DOCS: object detection usecase

Gazebo Export Package restucturing

Closes #5 and #6

See merge request robosphere/forks/ARBench!2

.gitignore

@@ -99,3 +99,21 @@ ENV/
 
 # mypy
 .mypy_cache/
+
+# blender backup files
+*.blend1
+install_plugin_cad.sh
+.vscode
+.DS_Store
+
+# emacs backup files
+~*
+*~
+*#
+.#*
+\#*\#
+out/
+
+#freecad_workbench
+freecad_workbench/freecad/update_workbench.sh
+*.FCBak

.gitmodules

@@ -0,0 +1,9 @@
+[submodule "rcg_pipeline"]
+	path = rcg_pipeline
+	url = https://gitlab.com/robossembler/rcg-pipeline.git
+[submodule "freecad_workbench"]
+	path = freecad_workbench
+	url = https://gitlab.com/robossembler/robossembler-freecad-workbench.git
+[submodule "simulation/insertion_vector_predicate/assembly"]
+	path = simulation/insertion_vector_predicate/assembly
+	url = https://github.com/yunshengtian/Assemble-Them-All

ARFrames.py

@@ -1,752 +0,0 @@
-import FreeCAD
-import ARTools
-if FreeCAD.GuiUp:
-    import FreeCADGui
-    from pivy import coin
-    from PySide import QtCore, QtGui, QtSvg
-    import Part
-    import os
-
-__title__ = "ARFrames"
-__author__ = "Mathias Hauan Arbo"
-__workbenchname__ = "ARBench"
-__version__ = "0.1"
-__url__ = "https://github.com/mahaarbo/ARBench"
-__doc__ = """"""
-
-
-############################################################
-# Frame Objects
-############################################################
-class Frame(object):
-    """Basic freestanding frame"""
-    def __init__(self, obj):
-        obj.addProperty("App::PropertyPlacement",
-                        "Placement", "Base",
-                        "Placement of the frame")
-        obj.Placement = FreeCAD.Placement()
-        obj.Proxy = self
-        self.obj = obj
-        self.additional_data = {}
-
-    def onChanged(self, fp, prop):
-        pass
-
-    def execute(self, obj):
-        pass
-
-    def __getstate__(self):
-        return None
-
-    def __setstate__(self, state):
-        return None
-
-    def getDict(self):
-        d = {}
-        d["label"] = str(self.obj.Label)
-        d["placement"] = ARTools.placement2axisvec(self.obj.Placement)
-        d.update(self.additional_data)
-        return d
-
-
-class PartFrame(Frame):
-    """Frame rigidly attached to a part frame.
-    Inherits the base placement from the part's frame, and placement is
-    relative to the part frame.
-    """
-    def __init__(self, obj, partobj):
-        Frame.__init__(self, obj)
-        obj.addProperty("App::PropertyPlacementLink",
-                        "Part", "Parent",
-                        "The part to attach to.")
-        obj.Part = partobj
-        obj.setEditorMode("Part", 1)
-
-    def execute(self, obj):
-        if FreeCAD.GuiUp:
-            obj.ViewObject.Proxy.updateData(obj, "Placement")
-
-    def getDict(self):
-        d = Frame.getDict(self)
-        d["part"] = str(self.obj.Part.Label)
-        return d
-
-
-class FeatureFrame(PartFrame):
-    """Frame rigidly attached to a feature.
-    The feature frame is attached to a feature on a part. It gives both the
-    placement of the feature w.r.t. the part, and the placement from the
-    feature."""
-    def __init__(self, obj, partobj, featurePlacement):
-        PartFrame.__init__(self, obj, partobj)
-        obj.addProperty("App::PropertyPlacement",
-                        "FeaturePlacement", "Feature",
-                        "The frame attached to the feature.")
-        obj.addProperty("App::PropertyString",
-                        "PrimitiveType", "Feature",
-                        "The primitive type of the feature.")
-        obj.addProperty("App::PropertyString",
-                        "ShapeType", "Feature",
-                        "The shape type of the feature.")
-        obj.addProperty("App::PropertyString",
-                        "Positioning", "Feature",
-                        "The type of positioning used during creation.")
-        obj.FeaturePlacement = featurePlacement
-
-    def getDict(self):
-        d = PartFrame.getDict(self)
-        d["featureplacement"] = ARTools.placement2axisvec(self.obj.FeaturePlacement)
-        d["shapetype"] = str(self.obj.ShapeType)
-        d["positioning"] = str(self.obj.Positioning)
-        return d
-
-
-############################################################
-# ViewProvider to the frames
-############################################################
-class ViewProviderFrame(object):
-    """ViewProvider for the basic frame.
-    Uses the SOAxiscrosskit to create axises with constant length regardless
-    of zoom. Updates position when placement is changed.
-    """
-    def __init__(self, vobj):
-        vobj.addProperty("App::PropertyFloat", "Scale")
-        vobj.Scale = 0.12
-        vobj.addProperty("App::PropertyFloat", "HeadSize")
-        vobj.HeadSize = 3.0
-        vobj.addProperty("App::PropertyFloat", "LineWidth")
-        vobj.LineWidth = 2.0
-        vobj.Proxy = self
-
-    def attach(self, vobj):
-        # We only have a shaded visual group
-        self.shaded = coin.SoGroup()
-
-        # Takes heavily from SoAxisCrosskit.h,
-        # and Toggle_DH_Frames by galou_breizh on the forums
-        self.vframe = coin.SoType.fromName("SoShapeScale").createInstance()
-        self.vframe.setPart("shape", coin.SoType.fromName("SoAxisCrossKit").createInstance())
-        self.vframe.scaleFactor.setValue(0.1)
-        ax = self.vframe.getPart("shape", 0)
-        cone = ax.getPart("xHead.shape", 0)
-        cone.bottomRadius.setValue(vobj.HeadSize)
-        cone = ax.getPart("yHead.shape", 0)
-        cone.bottomRadius.setValue(vobj.HeadSize)
-        cone = ax.getPart("zHead.shape", 0)
-        cone.bottomRadius.setValue(vobj.HeadSize)
-        lwstring = "lineWidth {0}".format(vobj.LineWidth)
-        ax.set("xAxis.appearance.drawStyle", lwstring)
-        ax.set("yAxis.appearance.drawStyle", lwstring)
-        ax.set("zAxis.appearance.drawStyle", lwstring)
-        ax.set("xAxis.pickStyle", "style SHAPE")
-        ax.set("yAxis.pickStyle", "style SHAPE")
-        ax.set("zAxis.pickStyle", "style SHAPE")
-
-        # Then remember to make it selectable in the viewer
-        selectionNode = coin.SoType.fromName("SoFCSelection").createInstance()
-        selectionNode.documentName.setValue(FreeCAD.ActiveDocument.Name)
-        selectionNode.objectName.setValue(vobj.Object.Name)
-        selectionNode.subElementName.setValue("Frame")
-        selectionNode.addChild(self.vframe)
-
-        # We would like to place it where we want
-        self.transform = coin.SoTransform()
-        self.shaded.addChild(self.transform)
-        self.shaded.addChild(self.vframe)
-        self.shaded.addChild(selectionNode)
-        vobj.addDisplayMode(self.shaded, "Shaded")
-
-    def updateData(self, fp, prop):
-        if prop == "Placement":
-            pl = fp.getPropertyByName("Placement")
-            self.transform.translation = (pl.Base.x,
-                                          pl.Base.y,
-                                          pl.Base.z)
-            self.transform.rotation = pl.Rotation.Q
-
-    def getDisplayModes(self, vobj):
-        modes = ["Shaded"]
-        return modes
-
-    def getDefaultDisplayMode(self):
-        return "Shaded"
-
-    def getIcon(self):
-        icondir = os.path.join(FreeCAD.getUserAppDataDir(), "Mod", __workbenchname__, "UI", "icons")
-        return str(os.path.join(icondir, "frame.svg"))
-
-    def onChanged(self, vp, prop):
-        if prop == "Scale":
-            s = vp.getPropertyByName("Scale")
-            self.vframe.scaleFactor.setValue(float(s))
-        elif prop == "HeadSize":
-            hs = vp.getPropertyByName("HeadSize")
-            xcone = self.vframe.getPart("shape", 0).getPart("xHead.shape", 0)
-            xcone.bottomRadius.setValue(float(hs))
-            ycone = self.vframe.getPart("shape", 0).getPart("yHead.shape", 0)
-            ycone.bottomRadius.setValue(float(hs))
-            zcone = self.vframe.getPart("shape", 0).getPart("zHead.shape", 0)
-            zcone.bottomRadius.setValue(float(hs))
-        elif prop == "LineWidth":
-            lw = vp.getPropertyByName("LineWidth")
-            lwstring = "lineWidth {0}".format(lw)
-            ax = self.vframe.getPart("shape", 0)
-            ax.set("xAxis.appearance.drawStyle", lwstring)
-            ax.set("yAxis.appearance.drawStyle", lwstring)
-            ax.set("zAxis.appearance.drawStyle", lwstring)
-
-    def __getstate__(self):
-        return None
-
-    def __setstate__(self, state):
-        pass
-
-
-class ViewProviderPartFrame(ViewProviderFrame):
-    """View provider to the part frame."""
-    def updateData(self, fp, prop):
-        if prop == "Placement":
-            parentpl = fp.getPropertyByName("Part").Placement
-            localpl = fp.Placement
-            pl = parentpl.multiply(localpl)
-            self.transform.translation = (pl.Base.x,
-                                          pl.Base.y,
-                                          pl.Base.z)
-            self.transform.rotation = pl.Rotation.Q
-
-
-class ViewProviderFeatureFrame(ViewProviderFrame):
-    """View provider to the feature frames."""
-    def updateData(self, fp, prop):
-        if prop == "Placement":
-            parentpl = fp.getPropertyByName("Part").Placement
-            featurepl = fp.getPropertyByName("FeaturePlacement")
-            localpl = fp.Placement
-            pl = parentpl.multiply(featurepl.multiply(localpl))
-            self.transform.translation = (pl.Base.x,
-                                          pl.Base.y,
-                                          pl.Base.z)
-            self.transform.rotation = pl.Rotation.Q
-
-
-###################################################################
-# Base functions
-###################################################################
-
-def makeFrame(placement=FreeCAD.Placement()):
-    obj = FreeCAD.ActiveDocument.addObject("App::FeaturePython", "Frame")
-    Frame(obj)
-    if FreeCAD.GuiUp:
-        ViewProviderFrame(obj.ViewObject)
-    return obj
-
-
-def makePartFrame(part):
-    obj = FreeCAD.ActiveDocument.addObject("App::FeaturePython", "PartFrame")
-    PartFrame(obj, part)
-    if int(FreeCAD.Version()[1]) > 16:
-        geo_feature_group = part.getParentGeoFeatureGroup()
-        geo_feature_group.addObject(obj)
-    if FreeCAD.GuiUp:
-        ViewProviderPartFrame(obj.ViewObject)
-    return obj
-
-
-def makeFeatureFrame(part, featurepl):
-    obj = FreeCAD.ActiveDocument.addObject("App::FeaturePython",
-                                           "FeatureFrame")
-    FeatureFrame(obj, part, featurepl)
-    # If we're >0.16, add the feature frame to the assembly 
-    if int(FreeCAD.Version()[1]) > 16:
-        geo_feature_group = part.getParentGeoFeatureGroup()
-        geo_feature_group.addObject(obj)
-    if FreeCAD.GuiUp:
-        ViewProviderFeatureFrame(obj.ViewObject)
-    return obj
-
-
-def makeAllPartFrames():
-    dc = FreeCAD.activeDocument()
-    for part in dc.Objects:
-        if isinstance(part, Part.Feature):
-            pf = makePartFrame(part)
-            pf.Label = "Frame"+str(part.Label)
-
-
-def spawnFeatureFrameCreator():
-    ffpanel = FeatureFramePanel()
-    FreeCADGui.Control.showDialog(ffpanel)
-
-
-###################################################################
-# GUI Related
-###################################################################
-uidir = os.path.join(FreeCAD.getUserAppDataDir(),
-                     "Mod", __workbenchname__, "UI")
-icondir = os.path.join(uidir, "icons")
-
-ARTools.spawnClassCommand("FrameCommand",
-                          makeFrame,
-                          {"Pixmap": str(os.path.join(icondir, "frame.svg")),
-                           "MenuText": "Make a free frame",
-                           "ToolTip": "Make a freestanding reference frame."})
-
-ARTools.spawnClassCommand("AllPartFramesCommand",
-                          makeAllPartFrames,
-                          {"Pixmap": str(os.path.join(icondir, "allpartframes.svg")),
-                           "MenuText": "All part frames",
-                           "ToolTip": "Make all part frames."})
-ARTools.spawnClassCommand("FeatureFrameCommand",
-                          spawnFeatureFrameCreator,
-                          {"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")),
-                           "MenuText": "Feature frame creator",
-                           "ToolTip": "Create a feature frame on selected primitive."})
-
-
-###################################################################
-# GUI buttons
-###################################################################
-class FeatureFramePanel:
-    """Spawn panel choices for a feature."""
-    def __init__(self):
-        selected = FreeCADGui.Selection.getSelectionEx()
-        # Check selection
-        if len(selected) == 1:
-            selected = selected[0]
-            self.selected = selected
-        else:
-            FreeCAD.Console.PrintError("Multipart selection not available.")
-            self.reject()
-
-        if not selected.HasSubObjects:
-            FreeCAD.Console.PrintError("Part selected not feature.")
-            self.reject()
-        elif not len(selected.SubObjects) == 1:
-            FreeCAD.Console.PrintError("Multifeature selection not available")
-            self.reject()
-
-        # Choices related to selection
-        so_desc = ARTools.describeSubObject(selected.SubObjects[0])
-        self.so_desc = so_desc
-        shape_choices = {
-            "Vertex": [],
-            "Edge": ["PointOnEdge"],
-            "Face": ["PointOnSurface"]
-        }
-        prim_choices = {
-            "ArcOfCircle": ["Center"],
-            "ArcOfEllipse": ["Center"],
-            "ArcOfHyperBola": ["Center"],
-            "ArcOfParabola": ["Center"],
-            "BSplineCurve": ["Center"],
-            "BezierCurve": ["Center"],
-            "Circle": ["Center"],
-            "Ellipse": ["Center"],
-            "Hyperbola": ["Center"],
-            "Parabola": ["Center"],
-            "Line": [],
-            "BSplineSurface": ["Center"],
-            "BezierSurface": ["Center"],
-            "Cylinder": ["PointOnCenterline"],
-            "Plane": ["Center"],
-            "Sphere": ["Center"],
-            "Toroid": ["Center"],
-            "Cone": ["PointOnCenterline"]
-        }
-        self.choices = ["PickedPoint"]
-        self.choices = self.choices + shape_choices[so_desc[1]]
-        self.choices = self.choices + prim_choices[so_desc[0]]
-        # Setting up QT form
-        uiform_path = os.path.join(uidir, "FeatureFrameCreator.ui")
-        self.form = FreeCADGui.PySideUic.loadUi(uiform_path)
-        self.form.ChoicesBox.addItems(self.choices)
-        self.form.PickedTypeLabel.setText(so_desc[0])
-        QtCore.QObject.connect(self.form.ChoicesBox,
-                               QtCore.SIGNAL("currentIndexChanged(QString)"),
-                               self.choiceChanged)
-        self.scenes = {}
-        for choice in self.choices:
-            sc = QtGui.QGraphicsScene()
-            icon = str(os.path.join(icondir, choice+".svg"))
-            sc.addItem(QtSvg.QGraphicsSvgItem(icon))
-            self.scenes[choice] = sc
-        self.choiceChanged(self.form.ChoicesBox.currentText())
-
-    def choiceChanged(self, choice):
-        if choice in self.scenes.keys():
-            self.form.Preview.setScene(self.scenes[choice])
-
-    def accept(self):
-        sel_choice = self.form.ChoicesBox.currentText()
-        paneldict = {"PickedPoint": PickedPointPanel,
-                     "PointOnEdge": PointOnEdgePanel,
-                     "PointOnSurface": PointOnSurfacePanel,
-                     "Center": CenterPanel,
-                     "PointOnCenterline": PointOnCenterlinePanel}
-        pan = paneldict[sel_choice](self.selected, self.so_desc)
-        FreeCADGui.Control.closeDialog()
-        # The dialog is actually closed after the accept function has
-        # completed. So we need to use a delayed task to open the new dialog:
-        QtCore.QTimer.singleShot(0,
-                                 lambda: FreeCADGui.Control.showDialog(pan))
