.iyz).replace('{izz}', self.modelAt.izz)

View file

@ -0,0 +1,12 @@
import os
from helper.fs import FS
class SdfGenerateWorldUseCase:
def call(assembly:str) -> str:
world = FS.readFile(os.path.dirname(os.path.realpath(__file__))
+ '/../../mocks/sdf/world.sdf')
beginWorld = world[0:world.find('</world') - 1]
endWorld = world[world.find('</world') - 1: world.__len__()]
return beginWorld + assembly + endWorld

View file

@ -0,0 +1,45 @@
from typing import Optional
from src.model.sdf_geometry import SdfGeometryModel
def listGetFirstValue(iterable, default=False, pred=None):
return next(filter(pred, iterable), default)
def filterModels(filterModels: list[SdfGeometryModel], filterModelsDescription: list[str]):
models = []
for el in filterModelsDescription:
models.append(listGetFirstValue(filterModels, None, lambda x: x.name == el))
return models
class SdfSubAssemblyUseCase:
def call(self, sdfGeometryModels: list[SdfGeometryModel], assembly: list[str]):
asm = {}
generateSubAssemblyModels = self.generateSubAssembly(assembly)
inc = 0
for key, value in generateSubAssemblyModels.items():
inc += 1
if value['assembly'].__len__() != 0:
model: Optional[SdfGeometryModel] = listGetFirstValue(
sdfGeometryModels, None, lambda x: x.name == value['assembly'][0])
if model != None:
asm[key] = {"assembly": model.generateSDFatJoinFixed(filterModels(sdfGeometryModels, value['assembly'])), "part": (
listGetFirstValue(sdfGeometryModels, None, lambda x: x.name == value['part'])).includeLink()}
return asm
def generateSubAssembly(self, assembly: list[str]):
asm = {}
inc = 0
for el in assembly:
asm[str("asm" + str(inc))] = {
"part": el,
"assembly": assembly[0:inc],
}
inc += 1
return asm

View file

@ -18,4 +18,4 @@ setuptools.setup(
#}, #},
#python_requires='>=3.10', #python_requires='>=3.10',
packages=setuptools.find_packages(), packages=setuptools.find_packages(),
) )