-
-    def reject(self):
-        FreeCADGui.Control.closeDialog()
-
-
-class BaseFeaturePanel(object):
-    """Base feature panel to be inherited from."""
-    def __init__(self, selected, so_desc):
-        # Handle selected and FF placement
-        self.selected = selected
-        self.so_desc = so_desc
-        # Connect offset to spinboxes
-        QtCore.QObject.connect(self.form.XBox,
-                               QtCore.SIGNAL("valueChanged(double)"),
-                               self.offsetChanged)
-        QtCore.QObject.connect(self.form.YBox,
-                               QtCore.SIGNAL("valueChanged(double)"),
-                               self.offsetChanged)
-        QtCore.QObject.connect(self.form.ZBox,
-                               QtCore.SIGNAL("valueChanged(double)"),
-                               self.offsetChanged)
-        QtCore.QObject.connect(self.form.RollBox,
-                               QtCore.SIGNAL("valueChanged(double)"),
-                               self.offsetChanged)
-        QtCore.QObject.connect(self.form.PitchBox,
-                               QtCore.SIGNAL("valueChanged(double)"),
-                               self.offsetChanged)
-        QtCore.QObject.connect(self.form.YawBox,
-                               QtCore.SIGNAL("valueChanged(double)"),
-                               self.offsetChanged)
-        QtCore.QObject.connect(self.form.ScaleBox,
-                               QtCore.SIGNAL("valueChanged(double)"),
-                               self.scaleChanged)
-
-    def createFrame(self):
-        self.fframe = makeFeatureFrame(self.selected.Object, self.local_ffpl)
-        self.fframe.PrimitiveType = self.so_desc[0]
-        self.fframe.ShapeType = self.so_desc[1]
-        ad = ARTools.getPrimitiveInfo(self.so_desc[0],
-                                      self.selected.SubObjects[0])
-        self.fframe.Proxy.additional_data.update(ad)
-
-    def scaleChanged(self):
-        scale = self.form.ScaleBox.value()
-        self.fframe.ViewObject.Scale = scale
-
-    def offsetChanged(self):
-        disp = FreeCAD.Vector(self.form.XBox.value(),
-                              self.form.YBox.value(),
-                              self.form.ZBox.value())
-        rot = FreeCAD.Rotation(self.form.YawBox.value(),
-                               self.form.PitchBox.value(),
-                               self.form.RollBox.value())
-        offset = FreeCAD.Placement(disp, rot)
-        self.fframe.Placement = offset
-
-    def accept(self):
-        framelabel = self.form.FrameLabelField.toPlainText()
-        if not len(framelabel) == 0:
-            self.fframe.Label = framelabel
-        FreeCADGui.Control.closeDialog()
-
-    def reject(self):
-        FreeCAD.activeDocument().removeObject(self.fframe.Name)
-        FreeCADGui.Control.closeDialog()
-
-
-class PickedPointPanel(BaseFeaturePanel):
-    """Create a feature frame at the picked point."""
-    # Not very clever. It just places the frame with default rotation.
-    def __init__(self, selected, so_desc):
-        uiform_path = os.path.join(uidir, "FramePlacer.ui")
-        self.form = FreeCADGui.PySideUic.loadUi(uiform_path)
-        BaseFeaturePanel.__init__(self, selected, so_desc)
-        parent_pl = selected.Object.Placement
-        abs_pl = FreeCAD.Placement(selected.PickedPoints[0],
-                                   FreeCAD.Rotation())
-        self.local_ffpl = parent_pl.inverse().multiply(abs_pl)
-        self.createFrame()
-        self.fframe.Positioning = "PickedPoint"
-
-
-class PointOnEdgePanel(BaseFeaturePanel):
-    """Create a feature frame on an edge."""
-    def __init__(self, selected, so_desc):
-        uiform_path = os.path.join(uidir, "FramePlacer.ui")
-        self.form = FreeCADGui.PySideUic.loadUi(uiform_path)
-        # Enable the first parameter
-        self.form.VLabel.setEnabled(True)
-        self.form.VLabel.setVisible(True)
-        self.form.VLabel.setText("u")
-        self.form.VBox.setEnabled(True)
-        self.form.VBox.setVisible(True)
-        QtCore.QObject.connect(self.form.VBox,
-                               QtCore.SIGNAL("valueChanged(double)"),
-                               self.parameterChanged)
-
-        # Enable percentage or param selection
-        self.form.OptionsLabel.setEnabled(True)
-        self.form.OptionsLabel.setVisible(True)
-        self.form.OptionsLabel.setText("Arc param.")
-        self.form.OptionsBox.setEnabled(True)
-        self.form.OptionsBox.setVisible(True)
-        self.form.OptionsBox.addItems(["mm", "%"])
-        QtCore.QObject.connect(self.form.OptionsBox,
-                               QtCore.SIGNAL("currentIndexChanged(QString)"),
-                               self.choiceChanged)
-        BaseFeaturePanel.__init__(self, selected, so_desc)
-
-        # Place the frame wherever the values are atm
-        self.local_ffpl = FreeCAD.Placement()
-        self.createFrame()
-        self.fframe.Positioning = "PointOnEdge"
-        self.choiceChanged(self.form.OptionsBox.currentText())
-        self.parameterChanged()
-
-    def parameterChanged(self):
-        value = self.form.VBox.value()
-        if self.form.OptionsBox.currentText() == "%":
-            value = self.p2mm(value)
-        edge = self.selected.SubObjects[0]
-        point = edge.valueAt(value)
-        tangentdir = edge.tangentAt(value)
-        rot = FreeCAD.Rotation(FreeCAD.Vector(1, 0, 0),
-                               tangentdir)
-        abs_ffpl = FreeCAD.Placement(point, rot)
-        parent_pl = self.selected.Object.Placement
-        self.local_ffpl = parent_pl.inverse().multiply(abs_ffpl)
-        self.fframe.FeaturePlacement = self.local_ffpl
-        # force recompute of placement?
-        self.fframe.Placement = self.fframe.Placement
-
-    def choiceChanged(self, choice):
-        value = self.form.VBox.value()
-        if choice == "mm":
-            value = self.p2mm(value)
-            self.form.VBox.setSuffix("mm")
-            parameter_range = self.selected.SubObjects[0].ParameterRange
-            self.form.VBox.setRange(*parameter_range)
-            self.form.VBox.setSingleStep(0.1)
-        elif choice == "%":
-            value = self.mm2p(value)
-            self.form.VBox.setSuffix("%")
-            self.form.VBox.setRange(0, 100.0)
-            self.form.VBox.setSingleStep(1.0)
-        self.form.VBox.setValue(value)
-
-    def p2mm(self, value):
-        parameter_range = self.selected.SubObjects[0].ParameterRange
-        delta = parameter_range[1] - parameter_range[0]
-        return 0.01*value*delta + parameter_range[0]
-
-    def mm2p(self, value):
-        parameter_range = self.selected.SubObjects[0].ParameterRange
-        delta = parameter_range[1] - parameter_range[0]
-        return 100.0*(value - parameter_range[0])/delta
-
-
-class PointOnSurfacePanel(BaseFeaturePanel):
-    """Create a feature on a surface."""
-    def __init__(self, selected, so_desc):
-        uiform_path = os.path.join(uidir, "FramePlacer.ui")
-        self.form = FreeCADGui.PySideUic.loadUi(uiform_path)
-        # Enable both parameters
-        self.form.ULabel.setVisible(True)
-        self.form.VLabel.setVisible(True)
-        self.form.UBox.setVisible(True)
-        self.form.VBox.setVisible(True)
-        QtCore.QObject.connect(self.form.VBox,
-                               QtCore.SIGNAL("valueChanged(double)"),
-                               self.parameterChanged)
-        QtCore.QObject.connect(self.form.UBox,
-                               QtCore.SIGNAL("valueChanged(double)"),
-                               self.parameterChanged)
-        # Enable percentage or param selection
-        self.form.OptionsLabel.setEnabled(True)
-        self.form.OptionsLabel.setVisible(True)
-        self.form.OptionsLabel.setText("Surf. param.")
-        self.form.OptionsBox.setEnabled(True)
-        self.form.OptionsBox.setVisible(True)
-        self.form.OptionsBox.addItems(["mm", "%"])
-        QtCore.QObject.connect(self.form.OptionsBox,
-                               QtCore.SIGNAL("currentIndexChanged(QString)"),
-                               self.choiceChanged)
-        BaseFeaturePanel.__init__(self, selected, so_desc)
-
-        # Place the frame wherever the values are atm
-        self.local_ffpl = FreeCAD.Placement()
-        self.createFrame()
-        self.fframe.Positioning = "PointOnSurface"
-        self.choiceChanged(self.form.OptionsBox.currentText())
-        self.parameterChanged()
-
-    def parameterChanged(self):
-        value = (self.form.UBox.value(), self.form.VBox.value())
-        if self.form.OptionsBox.currentText() == "%":
-            value = self.p2mm(value)
-        face = self.selected.SubObjects[0]
-        point = face.valueAt(*value)
-        normaldir = face.normalAt(*value)
-        rotation = FreeCAD.Rotation(FreeCAD.Vector(0, 0, 1),
-                                    normaldir)
-        abs_ffpl = FreeCAD.Placement(point, rotation)
-        parent_pl = self.selected.Object.Placement
-        self.local_ffpl = parent_pl.inverse().multiply(abs_ffpl)
-        self.fframe.FeaturePlacement = self.local_ffpl
-        # Force recompute of placement
-        self.fframe.Placement = self.fframe.Placement
-
-    def choiceChanged(self, choice):
-        value = (self.form.UBox.value(), self.form.VBox.value())
-        if choice == "mm":
-            value = self.p2mm(value)
-            parameter_range = self.selected.SubObjects[0].ParameterRange
-            self.form.UBox.setRange(parameter_range[0], parameter_range[1])
-            self.form.UBox.setSuffix("mm")
-            self.form.UBox.setSingleStep(0.1)
-            self.form.VBox.setRange(parameter_range[2], parameter_range[3])
-            self.form.VBox.setSuffix("mm")
-            self.form.VBox.setSingleStep(0.1)
-        elif choice == "%":
-            value = self.mm2p(value)
-            self.form.UBox.setRange(0.0, 100.0)
-            self.form.UBox.setSuffix("%")
-            self.form.VBox.setRange(0.0, 100.0)
-            self.form.UBox.setSingleStep(1.0)
-            self.form.VBox.setSuffix("%")
-            self.form.VBox.setSingleStep(1.0)
-        self.form.UBox.setValue(value[0])
-        self.form.VBox.setValue(value[1])
-
-
-    def p2mm(self, value):
-        parameter_range = self.selected.SubObjects[0].ParameterRange
-        delta = [parameter_range[1] - parameter_range[0],
-                 parameter_range[3] - parameter_range[2]]
-        u = 0.01*value[0]*delta[0] + parameter_range[0]
-        v = 0.01*value[1]*delta[1] + parameter_range[2]
-        return (u, v)
-
-    def mm2p(self, value):
-        parameter_range = self.selected.SubObjects[0].ParameterRange
-        delta = [parameter_range[1] - parameter_range[0],
-                 parameter_range[3] - parameter_range[2]]
-        u = 100.0*(value[0] - parameter_range[0])/delta[0]
-        v = 100.0*(value[1] - parameter_range[2])/delta[1]
-        return (u, v)
-
-
-class CenterPanel(BaseFeaturePanel):
-    """Create a feature frame on center."""
-    def __init__(self, selected, so_desc):
-        uiform_path = os.path.join(uidir, "FramePlacer.ui")
-        self.form = FreeCADGui.PySideUic.loadUi(uiform_path)
-        BaseFeaturePanel.__init__(self, selected, so_desc)
-        edge_curve_list = ["ArcOfCircle",
-                           "ArcOfEllipse",
-                           "ArcOfHyperbola",
-                           "ArcOfParabola",
-                           "Circle",
-                           "Ellipse",
-                           "Hyperbola",
-                           "Parabola"]
-        face_surf_list = ["Sphere",
-                          "Toroid"]
-        if so_desc[0] in edge_curve_list:
-            edge = selected.SubObjects[0]
-            axis = edge.Curve.Axis
-            rotation = FreeCAD.Rotation(FreeCAD.Vector(0, 0, 1),
-                                        axis)
-            center_point = edge.Curve.Center
-        elif so_desc[0] in face_surf_list:
-            face = selected.SubObjects[0]
-            axis = face.Surface.Axis
-            rotation = FreeCAD.Rotation(FreeCAD.Vector(0, 0, 1),
-                                        axis)
-            center_point = face.Surface.Center
-        else:
-            rotation = FreeCAD.Rotation()
-            center_point = selected.SubObjects[0].CenterOfMass
-        parent_pl = selected.Object.Placement
-        abs_pl = FreeCAD.Placement(center_point,
-                                   rotation)
-        self.local_ffpl = parent_pl.inverse().multiply(abs_pl)
-        self.createFrame()
-        self.fframe.Positioning = "Center"
-
-
-class PointOnCenterlinePanel(BaseFeaturePanel):
-    """Create a point on centerline of primitive."""
-    def __init__(self, selected, so_desc):
-        uiform_path = os.path.join(uidir, "FramePlacer.ui")
-        self.form = FreeCADGui.PySideUic.loadUi(uiform_path)
-        BaseFeaturePanel.__init__(self, selected, so_desc)
-        # Enable the along line parameter
-        self.form.VLabel.setVisible(True)
-        self.form.VLabel.setText("u")
-        self.form.VBox.setVisible(True)
-        QtCore.QObject.connect(self.form.VBox,
-                               QtCore.SIGNAL("valueChanged(double)"),
-                               self.parameterChanged)
-        # Enable percentage of param selection
-        self.form.OptionsLabel.setVisible(True)
-        self.form.OptionsLabel.setText("Line param.")
-        self.form.OptionsBox.setVisible(True)
-        self.form.OptionsBox.addItems(["mm", "%"])
-        QtCore.QObject.connect(self.form.OptionsBox,
-                               QtCore.SIGNAL("currentIndexChanged(QString)"),
-                               self.choiceChanged)
-        # Place the frame wherever the values are atm
-        self.local_ffpl = FreeCAD.Placement()
-        self.createFrame()
-        self.fframe.Positioning = "PointOnCenterline"
-        self.parameterChanged()
-
-    def parameterChanged(self):
-        value = self.form.VBox.value()
-        if self.form.OptionsBox.currentText() == "%":
-            value = self.p2mm(value)
-        displacement_pl = FreeCAD.Placement(FreeCAD.Vector(0, 0, value),
-                                            FreeCAD.Rotation())
-        # Find the center
-        axis = self.selected.SubObjects[0].Surface.Axis
-        rotation = FreeCAD.Rotation(FreeCAD.Vector(0, 0, 1),
-                                    axis)
-        center_point = self.selected.SubObjects[0].Surface.Center
-        center_pl = FreeCAD.Placement(center_point, rotation)
-        abs_ffpl = center_pl.multiply(displacement_pl)
-        parent_pl = self.selected.Object.Placement
-        self.local_ffpl = parent_pl.inverse().multiply(abs_ffpl)
-        self.fframe.FeaturePlacement = self.local_ffpl
-        # force recompute of placement
-        self.fframe.Placement = self.fframe.Placement
-
-    def choiceChanged(self, choice):
-        FreeCAD.Console.PrintMessage("choiceChanged\n")
-        value = self.form.VBox.value()
-        FreeCAD.Console.PrintMessage("preval:"+str(value)+"\n")
-        if choice == "mm":
-            value = self.p2mm(value)
-            self.form.VBox.setSuffix("mm")
-            parameter_range = self.selected.SubObjects[0].ParameterRange[2:]
-            self.form.VBox.setRange(*parameter_range)
-            self.form.VBox.setSingleStep(0.1)
-        elif choice == "%":
-            value = self.mm2p(value)
-            self.form.VBox.setSuffix("%")
-            self.form.VBox.setRange(0, 100)
-            self.form.VBox.setSingleStep(1.0)
-        self.form.VBox.setValue(value)
-        FreeCAD.Console.PrintMessage("postval:"+str(value)+"\n")
-
-    def p2mm(self, value):
-        parameter_range = self.selected.SubObjects[0].ParameterRange[2:]
-        delta = parameter_range[1] - parameter_range[0]
-        return 0.01*value*delta + parameter_range[0]
-
-    def mm2p(self, value):
-        parameter_range = self.selected.SubObjects[0].ParameterRange[2:]
-        delta = parameter_range[1] - parameter_range[0]
-        return 100.0*(value - parameter_range[0])/delta

ARTools.py

@@ -1,520 +0,0 @@
-import FreeCAD
-import Part
-import json  # For exporting part infos
-import os    # for safer path handling
-if FreeCAD.GuiUp:
-    import FreeCADGui
-    from PySide import QtGui
-
-__title__ = "ARTools"
-__author__ = "Mathias Hauan Arbo"
-__workbenchname__ = "ARBench"
-__version__ = "0.1"
-__url__ = "https://github.com/mahaarbo/ARBench"
-__doc__ = """
-Useful tools for the Annotations for Robotics workbench."""
-
-
-###################################################################
-# Module functions
-###################################################################
-def vector2list(vec, scale=1e-3):
-    """Gives the vector as a list, set scale for scaling factor.
-    default scale = 1e-3 for units in m."""
-    return [vec.x*scale, vec.y*scale, vec.z*scale]
-
-
-def matrix2list(mat, scale=1e-3):
-    """Gives the transformation matrix as a list, set scale 1 to get in mm."""
-    return [[mat.A11, mat.A12, mat.A13, mat.A14*scale],
-            [mat.A21, mat.A22, mat.A23, mat.A24*scale],
-            [mat.A31, mat.A32, mat.A33, mat.A34*scale],
-            [mat.A41, mat.A42, mat.A43, mat.A44]]
-
-
-def placement2axisvec(pl, scale=1e-3):
-    """Gives the placement as an dictionary of origin and rotation.
-    origin: [x,y,z], rotation:{axis:[ax,ay,az], angle:ang}"""
-    return {"origin": vector2list(pl.Base, scale),
-            "rotation": {"axis": vector2list(pl.Rotation.Axis, scale=1),
-                         "angle": pl.Rotation.Angle}}
-
-
-def boundingBox2list(bb, scale=1e-3):
-    """Gives the bounding box as a list in m instead of mm"""
-    return [bb.XMin*scale, bb.XMax*scale,
-            bb.YMin*scale, bb.YMax*scale,
-            bb.ZMin*scale, bb.ZMax*scale]
-
-
-def principalProperties2dict(pp, scale=1e-3):
-    npp = {}
-    for key, value in pp.iteritems():
-        if type(value) is FreeCAD.Vector:
-            npp[key.lower()] = vector2list(value, scale=1e-3)
-        else:
-            npp[key.lower()] = value
-    return npp
-
-
-def describeSubObject(subobj):
-    """Returns PrimitiveType, ShapeType."""
-    if isinstance(subobj, Part.Vertex):
-        return "Vertex", "Vertex"
-    elif isinstance(subobj, Part.Edge):
-        if isinstance(subobj.Curve, Part.Arc):
-            return "Arc", "Edge"
-        elif isinstance(subobj.Curve, Part.ArcOfCircle):
-            return "ArcOfCircle", "Edge"
-        elif isinstance(subobj.Curve, Part.ArcOfEllipse):
-            return "ArcOfEllipse", "Edge"
-        elif isinstance(subobj.Curve, Part.ArcOfHyperbola):
-            return "ArcOfHyperbola", "Edge"
-        elif isinstance(subobj.Curve, Part.ArcOfParabola):
-            return "ArcOfParabola", "Edge"
-        elif isinstance(subobj.Curve, Part.BSplineCurve):
-            return "BSplineCurve", "Edge"
-        elif isinstance(subobj.Curve, Part.BezierCurve):
-            return "BezierCurve", "Edge"
-        elif isinstance(subobj.Curve, Part.Circle):
-            return "Circle", "Edge"
-        elif isinstance(subobj.Curve, Part.Ellipse):
-            return "Ellipse", "Edge"
-        elif isinstance(subobj.Curve, Part.Hyperbola):
-            return "Hyperbola", "Edge"
-        elif isinstance(subobj.Curve, Part.Line):
-            return "Line", "Edge"
-        elif isinstance(subobj.Curve, Part.Parabola):
-            return "Parabola", "Edge"
-        else:
-            FreeCAD.Console.PrintError("Unknown edge type")
-    elif isinstance(subobj, Part.Face):
-        if isinstance(subobj.Surface, Part.BSplineSurface):
-            return "BSplineSurface", "Face"
-        elif isinstance(subobj.Surface, Part.BezierSurface):
-            return "BezierSurface", "Face"
-        elif isinstance(subobj.Surface, Part.Cylinder):
-            return "Cylinder", "Face"
-        elif isinstance(subobj.Surface, Part.Plane):
-            return "Plane", "Face"
-        elif isinstance(subobj.Surface, Part.Sphere):
-            return "Sphere", "Face"
-        elif isinstance(subobj.Surface, Part.Toroid):
-            return "Toroid", "Face"
-        elif isinstance(subobj.Surface, Part.Cone):
-            return "Cone", "Face"
-        else:
-            FreeCAD.Console.PrintError("Unknown surface type")
-    # Better strategy desirable for the following:
-    elif isinstance(subobj, Part.Wire):
-        return "Wire", "Wire"
-    elif isinstance(subobj, Part.Shell):
-        return "Shell", "Shell"
-    elif isinstance(subobj, Part.Solid):
-        return "Solid", "Solid"
-    elif isinstance(subobj, Part.Compsolid):
-        return "Compsolid", "Compsolid"
-    elif isinstance(subobj, Part.Compound):
-        return "Compound", "Compound"
-    else:
-        FreeCAD.Console.PrintError("Unable to identify subobject.")
-
-
-def closeToZero(a, tol=1e-10):
-    return abs(a) < tol
-
-
-def spawnClassCommand(classname, function, resources):
-    """
-    Commands, or buttons, are tedious to write. So this function spawns
-    one if the function to be executed takes no arguments.
-    Example usage:
-    spawnClassCommand("testcommand", testfunc,
-    {"Pixmap":"", "MenuText":"menutext","ToolTip":"tooltiptext"})
-    then add "testcommand" to commandlist in InitGui.py
-    """
-    def Activated(s):
-        function()
-
-    def GetResources(s):
-        return resources
-    CommandClass = type("classname", (object,), {"Activated": Activated,
-                                                 "GetResources": GetResources})
-    FreeCADGui.addCommand(classname, CommandClass())
-
-
-def getLocalPartProps(obj):
-    old_placement = obj.Placement
-    obj.Placement = FreeCAD.Placement()
-    # Part properties
-    partprops = {
-        "label": obj.Label,
-        "placement": placement2axisvec(old_placement),
-        "boundingbox": boundingBox2list(obj.Shape.BoundBox),
-        "volume": obj.Shape.Volume*1e-9,
-        "centerofmass": vector2list(obj.Shape.CenterOfMass),
-        "principalproperties": principalProperties2dict(obj.Shape.PrincipalProperties)
-    }
-    obj.Placement = old_placement
-    return partprops
-
-
-###################################################################
-# Export functions
-###################################################################
-def exportPartInfo(obj, ofile):
-    """
-    Exports part info to a new json file.
-    The part info includes:
-    Placement relative to world frame, bounding box, volume, center of mass,
-    principal properties.
-    For more information on principal properties, see TopoShape in OCCT
-    documentation.
-    """
-    # File path stuff
-    odir, of = os.path.split(ofile)
-    if not os.path.exists(odir):
-        os.makedirs(odir)
-    if not of.lower().endswith(".json"):
-        ofile = ofile + ".json"
-
-    partprops = getLocalPartProps(obj)
-    with open(ofile, "wb") as propfile:
-        json.dump(partprops, propfile, indent=1, separators=(',', ': '))
-    return True
-
-
-def appendPartInfo(obj, ofile):
-    """Rewrites/appends part info to an existing json file.
-    The part info includes:
-    Placement relative to world frame, bounding box, volume, center of mass,
-    principal properties.
-    For more information on principal properties, see TopoShape in OCCT
-    documentation.
-    """
-    with open(ofile, "rb") as propfile:
-        partprops = json.load(propfile)
-    new_props = getLocalPartProps(obj)
-    partprops.update(new_props)
-    with open(ofile, "wb") as propfile:
-        json.dump(partprops, propfile, indent=1, separators=(',', ': '))
-    return True
-
-
-def exportFeatureFrames(obj, ofile):
-    """Exports feature frames attached to a part."""
-    # Get the feature frames
-    import ARFrames
-    ff_check = lambda x: isinstance(x.Proxy, ARFrames.FeatureFrame)
-    ff_list = filter(ff_check, obj.InList)
-    ff_named = {ff.Label: ff.Proxy.getDict() for ff in ff_list}
-    feature_dict = {"features": ff_named}
-
-    # File stuff
-    odir, of = os.path.split(ofile)
-    if not os.path.exists(odir):
-        os.makedirs(odir)
-    if not of.lower().endswith(".json"):
-        ofile = ofile + ".json"
-    with open(ofile, "wb") as propfile:
-        json.dump(feature_dict, propfile, indent=1, separators=(',', ': '))
-    return True
-
-
-def appendFeatureFrames(obj, ofile):
-    """Rewrites/appends featureframes attached to a part to an existing json
-    file."""
-    # Get the feature frames
-    import ARFrames
-    with open(ofile, "rb") as propfile:
-        partprops = json.load(propfile)
-    ff_check = lambda x: isinstance(x.Proxy, ARFrames.FeatureFrame)
-    ff_list = filter(ff_check, obj.InList)
-    ff_named = {ff.Label: ff.Proxy.getDict() for ff in ff_list}
-    feature_dict = {"features": ff_named}
-    if "features" not in partprops.keys():
-        partprops.update(feature_dict)
-    else:
-        partprops["features"].update(feature_dict["features"])
-    with open(ofile, "wb") as propfile:
-        json.dump(partprops, propfile, indent=1, separators=(',', ': '))
-    return True
-
-
-def exportPartInfoDialogue():
-    """Spawns a dialogue window for part info exporting"""
-    # Select only true parts
-    s = FreeCADGui.Selection.getSelection()
-    FreeCADGui.Selection.clearSelection()
-    if len(s) == 0:
-        FreeCAD.Console.PrintError("No part selected.")
-        return False
-    unique_selected = []
-    for item in s:
-        if item not in unique_selected and isinstance(item, Part.Feature):
-            # Ensuring that we are parts
-            unique_selected.append(item)
-            FreeCADGui.Selection.addSelection(item)
-    # Fix wording
-    textprompt = "Save the properties of the part"
-    if len(unique_selected) > 1:
-        textprompt = textprompt + "s"
-    opts = QtGui.QFileDialog.DontConfirmOverwrite
-    # Create file dialog
-    ofile, filt = QtGui.QFileDialog.getSaveFileName(None, textprompt,
-                                                    os.getenv("HOME"),
-                                                    "*.json", options=opts)
-    if ofile == "":
-        # User cancelled
-        return False
-    if os.path.exists(ofile):
-        msgbox = QtGui.QMessageBox()
-        msgbox.setText("File already exists. We can overwrite the file, or add the information/rewrite only relevant sections.")
-        append_button = msgbox.addButton(unicode("Append"),
-                                         QtGui.QMessageBox.YesRole)
-        overwrite_button = msgbox.addButton(unicode("Overwrite"),
-                                            QtGui.QMessageBox.NoRole)
-        msgbox.exec_()
-        if msgbox.clickedButton() == append_button:
-            NEWFILE = False
-        elif msgbox.clickedButton() == overwrite_button:
-            NEWFILE = True
-        else:
-            return False
-    else:
-        NEWFILE = True
-    if NEWFILE:
-        exportPartInfo(unique_selected[0], ofile)
-    else:
-        appendPartInfo(unique_selected[0], ofile)
-
-    if len(unique_selected) > 1:
-        FreeCAD.Console.PrintWarning("Multi-part export not yet supported\n")
-    FreeCAD.Console.PrintMessage("Properties exported to "+str(ofile)+"\n")
-
-
-def exportFeatureFramesDialogue():
-    """Spawns a dialogue window for a part's feature frames to be exported."""
-    # Select only true parts
-    s = FreeCADGui.Selection.getSelection()
-    FreeCADGui.Selection.clearSelection()
-    if len(s) == 0:
-        FreeCAD.Console.PrintError("No part selected.")
-        return False
-    unique_selected = []
-    for item in s:
-        if item not in unique_selected and isinstance(item, Part.Feature):
-            # Ensuring that we are parts
-            unique_selected.append(item)
-            FreeCADGui.Selection.addSelection(item)
-    # Fix wording
-    textprompt = "Save the feature frames attached to the part"
-    if len(unique_selected) > 1:
-        textprompt = textprompt + "s"
-    opts = QtGui.QFileDialog.DontConfirmOverwrite
-    # Create file dialog
-    ofile, filt = QtGui.QFileDialog.getSaveFileName(None, textprompt,
-                                                    os.getenv("HOME"),
-                                                    "*.json", options=opts)
-    if ofile == "":
-        # User cancelled
-        return False
-    if os.path.exists(ofile):
-        msgbox = QtGui.QMessageBox()
-        msgbox.setText("File already exists. We can overwrite the file, or add the information/rewrite only relevant sections.")
-        append_button = msgbox.addButton(unicode("Append"),
-                                         QtGui.QMessageBox.YesRole)
-        overwrite_button = msgbox.addButton(unicode("Overwrite"),
-                                            QtGui.QMessageBox.NoRole)
-        msgbox.exec_()
-        if msgbox.clickedButton() == append_button:
-            NEWFILE = False
-        elif msgbox.clickedButton() == overwrite_button:
-            NEWFILE = True
-        else:
-            return False
-    else:
-        NEWFILE = True
-    if NEWFILE:
-        exportFeatureFrames(unique_selected[0], ofile)
-    else:
-        appendFeatureFrames(unique_selected[0], ofile)
-    if len(unique_selected) > 1:
-        FreeCAD.Console.PrintWarning("Multi-part export not yet supported\n")
-    FreeCAD.Console.PrintMessage("Feature frames of " + str(unique_selected[0].Label) + " exported to " + str(ofile) + "\n")
-
-
-def exportPartInfoAndFeaturesDialogue():
-    """Spawns a dialogue window for exporting both."""
-    s = FreeCADGui.Selection.getSelection()
-    FreeCADGui.Selection.clearSelection()
-    if len(s) == 0:
-        FreeCAD.Console.PrintError("No part selected.")
-        return False
-    unique_selected = []
-    for item in s:
-        if item not in unique_selected and isinstance(item, Part.Feature):
-            # Ensuring that we are parts
-            unique_selected.append(item)
-            FreeCADGui.Selection.addSelection(item)
-    # Fix wording
-    textprompt = "Save the part info and feature frames attached to the part"
-    if len(unique_selected) > 1:
-        textprompt = textprompt + "s"
-    opts = QtGui.QFileDialog.DontConfirmOverwrite
-    # Create file dialog
-    ofile, filt = QtGui.QFileDialog.getSaveFileName(None, textprompt,
-                                                    os.getenv("HOME"),
-                                                    "*.json", options=opts)
-    if ofile == "":
-        # User cancelled
-        return False
-    if os.path.exists(ofile):
-        msgbox = QtGui.QMessageBox()
-        msgbox.setText("File already exists. We can overwrite the file, or add the information/rewrite only relevant sections.")
-        append_button = msgbox.addButton(unicode("Append"),
-                                         QtGui.QMessageBox.YesRole)
-        overwrite_button = msgbox.addButton(unicode("Overwrite"),
-                                            QtGui.QMessageBox.NoRole)
-        msgbox.exec_()
-        if msgbox.clickedButton() == append_button:
-            NEWFILE = False
-        elif msgbox.clickedButton() == overwrite_button:
-            NEWFILE = True
-        else:
-            return False
-    else:
-        NEWFILE = True
-    if NEWFILE:
-        exportPartInfo(unique_selected[0], ofile)
-        appendFeatureFrames(unique_selected[0], ofile)
-    else:
-        appendPartInfo(unique_selected[0], ofile)
-        appendFeatureFrames(unique_selected[0], ofile)
-    if len(unique_selected) > 1:
-        FreeCAD.Console.PrintWarning("Multi-part export not yet supported.\n")
-    FreeCAD.Console.PrintMessage("Feature frames of "
-                                 + str(unique_selected[0].Label)
-                                 + " exported to " + str(ofile) + "\n")
-
-
-###################################################################
-# GUI Commands
-###################################################################
-uidir = os.path.join(FreeCAD.getUserAppDataDir(),
-                     "Mod", __workbenchname__, "UI")
-icondir = os.path.join(uidir, "icons")
-spawnClassCommand("ExportPartInfoAndFeaturesDialogueCommand",
-                  exportPartInfoAndFeaturesDialogue,
-                  {"Pixmap": str(os.path.join(icondir, "parttojson.svg")),
-                   "MenuText": "Export info and featureframes",
-                   "ToolTip": "Export part properties (placement, C.O.M) and feature frames"})
-
-
-###################################################################
-# Information from primitive type
-###################################################################
-def getPrimitiveInfo(prim_type, subobj, scale=1e-3):
-    """returns a dictionary of the primitive's specific information."""
-    d = {}
-    if prim_type == "ArcOfCircle":
-        d["radius"] = scale*subobj.Curve.Radius
-        d["center"] = vector2list(subobj.Curve.Center, scale)
-        d["axis"] = vector2list(subobj.Curve.Axis, scale=1)
-        d["parameterrange"] = subobj.ParameterRange
-    elif prim_type == "ArcOfEllipse":
-        d["center"] = vector2list(subobj.Curve.Center, scale)
-        d["axis"] = vector2list(subobj.Curve.Axis, scale=1)
-        d["majorradius"] = scale*subobj.Curve.MajorRadius
-        d["minorradius"] = scale*subobj.Curve.MinorRadius
-        d["parameterrange"] = subobj.ParameterRange
-    elif prim_type == "ArcOfHyperBola":
-        d["anglexu"] = subobj.Curve.AngleXU
-        d["axis"] = vector2list(subobj.Curve.Axis, scale=1)
-        d["center"] = vector2list(subobj.Curve.Center, scale)
-        d["majorradius"] = scale*subobj.Curve.MajorRadius
-        d["minorradius"] = scale*subobj.Curve.MinorRadius
-        d["parameterrange"] = subobj.ParameterRange
-    elif prim_type == "ArcOfParabola":
-        d["anglexu"] = subobj.Curve.AngleXU
-        d["axis"] = vector2list(subobj.Curve.Axis, scale=1)
-        d["center"] = vector2list(subobj.Curve.Center, scale)
-        d["focal"] = scale*subobj.Curve.Focal
-    elif prim_type == "BSplineCurve":
-        FreeCAD.Console.PrintWarning("getPrimitiveInfo of BSpline incomplete.")
-    elif prim_type == "BezierCurve":
-        FreeCAD.Console.PrintWarning("getPrimitiveInfo of Bezier incomplete.")
-    elif prim_type == "Circle":
-        d["radius"] = scale*subobj.Curve.Radius
-        d["center"] = vector2list(subobj.Curve.Center, scale)
-        d["axis"] = vector2list(subobj.Curve.Axis, scale=1)
-        d["parameterrange"] = subobj.ParameterRange
-    elif prim_type == "Ellipse":
-        d["center"] = vector2list(subobj.Curve.Center, scale)
-        d["axis"] = vector2list(subobj.Curve.Axis, scale=1)
-        d["majorradius"] = scale*subobj.Curve.MajorRadius
-        d["minorradius"] = scale*subobj.Curve.MinorRadius
-        d["parameterrange"] = subobj.ParameterRange
-    elif prim_type == "Hyperbola":
-        d["anglexu"] = subobj.Curve.AngleXU
-        d["axis"] = vector2list(subobj.Curve.Axis, scale=1)
-        d["center"] = vector2list(subobj.Curve.Center, scale)
-        d["majorradius"] = scale*subobj.Curve.MajorRadius
-        d["minorradius"] = scale*subobj.Curve.MinorRadius
-        d["parameterrange"] = subobj.ParameterRange
-    elif prim_type == "Parabola":
-        d["anglexu"] = subobj.Curve.AngleXU
-        d["axis"] = vector2list(subobj.Curve.Axis, scale=1)
-        d["center"] = vector2list(subobj.Curve.Center, scale)
-        d["focal"] = scale*subobj.Curve.Focal
-    elif prim_type == "Line":
-        if int(FreeCAD.Version()[1]) > 16:
-            sp = subobj.valueAt(subobj.FirstParameter)
-            ep = subobj.valueAt(subobj.LastParameter)
-            d["startpoint"] = vector2list(sp)
-            d["endpoint"] = vector2list
-        else:
-            if not hasattr(subobj.Curve, "Infinite"):
-                d["startpoint"] = vector2list(subobj.Curve.StartPoint)
-                d["endpoint"] = vector2list(subobj.Curve.EndPoint)
-            if hasattr(subobj.Curve, "Infinite"):
-                if subobj.Curve.Infinite:
-                    d["infinite"] = subobj.Curve.Infinite
-                else:
-                    d["startpoint"] = vector2list(subobj.Curve.StartPoint)
-                    d["endpoint"] = vector2list(subobj.Curve.EndPoint)
-    elif prim_type == "BSplineSurface":
-        FreeCAD.Console.PrintWarning("getPrimitiveInfo of BSpline incomplete.")
-    elif prim_type == "BezierSurface":
-        FreeCAD.Console.PrintWarning("getPrimitiveInfo of Bezier incomplete.")
-    elif prim_type == "Cylinder":
-        d["axis"] = vector2list(subobj.Surface.Axis, scale=1)
-        d["radius"] = scale*subobj.Surface.Radius
-        d["center"] = vector2list(subobj.Surface.Center)
-        PR = list(subobj.ParameterRange)
-        PR[2] = PR[2]*scale
-        PR[3] = PR[3]*scale
-        d["parameterrange"] = PR
-    elif prim_type == "Plane":
-        d["axis"] = vector2list(subobj.Surface.Axis, scale=1)
-        d["position"] = vector2list(subobj.Surface.Position, scale)
-        d["parameterrange"] = [scale*i for i in subobj.ParameterRange]
-    elif prim_type == "Sphere":
-        d["axis"] = vector2list(subobj.Surface.Axis, scale=1)
-        d["center"] = vector2list(subobj.Surface.Center, scale)
-        d["radius"] = scale*subobj.Surface.Radius
-        d["parameterrange"] = subobj.ParameterRange
-    elif prim_type == "Toroid":
-        d["axis"] = vector2list(subobj.Surface.Axis, scale=1)
-        d["center"] = vector2list(subobj.Surface.Center, scale)
-        d["majorradius"] = scale*subobj.Surface.MajorRadius
-        d["minorradius"] = scale*subobj.Surface.MinorRadius
-        d["parameterrange"] = subobj.Surface.ParameterRange
-    elif prim_type == "Cone":
-        d["axis"] = vector2list(subobj.Surface.Axis, scale=1)
-        d["center"] = vector2list(subobj.Surface.Center, scale)
-        d["radius"] = scale*subobj.Surface.Radius
-        d["semiangle"] = subobj.Surface.SemiAngle
-        d["parameterrange"] = subobj.ParameterRange
-        FreeCAD.Console.PrintWarning("getPrimitiveInfo of Cone may have wrong ParameterRange.")
-    return d

Init.py

@@ -1 +0,0 @@
-#I made this?

InitGui.py

@@ -1,39 +0,0 @@
-class ARBench(Workbench):
-    MenuText = "ARBench"
-    ToolTip = "Annotation for Robotics workbench"
-    Icon = """"""
-
-    def __init__(self):
-        import os
-        self.Icon = os.path.join(FreeCAD.getUserAppDataDir(), "Mod",
-                                 "ARBench", "UI", "icons", "frame.svg")
-
-    def Initialize(self):
-        """This function is executed when FreeCAD starts"""
-        import ARFrames
-        self.framecommands = ["FrameCommand",
-                              "AllPartFramesCommand",
-                              "FeatureFrameCommand"]
-        self.toolcommands = ["ExportPartInfoAndFeaturesDialogueCommand"]
-        self.appendToolbar("AR Frames", self.framecommands)
-        self.appendToolbar("AR Tools", self.toolcommands)
-
-    def Activated(self):
-        """This function is executed when the workbench is activated."""
-        #
-        return
-
-    def Deactivated(self):
-        """This function is executed when the workbench is deactivated."""
-        #
-        return
-
-    def ContextMenu(self, recipient):
-        """This is execcuted whenever the user right-clicks on screen."""
-        pass
-
-    def GetClassName(self):
-        # This function is mandatory if this is a full python workbench
-        return "Gui::PythonWorkbench"
-
-Gui.addWorkbench(ARBench())

README.md

@@ -1,32 +1,31 @@
-![implementation preview](https://raw.githubusercontent.com/mahaarbo/ARBench/master/UI/icons/github_preview.png)
-# Arbench
-Annotation for robotics bench. A FreeCAD workbench for annotating frames of interest, exporting these w.r.t. the part frame, and exporting part information.
+# Фреймворк Робосборщик
 
-# Installation instructions
-This workbench supports versions of FreeCAD>0.16.
 
-1. [Install FreeCAD](https://www.freecadweb.org/wiki/Installing)
-2. If you're not on Ubuntu follow the [workbench installation instructions](https://www.freecadweb.org/wiki/How_to_install_additional_workbenches) or you can do the following on Ubuntu.
-3. Custom workbenches are located in `.FreeCAD/Mod/` under your home directory
-`cd ~/.FreeCAD/Mod/`
-3. Either
-   - Clone the repository there
-   - symlink the cloned repo in there (`ln -s ./ARBench ~/.FreeCAD/ARBench`)
-4. Start the workbench by
-   1. Running FreeCAD
-   2. Open a STEP file
-   3. Open the `ARBench` workbench
 
-# Usage
+Фреймворк Робосборщик (Robossembler Framework) предназначен для автоматизации разработки управляющих программ для роботов-манипуляторов, их отладки в виртуальных средах и оценки производительности.
 
-1. Click a small feature e.g. a circle
-2. Press the feature frame creator (cone with a magnifying glass on it icon)
-3. Chose type of feature to create
-4. Chose feature parameters if relevant and the offset of the frame from the feature.
-5. Repeat 4 for each feature you want on each part
-6. Click a part and press the export to json button (block->textfile icon)
-7. Save json
-8. Use the json with whatever you want. E.g. [`arbench_part_publisher`](https://github.com/mahaarbo/arbench_part_publisher)
+Фреймворк состоит из следующих функциональных модулей
+1. __Модуль автоматической генерации последовательности сборки__ (`as_generator`) генерирует граф сборки из статической модели изделия с учётом дополнительных опций и ограничений.
+2. __Модуль построения технологических карт__ (`pddl_configurator`) использует модели производственного оборудования (робот-манипулятор,3D-принтер) для формирования спецификаций задач в PDDL-совместимом формате для передачи в систему планирования совместно с последовательностью сборки.
+3. __Модуль экспорта моделей в виртуальные среды__ (`env_exporter`) (игровые движки, движки физики, системы рендеринга, симуляторы) формирует т.н. ассеты, то есть модели, адаптированные для использования в виртуальных средах (тесселированные или подверженные ретопологии).
+4. __Модуль генерации наборов данных__ (`dataset_generator`) аггрегирует данные симуляции для их последующей обработки и машинного обучения с целью развития навыков робота.
+5. __Модуль исполнения планов__ управляет движениями и задачами робота в режиме реального времени. Совместимый со стандартом ROS2. Исходный код см. в репозитории [robossembler-ros2](https://gitlab.com/robossembler/robossembler-ros2)
+6. __Модуль оценки производительности__ (`benchmark`) агрегирует информацию об эффективности методов получения навыков (вычислительная ресурсоёмкость, размер занимаемого дискового пространства) и эффективности самих навыков (скорость, точность).
+7. __Модуль управления виртуальными средами__ управляет запуском подходящих отработки конкретных навыков виртуальных сред. Исходный код см. в репозитории [robossembler-ros2](https://gitlab.com/robossembler/robossembler-ros2)
+
+# Генератор последовательности сборки (ASP)
+
+Данный программный модуль(cad_parts_adjacency_matrix.py) предназначен для решения задачи планирования сборки. Он формирует граф сборки состоящий из И/ИЛИ и оценивает полученные там решения по набору из 4-ёх формальных правил для проверки сгенерированного графа, давая обратную связь для инженеров-конструкторов.
+
+Формальный правила называются предикатами. Модуль ASP предусматривает следующие разновидности предикатов:
+- __Предикат геометрической осуществимости__. Верен для тех последовательностей сборки, которые удовлетворяют критерию геометрической осуществимости - когда все части графа сборки могут соприкосаться в определенной последовательности без каких либо столконовений.
+- __Предикат механической осуществимость__. Верна для последовательности сборки, когда инструменты сборки могут осуществлять указанную операцию без каких либо коллизий с изделием.
+- __Предикат стабильной осуществимости__. Верен для последовательности сборки, когда сборка на каждом из этапов приходит к стабильному состоянию.
+- __Предикат степеней свободы__. Формируется на основе уже сгенерированных графов/графа сборки. В каких степенях свободы возможно перемещать деталь.
+
+# Генерация сцен
+
+TODO: составить описание
+
+[пример файла описания сцены](docs/scene_generator)
 
-# Todo
- -[] Add export all parts to meshes

UI/FeatureFrameCreator.ui

@@ -1,73 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>FeatureFrameCreator</class>
- <widget class="QDialog" name="FeatureFrameCreator">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>235</width>
-    <height>238</height>
-   </rect>
-  </property>
-  <property name="sizePolicy">
-   <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-    <horstretch>0</horstretch>
-    <verstretch>0</verstretch>
-   </sizepolicy>
-  </property>
-  <property name="minimumSize">
-   <size>
-    <width>235</width>
-    <height>238</height>
-   </size>
-  </property>
-  <property name="baseSize">
-   <size>
-    <width>235</width>
-    <height>238</height>
-   </size>
-  </property>
-  <property name="windowTitle">
-   <string>Feature Frame</string>
-  </property>
-  <widget class="QGraphicsView" name="Preview">
-   <property name="geometry">
-    <rect>
-     <x>30</x>
-     <y>29</y>
-     <width>170</width>
-     <height>151</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QComboBox" name="ChoicesBox">
-   <property name="geometry">
-    <rect>
-     <x>30</x>
-     <y>190</y>
-     <width>171</width>
-     <height>27</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PickedTypeLabel">
-   <property name="geometry">
-    <rect>
-     <x>35</x>
-     <y>10</y>
-     <width>161</width>
-     <height>20</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>TextLabel</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignCenter</set>
-   </property>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>

UI/FramePlacer.ui

@@ -1,520 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>dialog</class>
- <widget class="QDialog" name="dialog">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>299</width>
-    <height>292</height>
-   </rect>
-  </property>
-  <property name="sizePolicy">
-   <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-    <horstretch>0</horstretch>
-    <verstretch>0</verstretch>
-   </sizepolicy>
-  </property>
-  <property name="minimumSize">
-   <size>
-    <width>299</width>
-    <height>292</height>
-   </size>
-  </property>
-  <property name="windowTitle">
-   <string>Part Frame Creator</string>
-  </property>
-  <widget class="QDoubleSpinBox" name="XBox">
-   <property name="geometry">
-    <rect>
-     <x>52</x>
-     <y>85</y>
-     <width>103</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>Offset in part frame x direction</string>
-   </property>
-   <property name="suffix">
-    <string> mm</string>
-   </property>
-   <property name="minimum">
-    <double>-1000.000000000000000</double>
-   </property>
-   <property name="maximum">
-    <double>1000.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="YBox">
-   <property name="geometry">
-    <rect>
-     <x>52</x>
-     <y>118</y>
-     <width>103</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>offset in part frame z direction</string>
-   </property>
-   <property name="suffix">
-    <string> mm</string>
-   </property>
-   <property name="minimum">
-    <double>-1000.000000000000000</double>
-   </property>
-   <property name="maximum">
-    <double>1000.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="ZBox">
-   <property name="geometry">
-    <rect>
-     <x>52</x>
-     <y>151</y>
-     <width>103</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>offset in part frame z direction</string>
-   </property>
-   <property name="suffix">
-    <string> mm</string>
-   </property>
-   <property name="decimals">
-    <number>2</number>
-   </property>
-   <property name="minimum">
-    <double>-1000.000000000000000</double>
-   </property>
-   <property name="maximum">
-    <double>1000.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QLabel" name="XLabel">
-   <property name="geometry">
-    <rect>
-     <x>9</x>
-     <y>85</y>
-     <width>16</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>x</string>
-   </property>
-   <property name="buddy">
-    <cstring>XBox</cstring>
-   </property>
-  </widget>
-  <widget class="QLabel" name="YLabel">
-   <property name="geometry">
-    <rect>
-     <x>9</x>
-     <y>118</y>
-     <width>16</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>y</string>
-   </property>
-   <property name="buddy">
-    <cstring>YBox</cstring>
-   </property>
-  </widget>
-  <widget class="QLabel" name="ZLabel">
-   <property name="geometry">
-    <rect>
-     <x>9</x>
-     <y>151</y>
-     <width>16</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>z</string>
-   </property>
-   <property name="buddy">
-    <cstring>ZBox</cstring>
-   </property>
-  </widget>
-  <widget class="QLabel" name="RollLabel">
-   <property name="geometry">
-    <rect>
-     <x>161</x>
-     <y>85</y>
-     <width>24</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>roll offset from part frame</string>
-   </property>
-   <property name="text">
-    <string>roll</string>
-   </property>
-   <property name="buddy">
-    <cstring>RollBox</cstring>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PitchLabel">
-   <property name="geometry">
-    <rect>
-     <x>161</x>
-     <y>118</y>
-     <width>35</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>pitch offset from part frame</string>
-   </property>
-   <property name="text">
-    <string>pitch</string>
-   </property>
-   <property name="buddy">
-    <cstring>PitchBox</cstring>
-   </property>
-  </widget>
-  <widget class="QLabel" name="YawLabel">
-   <property name="geometry">
-    <rect>
-     <x>161</x>
-     <y>151</y>
-     <width>29</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>yaw offset from part frame</string>
-   </property>
-   <property name="text">
-    <string>yaw</string>
-   </property>
-   <property name="buddy">
-    <cstring>YawBox</cstring>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="RollBox">
-   <property name="geometry">
-    <rect>
-     <x>228</x>
-     <y>85</y>
-     <width>61</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>roll offset from part frame</string>
-   </property>
-   <property name="suffix">
-    <string>°</string>
-   </property>
-   <property name="decimals">
-    <number>1</number>
-   </property>
-   <property name="maximum">
-    <double>360.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="PitchBox">
-   <property name="geometry">
-    <rect>
-     <x>228</x>
-     <y>118</y>
-     <width>61</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>pitch offset from part frame</string>
-   </property>
-   <property name="suffix">
-    <string>°</string>
-   </property>
-   <property name="decimals">
-    <number>1</number>
-   </property>
-   <property name="maximum">
-    <double>360.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="YawBox">
-   <property name="geometry">
-    <rect>
-     <x>228</x>
-     <y>151</y>
-     <width>61</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>yaw offset from part frame</string>
-   </property>
-   <property name="suffix">
-    <string>°</string>
-   </property>
-   <property name="decimals">
-    <number>1</number>
-   </property>
-   <property name="maximum">
-    <double>360.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QPlainTextEdit" name="FrameLabelField">
-   <property name="geometry">
-    <rect>
-     <x>94</x>
-     <y>9</y>
-     <width>195</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="sizePolicy">
-    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-     <horstretch>0</horstretch>
-     <verstretch>0</verstretch>
-    </sizepolicy>
-   </property>
-   <property name="toolTip">
-    <string>Label of the frame</string>
-   </property>
-   <property name="statusTip">
-    <string>Label of the new frame</string>
-   </property>
-   <property name="whatsThis">
-    <string>Label of the new frame, must be unique</string>
-   </property>
-   <property name="verticalScrollBarPolicy">
-    <enum>Qt::ScrollBarAlwaysOff</enum>
-   </property>
-  </widget>
-  <widget class="QLabel" name="FrameLabelLabel">
-   <property name="geometry">
-    <rect>
-     <x>9</x>
-     <y>9</y>
-     <width>79</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Frame label</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="OffsetLabel">
-   <property name="geometry">
-    <rect>
-     <x>9</x>
-     <y>48</y>
-     <width>281</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>Define an offset from the part frame if needed</string>
-   </property>
-   <property name="text">
-    <string>Offset from part frame</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignCenter</set>
-   </property>
-  </widget>
-  <widget class="QLabel" name="ScaleLabel">
-   <property name="geometry">
-    <rect>
-     <x>160</x>
-     <y>180</y>
-     <width>71</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>Scale of the axis arrows</string>
-   </property>
-   <property name="statusTip">
-    <string>Scale of the axis arrows</string>
-   </property>
-   <property name="whatsThis">
-    <string>Scale of the axis arrows</string>
-   </property>
-   <property name="text">
-    <string>Axis scale</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="ScaleBox">
-   <property name="geometry">
-    <rect>
-     <x>230</x>
-     <y>180</y>
-     <width>60</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>Scale of the axis arrows</string>
-   </property>
-   <property name="statusTip">
-    <string>Scale of the axis arrows</string>
-   </property>
-   <property name="whatsThis">
-    <string>Scale of the axis arrows</string>
-   </property>
-   <property name="minimum">
-    <double>0.100000000000000</double>
-   </property>
-   <property name="maximum">
-    <double>2.000000000000000</double>
-   </property>
-   <property name="singleStep">
-    <double>0.010000000000000</double>
-   </property>
-   <property name="value">
-    <double>0.110000000000000</double>
-   </property>
-  </widget>
-  <widget class="QLabel" name="OptionsLabel">
-   <property name="enabled">
-    <bool>true</bool>
-   </property>
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>220</y>
-     <width>66</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="visible">
-    <bool>false</bool>
-   </property>
-   <property name="text">
-    <string>Options</string>
-   </property>
-   <property name="buddy">
-    <cstring>OptionsBox</cstring>
-   </property>
-  </widget>
-  <widget class="QComboBox" name="OptionsBox">
-   <property name="enabled">
-    <bool>true</bool>
-   </property>
-   <property name="geometry">
-    <rect>
-     <x>210</x>
-     <y>220</y>
-     <width>78</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="visible">
-    <bool>false</bool>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="UBox">
-   <property name="enabled">
-    <bool>true</bool>
-   </property>
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>250</y>
-     <width>62</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="visible">
-    <bool>false</bool>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="VBox">
-   <property name="enabled">
-    <bool>true</bool>
-   </property>
-   <property name="geometry">
-    <rect>
-     <x>220</x>
-     <y>250</y>
-     <width>62</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="visible">
-    <bool>false</bool>
-   </property>
-  </widget>
-  <widget class="QLabel" name="ULabel">
-   <property name="enabled">
-    <bool>true</bool>
-   </property>
-   <property name="geometry">
-    <rect>
-     <x>80</x>
-     <y>250</y>
-     <width>16</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="visible">
-    <bool>false</bool>
-   </property>
-   <property name="text">
-    <string>u</string>
-   </property>
-   <property name="buddy">
-    <cstring>UBox</cstring>
-   </property>
-  </widget>
-  <widget class="QLabel" name="VLabel">
-   <property name="enabled">
-    <bool>true</bool>
-   </property>
-   <property name="geometry">
-    <rect>
-     <x>200</x>
-     <y>250</y>
-     <width>16</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="visible">
-    <bool>false</bool>
-   </property>
-   <property name="text">
-    <string>v</string>
-   </property>
-   <property name="buddy">
-    <cstring>VBox</cstring>
-   </property>
-  </widget>
-  <widget class="QLabel" name="CoordsLabel">
-   <property name="enabled">
-    <bool>true</bool>
-   </property>
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>256</y>
-     <width>51</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="visible">
-    <bool>false</bool>
-   </property>
-   <property name="text">
-    <string>Coords:</string>
-   </property>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>

UI/InsertTaskCreator.ui

@@ -1,262 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>Dialog</class>
- <widget class="QDialog" name="Dialog">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>323</width>
-    <height>325</height>
-   </rect>
-  </property>
-  <property name="minimumSize">
-   <size>
-    <width>316</width>
-    <height>325</height>
-   </size>
-  </property>
-  <property name="windowTitle">
-   <string>Dialog</string>
-  </property>
-  <widget class="QLabel" name="TaskLabel">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>20</y>
-     <width>71</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Task Label</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="SelectButton">
-   <property name="geometry">
-    <rect>
-     <x>150</x>
-     <y>290</y>
-     <width>161</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Get from selection</string>
-   </property>
-  </widget>
-  <widget class="QLineEdit" name="TaskLabelField">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>20</y>
-     <width>211</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="minimumSize">
-    <size>
-     <width>0</width>
-     <height>0</height>
-    </size>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HoleLabel">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>50</y>
-     <width>31</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Hole</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegLabel">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>130</y>
-     <width>31</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Peg</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HolePartLabel">
-   <property name="geometry">
-    <rect>
-     <x>50</x>
-     <y>70</y>
-     <width>41</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Part:</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HoleFaceLabel">
-   <property name="geometry">
-    <rect>
-     <x>50</x>
-     <y>90</y>
-     <width>41</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Face:</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegPartLabel">
-   <property name="geometry">
-    <rect>
-     <x>50</x>
-     <y>150</y>
-     <width>41</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Part:</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegFaceLabel">
-   <property name="geometry">
-    <rect>
-     <x>50</x>
-     <y>170</y>
-     <width>41</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Face:</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HolePartField">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>70</y>
-     <width>231</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>PartLabel</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HoleFaceIDField">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>90</y>
-     <width>231</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>FaceID</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegFaceIDField">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>170</y>
-     <width>231</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>FaceID</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegPartField">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>150</y>
-     <width>231</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>PartLabel</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HoleFeatureSummary">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>110</y>
-     <width>231</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Feature Description</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HoleFeatureLabel">
-   <property name="geometry">
-    <rect>
-     <x>30</x>
-     <y>110</y>
-     <width>61</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Feature:</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegFeatureSummary">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>190</y>
-     <width>231</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Feature Description</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegFeatureLabel">
-   <property name="geometry">
-    <rect>
-     <x>30</x>
-     <y>190</y>
-     <width>61</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Feature:</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="AnimateButton">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>290</y>
-     <width>131</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Animate</string>
-   </property>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>

UI/InsertTaskCreator.ui~

@@ -1,401 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>Dialog</class>
- <widget class="QDialog" name="Dialog">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>323</width>
-    <height>325</height>
-   </rect>
-  </property>
-  <property name="minimumSize">
-   <size>
-    <width>316</width>
-    <height>325</height>
-   </size>
-  </property>
-  <property name="windowTitle">
-   <string>Dialog</string>
-  </property>
-  <widget class="QLabel" name="TaskLabel">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>20</y>
-     <width>71</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Task Label</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="PushButton">
-   <property name="geometry">
-    <rect>
-     <x>150</x>
-     <y>290</y>
-     <width>161</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Get from selection</string>
-   </property>
-  </widget>
-  <widget class="QLineEdit" name="lineEdit">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>20</y>
-     <width>211</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="minimumSize">
-    <size>
-     <width>0</width>
-     <height>0</height>
-    </size>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HoleLabel">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>50</y>
-     <width>31</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Hole</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegLabel">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>130</y>
-     <width>31</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Peg</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HolePartLabel">
-   <property name="geometry">
-    <rect>
-     <x>50</x>
-     <y>70</y>
-     <width>41</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Part:</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HoleFaceLabel">
-   <property name="geometry">
-    <rect>
-     <x>50</x>
-     <y>90</y>
-     <width>41</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Face:</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegPartLabel">
-   <property name="geometry">
-    <rect>
-     <x>50</x>
-     <y>150</y>
-     <width>41</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Part:</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegFaceLabel">
-   <property name="geometry">
-    <rect>
-     <x>50</x>
-     <y>170</y>
-     <width>41</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Face:</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HolePartField">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>70</y>
-     <width>231</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>PartLabel</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HoleFaceIDField">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>90</y>
-     <width>231</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>FaceID</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegFaceIDField">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>170</y>
-     <width>231</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>FaceID</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegPartField">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>150</y>
-     <width>231</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>PartLabel</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HoleFeatureSummary">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>110</y>
-     <width>231</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Feature Description</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HoleFeatureLabel">
-   <property name="geometry">
-    <rect>
-     <x>30</x>
-     <y>110</y>
-     <width>61</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Feature:</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegFeatureSummary">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>190</y>
-     <width>231</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Feature Description</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegFeatureLabel">
-   <property name="geometry">
-    <rect>
-     <x>30</x>
-     <y>190</y>
-     <width>61</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Feature:</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="YLabel">
-   <property name="geometry">
-    <rect>
-     <x>80</x>
-     <y>250</y>
-     <width>16</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>y</string>
-   </property>
-   <property name="buddy">
-    <cstring>YBox</cstring>
-   </property>
-  </widget>
-  <widget class="QLabel" name="XLabel">
-   <property name="geometry">
-    <rect>
-     <x>80</x>
-     <y>230</y>
-     <width>16</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>x</string>
-   </property>
-   <property name="buddy">
-    <cstring>XBox</cstring>
-   </property>
-  </widget>
-  <widget class="QLabel" name="ZLabel">
-   <property name="geometry">
-    <rect>
-     <x>80</x>
-     <y>270</y>
-     <width>16</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>z</string>
-   </property>
-   <property name="buddy">
-    <cstring>ZBox</cstring>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="YBox">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>250</y>
-     <width>61</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>offset in part frame z direction</string>
-   </property>
-   <property name="suffix">
-    <string/>
-   </property>
-   <property name="minimum">
-    <double>-1.000000000000000</double>
-   </property>
-   <property name="maximum">
-    <double>1.000000000000000</double>
-   </property>
-   <property name="singleStep">
-    <double>0.100000000000000</double>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="XBox">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>230</y>
-     <width>61</width>
-     <height>20</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>Offset in part frame x direction</string>
-   </property>
-   <property name="suffix">
-    <string/>
-   </property>
-   <property name="minimum">
-    <double>-1.000000000000000</double>
-   </property>
-   <property name="maximum">
-    <double>1.000000000000000</double>
-   </property>
-   <property name="singleStep">
-    <double>0.100000000000000</double>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="ZBox">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>270</y>
-     <width>61</width>
-     <height>20</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>offset in part frame z direction</string>
-   </property>
-   <property name="suffix">
-    <string/>
-   </property>
-   <property name="decimals">
-    <number>2</number>
-   </property>
-   <property name="minimum">
-    <double>-1.000000000000000</double>
-   </property>
-   <property name="maximum">
-    <double>1.000000000000000</double>
-   </property>
-   <property name="singleStep">
-    <double>0.100000000000000</double>
-   </property>
-  </widget>
-  <widget class="QLabel" name="AssemblyAxisLabel">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>210</y>
-     <width>121</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Assembly Axis</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="AnimateButton">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>290</y>
-     <width>131</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Animate</string>
-   </property>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>

UI/PartFrameCreator.ui

@@ -1,520 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>dialog</class>
- <widget class="QDialog" name="dialog">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>299</width>
-    <height>292</height>
-   </rect>
-  </property>
-  <property name="sizePolicy">
-   <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-    <horstretch>0</horstretch>
-    <verstretch>0</verstretch>
-   </sizepolicy>
-  </property>
-  <property name="minimumSize">
-   <size>
-    <width>299</width>
-    <height>292</height>
-   </size>
-  </property>
-  <property name="windowTitle">
-   <string>Part Frame Creator</string>
-  </property>
-  <widget class="QDoubleSpinBox" name="XBox">
-   <property name="geometry">
-    <rect>
-     <x>52</x>
-     <y>85</y>
-     <width>103</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>Offset in part frame x direction</string>
-   </property>
-   <property name="suffix">
-    <string> mm</string>
-   </property>
-   <property name="minimum">
-    <double>-1000.000000000000000</double>
-   </property>
-   <property name="maximum">
-    <double>1000.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="YBox">
-   <property name="geometry">
-    <rect>
-     <x>52</x>
-     <y>118</y>
-     <width>103</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>offset in part frame z direction</string>
-   </property>
-   <property name="suffix">
-    <string> mm</string>
-   </property>
-   <property name="minimum">
-    <double>-1000.000000000000000</double>
-   </property>
-   <property name="maximum">
-    <double>1000.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="ZBox">
-   <property name="geometry">
-    <rect>
-     <x>52</x>
-     <y>151</y>
-     <width>103</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>offset in part frame z direction</string>
-   </property>
-   <property name="suffix">
-    <string> mm</string>
-   </property>
-   <property name="decimals">
-    <number>2</number>
-   </property>
-   <property name="minimum">
-    <double>-1000.000000000000000</double>
-   </property>
-   <property name="maximum">
-    <double>1000.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QLabel" name="XLabel">
-   <property name="geometry">
-    <rect>
-     <x>9</x>
-     <y>85</y>
-     <width>16</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>x</string>
-   </property>
-   <property name="buddy">
-    <cstring>XBox</cstring>
-   </property>
-  </widget>
-  <widget class="QLabel" name="YLabel">
-   <property name="geometry">
-    <rect>
-     <x>9</x>
-     <y>118</y>
-     <width>16</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>y</string>
-   </property>
-   <property name="buddy">
-    <cstring>YBox</cstring>
-   </property>
-  </widget>
-  <widget class="QLabel" name="ZLabel">
-   <property name="geometry">
-    <rect>
-     <x>9</x>
-     <y>151</y>
-     <width>16</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>z</string>
-   </property>
-   <property name="buddy">
-    <cstring>ZBox</cstring>
-   </property>
-  </widget>
-  <widget class="QLabel" name="RollLabel">
-   <property name="geometry">
-    <rect>
-     <x>161</x>
-     <y>85</y>
-     <width>24</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>roll offset from part frame</string>
-   </property>
-   <property name="text">
-    <string>roll</string>
-   </property>
-   <property name="buddy">
-    <cstring>RollBox</cstring>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PitchLabel">
-   <property name="geometry">
-    <rect>
-     <x>161</x>
-     <y>118</y>
-     <width>35</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>pitch offset from part frame</string>
-   </property>
-   <property name="text">
-    <string>pitch</string>
-   </property>
-   <property name="buddy">
-    <cstring>PitchBox</cstring>
-   </property>
-  </widget>
-  <widget class="QLabel" name="YawLabel">
-   <property name="geometry">
-    <rect>
-     <x>161</x>
-     <y>151</y>
-     <width>29</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>yaw offset from part frame</string>
-   </property>
-   <property name="text">
-    <string>yaw</string>
-   </property>
-   <property name="buddy">
-    <cstring>YawBox</cstring>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="RollBox">
-   <property name="geometry">
-    <rect>
-     <x>228</x>
-     <y>85</y>
-     <width>61</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>roll offset from part frame</string>
-   </property>
-   <property name="suffix">
-    <string>°</string>
-   </property>
-   <property name="decimals">
-    <number>1</number>
-   </property>
-   <property name="maximum">
-    <double>360.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="PitchBox">
-   <property name="geometry">
-    <rect>
-     <x>228</x>
-     <y>118</y>
-     <width>61</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>pitch offset from part frame</string>
-   </property>
-   <property name="suffix">
-    <string>°</string>
-   </property>
-   <property name="decimals">
-    <number>1</number>
-   </property>
-   <property name="maximum">
-    <double>360.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="YawBox">
-   <property name="geometry">
-    <rect>
-     <x>228</x>
-     <y>151</y>
-     <width>61</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>yaw offset from part frame</string>
-   </property>
-   <property name="suffix">
-    <string>°</string>
-   </property>
-   <property name="decimals">
-    <number>1</number>
-   </property>
-   <property name="maximum">
-    <double>360.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QPlainTextEdit" name="FrameLabelField">
-   <property name="geometry">
-    <rect>
-     <x>94</x>
-     <y>9</y>
-     <width>195</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="sizePolicy">
-    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-     <horstretch>0</horstretch>
-     <verstretch>0</verstretch>
-    </sizepolicy>
-   </property>
-   <property name="toolTip">
-    <string>Label of the frame</string>
-   </property>
-   <property name="statusTip">
-    <string>Label of the new frame</string>
-   </property>
-   <property name="whatsThis">
-    <string>Label of the new frame, must be unique</string>
-   </property>
-   <property name="verticalScrollBarPolicy">
-    <enum>Qt::ScrollBarAlwaysOff</enum>
-   </property>
-  </widget>
-  <widget class="QLabel" name="FrameLabelLabel">
-   <property name="geometry">
-    <rect>
-     <x>9</x>
-     <y>9</y>
-     <width>79</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Frame label</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="OffsetLabel">
-   <property name="geometry">
-    <rect>
-     <x>9</x>
-     <y>48</y>
-     <width>281</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>Define an offset from the part frame if needed</string>
-   </property>
-   <property name="text">
-    <string>Offset from part frame</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignCenter</set>
-   </property>
-  </widget>
-  <widget class="QLabel" name="ScaleLabel">
-   <property name="geometry">
-    <rect>
-     <x>160</x>
-     <y>180</y>
-     <width>71</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>Scale of the axis arrows</string>
-   </property>
-   <property name="statusTip">
-    <string>Scale of the axis arrows</string>
-   </property>
-   <property name="whatsThis">
-    <string>Scale of the axis arrows</string>
-   </property>
-   <property name="text">
-    <string>Axis scale</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="ScaleBox">
-   <property name="geometry">
-    <rect>
-     <x>230</x>
-     <y>180</y>
-     <width>60</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>Scale of the axis arrows</string>
-   </property>
-   <property name="statusTip">
-    <string>Scale of the axis arrows</string>
-   </property>
-   <property name="whatsThis">
-    <string>Scale of the axis arrows</string>
-   </property>
-   <property name="minimum">
-    <double>0.100000000000000</double>
-   </property>
-   <property name="maximum">
-    <double>2.000000000000000</double>
-   </property>
-   <property name="singleStep">
-    <double>0.010000000000000</double>
-   </property>
-   <property name="value">
-    <double>0.110000000000000</double>
-   </property>
-  </widget>
-  <widget class="QLabel" name="OptionsLabel">
-   <property name="enabled">
-    <bool>true</bool>
-   </property>
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>220</y>
-     <width>66</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="visible">
-    <bool>false</bool>
-   </property>
-   <property name="text">
-    <string>Options</string>
-   </property>
-   <property name="buddy">
-    <cstring>OptionsBox</cstring>
-   </property>
-  </widget>
-  <widget class="QComboBox" name="OptionsBox">
-   <property name="enabled">
-    <bool>true</bool>
-   </property>
-   <property name="geometry">
-    <rect>
-     <x>210</x>
-     <y>220</y>
-     <width>78</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="visible">
-    <bool>false</bool>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="UBox">
-   <property name="enabled">
-    <bool>true</bool>
-   </property>
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>250</y>
-     <width>62</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="visible">
-    <bool>false</bool>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="VBox">
-   <property name="enabled">
-    <bool>true</bool>
-   </property>
-   <property name="geometry">
-    <rect>
-     <x>220</x>
-     <y>250</y>
-     <width>62</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="visible">
-    <bool>false</bool>
-   </property>
-  </widget>
-  <widget class="QLabel" name="ULabel">
-   <property name="enabled">
-    <bool>true</bool>
-   </property>
-   <property name="geometry">
-    <rect>
-     <x>80</x>
-     <y>250</y>
-     <width>16</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="visible">
-    <bool>false</bool>
-   </property>
-   <property name="text">
-    <string>u</string>
-   </property>
-   <property name="buddy">
-    <cstring>UBox</cstring>
-   </property>
-  </widget>
-  <widget class="QLabel" name="VLabel">
-   <property name="enabled">
-    <bool>true</bool>
-   </property>
-   <property name="geometry">
-    <rect>
-     <x>200</x>
-     <y>250</y>
-     <width>16</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="visible">
-    <bool>false</bool>
-   </property>
-   <property name="text">
-    <string>v</string>
-   </property>
-   <property name="buddy">
-    <cstring>VBox</cstring>
-   </property>
-  </widget>
-  <widget class="QLabel" name="CoordsLabel">
-   <property name="enabled">
-    <bool>true</bool>
-   </property>
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>256</y>
-     <width>51</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="visible">
-    <bool>false</bool>
-   </property>
-   <property name="text">
-    <string>Coords:</string>
-   </property>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>

UI/ScrewTaskCreator.ui

@@ -1,239 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>Dialog</class>
- <widget class="QDialog" name="Dialog">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>337</width>
-    <height>322</height>
-   </rect>
-  </property>
-  <property name="minimumSize">
-   <size>
-    <width>337</width>
-    <height>322</height>
-   </size>
-  </property>
-  <property name="windowTitle">
-   <string>Dialog</string>
-  </property>
-  <widget class="QLabel" name="HoleLabel">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>50</y>
-     <width>31</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Hole</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegPartLabel">
-   <property name="geometry">
-    <rect>
-     <x>60</x>
-     <y>150</y>
-     <width>41</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Part:</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegFaceLabel">
-   <property name="geometry">
-    <rect>
-     <x>60</x>
-     <y>170</y>
-     <width>41</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Face:</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegFaceIDField">
-   <property name="geometry">
-    <rect>
-     <x>110</x>
-     <y>170</y>
-     <width>231</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>FaceID</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="TaskLabel">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>20</y>
-     <width>71</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Task Label</string>
-   </property>
-  </widget>
-  <widget class="QLineEdit" name="TaskLabelField">
-   <property name="geometry">
-    <rect>
-     <x>110</x>
-     <y>20</y>
-     <width>211</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="minimumSize">
-    <size>
-     <width>0</width>
-     <height>0</height>
-    </size>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="AnimateButton">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>290</y>
-     <width>131</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Animate</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="SelectButton">
-   <property name="geometry">
-    <rect>
-     <x>160</x>
-     <y>290</y>
-     <width>161</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Get from selection</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HoleFaceIDField">
-   <property name="geometry">
-    <rect>
-     <x>110</x>
-     <y>90</y>
-     <width>231</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>FaceID</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HolePartLabel">
-   <property name="geometry">
-    <rect>
-     <x>60</x>
-     <y>70</y>
-     <width>41</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Part:</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HoleFaceLabel">
-   <property name="geometry">
-    <rect>
-     <x>60</x>
-     <y>90</y>
-     <width>41</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Face:</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegLabel">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>130</y>
-     <width>41</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Screw</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="HolePartField">
-   <property name="geometry">
-    <rect>
-     <x>110</x>
-     <y>70</y>
-     <width>231</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>PartLabel</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="PegPartField">
-   <property name="geometry">
-    <rect>
-     <x>110</x>
-     <y>150</y>
-     <width>231</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>PartLabel</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="ScrewTypeLabel">
-   <property name="geometry">
-    <rect>
-     <x>30</x>
-     <y>190</y>
-     <width>66</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Type:</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-   </property>
-  </widget>
-  <widget class="QLabel" name="ScrewTypeField">
-   <property name="geometry">
-    <rect>
-     <x>110</x>
-     <y>190</y>
-     <width>161</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
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dataset_generation/cli/README.md

@@ -0,0 +1,15 @@
+## Скрипт генерации датасета
+
+Скрипт используется в составе web-сервиса для генерации датасетов с использованием заданной пользователем конфигурации.  
+Должен быть установлен пакет [BlenderProc](https://github.com/DLR-RM/BlenderProc).
+
+Команда для вызова:
+```bash
+blenderproc run renderBOPdataset.py --cfg CFG
+
+options:  
+  --cfg CFG   строка json с параметрами конфигурации датасета / путь к json-файлу с конфигурацией
+```
+
+[Пример файла конфигурации датасета.](dataset_cfg.json)
+

dataset_generation/cli/dataset_cfg.json

@@ -0,0 +1,41 @@
+{
+  "dataSetObjects": ["fork"],
+  "datasetType": "Object Detection - YOLOv8",
+  "name": "123123e",
+  "formBuilder": {
+    "output": {
+      "typedataset": "ObjectDetection",
+      "dataset_path": "eqwfeadszxz",
+      "models": [{"id": 1, "name": "fork"}],
+      "models_randomization": { "loc_range_low": [-1, -1, 0.0], "loc_range_high": [1, 1, 2] },
+      "scene": {
+        "objects": [
+          {"name": "floor", "collision_shape": "BOX", "loc_xyz":[0,0,0], "rot_euler":[0, 0, 0],
+           "material_randomization": {"specular":[0,1], "roughness":[0,1], "metallic":[0,1], "base_color":[[0,0,0,1],[1,1,1,1]]}
+          }
+        ],
+        "lights": [
+          {"id": 1, "type": "POINT", "loc_xyz":[5,5,5], "rot_euler":[-0.06, 0.61, -0.19],
+           "color_range_low":[0.5, 0.5, 0.5], "color_range_high":[1, 1, 1],
+           "energy_range":[400,900]
+          },
+          {"id": 2, "type": "SUN",   "loc_xyz":[0,0,0], "rot_euler":[-0.01, 0.01, -0.01],
+           "color_range_low":[1, 1, 1], "color_range_high":[1, 1, 1],
+           "energy_range":[2,9]
+          }
+        ]
+      },
+      "camera_position": { "center_shell": [0, 0, 0], "radius_range": [0.4, 1.4], "elevation_range": [10, 90] },
+      "generation": {
+        "n_cam_pose": 3,
+        "n_sample_on_pose": 1,
+        "n_series": 3,
+        "image_format": "JPEG",
+        "image_size_wh": [640, 480]
+      }
+    }
+  },
+  "processStatus": "exec",
+  "local_path": "/home/user/5f4e161b-82d1-41fa-a11c-15d485b01600",
+  "projectId": "660aaddbf98957a186f9c546"
+}

dataset_generation/cli/renderBOPdataset.py

@@ -0,0 +1,361 @@
+import blenderproc as bproc
+"""
+  renderBOPdataset
+  Общая задача: common pipeline
+  Реализуемая функция: создание датасета в формате BOP с заданными параметрами рандомизации
+  Используется модуль blenderproc
+
+  26.04.2024 @shalenikol release 0.1
+"""
+import numpy as np
+import argparse
+import random
+import os
+import shutil
+import json
+
+VHACD_PATH = "blenderproc_resources/vhacd"
+DIR_MODELS = "models"
+FILE_LOG_SCENE = "res.txt"
+FILE_RBS_INFO = "rbs_info.json"
+FILE_GT_COCO = "scene_gt_coco.json"
+
+Not_Categories_Name = True # наименование категории в COCO-аннотации отсутствует
+
+def _get_path_model(name_model: str) -> str:
+    # TODO on name_model find path for mesh (model.fbx)
+    # local_path/assets/mesh/
+    return os.path.join(rnd_par.output_dir, "assets/mesh/"+name_model+".fbx")
+
+def _get_path_object(name_obj: str) -> str:
+    # TODO on name_obj find path for scene object (object.fbx)
+    return os.path.join(rnd_par.output_dir, "assets/mesh/"+name_obj+".fbx")
+
+def convert2relative(height, width, bbox):
+    """
+    YOLO format use relative coordinates for annotation
+    """
+    x, y, w, h = bbox
+    x += w/2
+    y += h/2
+    return x/width, y/height, w/width, h/height
+
+def render() -> int:
+    for obj in all_meshs:
+        # Make the object actively participate in the physics simulation
+        obj.enable_rigidbody(active=True, collision_shape="COMPOUND")
+        # Also use convex decomposition as collision shapes
+        obj.build_convex_decomposition_collision_shape(VHACD_PATH)
+
+    objs = all_meshs + rnd_par.scene.objs
+
+    log_txt = os.path.join(rnd_par.output_dir, FILE_LOG_SCENE)
+    with open(log_txt, "w") as fh:
+        for i,o in enumerate(objs):
+            loc = o.get_location()
+            euler = o.get_rotation_euler()
+            fh.write(f"{i} : {o.get_name()}  {loc} {euler}  category_id = {o.get_cp('category_id')}\n")
+
+    # define a light and set its location and energy level
+    ls = []
+    for l in rnd_par.scene.light_data:
+        light = bproc.types.Light(name=f"l{l['id']}")
+        light.set_type(l["type"])
+        light.set_location(l["loc_xyz"]) #[5, -5, 5])
+        light.set_rotation_euler(l["rot_euler"]) #[-0.063, 0.6177, -0.1985])
+        ls += [light]
+
+    # define the camera intrinsics
+    bproc.camera.set_intrinsics_from_blender_params(1,
+                                                    rnd_par.image_size_wh[0],
+                                                    rnd_par.image_size_wh[1],
+                                                    lens_unit="FOV")
+
+    # add segmentation masks (per class and per instance)
+    bproc.renderer.enable_segmentation_output(map_by=["category_id", "instance", "name"])
+
+    # activate depth rendering
+    bproc.renderer.enable_depth_output(activate_antialiasing=False)
+
+    res_dir = os.path.join(rnd_par.output_dir, rnd_par.ds_name)
+    if os.path.isdir(res_dir):
+        shutil.rmtree(res_dir)
+    # Цикл рендеринга
+    # Do multiple times: Position the shapenet objects using the physics simulator and render X images with random camera poses
+    for r in range(rnd_par.n_series):
+        # один случайный объект в кадре / все заданные объекты
+        random_obj = random.choice(range(rnd_par.scene.n_obj))
+        meshs = []
+        for i,o in enumerate(all_meshs): #objs
+            if rnd_par.single_object and i != random_obj:
+                continue
+            meshs += [o]
+            rnd_mat = rnd_par.scene.obj_data[i]["material_randomization"]
+            mats = o.get_materials() #[0]
+            for mat in mats:
+                val = rnd_mat["specular"]
+                mat.set_principled_shader_value("Specular", random.uniform(val[0], val[1]))
+                val = rnd_mat["roughness"]
+                mat.set_principled_shader_value("Roughness", random.uniform(val[0], val[1]))
+                val = rnd_mat["base_color"]
+                mat.set_principled_shader_value("Base Color", np.random.uniform(val[0], val[1]))
+                val = rnd_mat["metallic"]
+                mat.set_principled_shader_value("Metallic", random.uniform(val[0], val[1]))
+
+        # Randomly set the color and energy
+        for i,l in enumerate(ls):
+            current = rnd_par.scene.light_data[i]
+            l.set_color(np.random.uniform(current["color_range_low"], current["color_range_high"]))
+            energy = current["energy_range"]
+            l.set_energy(random.uniform(energy[0], energy[1]))
+
+        # Clear all key frames from the previous run
+        bproc.utility.reset_keyframes()
+
+        # Define a function that samples 6-DoF poses
+        def sample_pose(obj: bproc.types.MeshObject):
+            obj.set_location(np.random.uniform(rnd_par.loc_range_low, rnd_par.loc_range_high)) #[-1, -1, 0], [1, 1, 2]))
+            obj.set_rotation_euler(bproc.sampler.uniformSO3())
+
+        # Sample the poses of all shapenet objects above the ground without any collisions in-between
+        bproc.object.sample_poses(meshs,
+                                  objects_to_check_collisions = meshs + rnd_par.scene.collision_objects,
+                                  sample_pose_func = sample_pose)
+
+        # Run the simulation and fix the poses of the shapenet objects at the end
+        bproc.object.simulate_physics_and_fix_final_poses(min_simulation_time=4, max_simulation_time=20, check_object_interval=1)
+
+        # Find point of interest, all cam poses should look towards it
+        poi = bproc.object.compute_poi(meshs)
+
+        coord_max = [0.1, 0.1, 0.1]
+        coord_min = [0., 0., 0.]
+
+        with open(log_txt, "a") as fh:
+            fh.write("*****************\n")
+            fh.write(f"{r}) poi = {poi}\n")
+            i = 0
+            for o in meshs:
+                i += 1
+                loc = o.get_location()
+                euler = o.get_rotation_euler()
+                fh.write(f"   {i} : {o.get_name()}  {loc} {euler}\n")
+                for j in range(3):
+                    if loc[j] < coord_min[j]:
+                        coord_min[j] = loc[j]
+                    if loc[j] > coord_max[j]:
+                        coord_max[j] = loc[j]
+
+        # Sample up to X camera poses
+        #an = np.random.uniform(0.78, 1.2) #1. #0.35
+        for i in range(rnd_par.n_cam_pose):
+            # Sample location
+            location = bproc.sampler.shell(center=rnd_par.center_shell,
+                                        radius_min=rnd_par.radius_range[0],
+                                        radius_max=rnd_par.radius_range[1],
+                                        elevation_min=rnd_par.elevation_range[0],
+                                        elevation_max=rnd_par.elevation_range[1])
+            # координата, по которой будем сэмплировать положение камеры
+            j = random.randint(0, 2)
+            # разовый сдвиг по случайной координате
+            d = (coord_max[j] - coord_min[j]) / rnd_par.n_sample_on_pose
+            if location[j] < 0:
+                d = -d
+            for _ in range(rnd_par.n_sample_on_pose):
+                # Compute rotation based on vector going from location towards poi
+                rotation_matrix = bproc.camera.rotation_from_forward_vec(poi - location, inplane_rot=np.random.uniform(-0.7854, 0.7854))
+                # Add homog cam pose based on location an rotation
+                cam2world_matrix = bproc.math.build_transformation_mat(location, rotation_matrix)
+                bproc.camera.add_camera_pose(cam2world_matrix)
+                location[j] -= d
+        # render the whole pipeline
+        data = bproc.renderer.render()
+        # Write data to bop format
+        bproc.writer.write_bop(res_dir,
+                            target_objects = all_meshs, # Optional[List[MeshObject]] = None
+                            depths = data["depth"],
+                            depth_scale = 1.0,
+                            colors = data["colors"],
+                            color_file_format=rnd_par.image_format,
+                            append_to_existing_output = (r>0),
+                            save_world2cam = False) # world coords are arbitrary in most real BOP datasets
+        #                       dataset="robo_ds",
+
+    models_dir = os.path.join(res_dir, DIR_MODELS)
+    os.mkdir(models_dir)
+
+    data = []
+    for i,objn in enumerate(rnd_par.models.names):
+        rec = {}
+        rec["id"] = i+1
+        rec["name"] = objn
+        rec["model"] = os.path.join(DIR_MODELS, os.path.split(rnd_par.models.filenames[i])[1]) # путь относительный
+        t = [obj.get_bound_box(local_coords=True).tolist() for obj in all_meshs if obj.get_name() == objn]
+        rec["cuboid"] = t[0]
+        data.append(rec)
+        shutil.copy2(rnd_par.models.filenames[i], models_dir)
+        f = (os.path.splitext(rnd_par.models.filenames[i]))[0] + ".mtl" # файл материала
+        if os.path.isfile(f):
+            shutil.copy2(f, models_dir)
+    
+    with open(os.path.join(res_dir, FILE_RBS_INFO), "w") as fh:
+        json.dump(data, fh, indent=2)
+
+    """
+    !!! categories -> name берётся из category_id !!!
+        см.ниже
+    blenderproc.python.writer : BopWriterUtility.py
+    class _BopWriterUtility
+        def calc_gt_coco
+        ...
+        CATEGORIES = [{'id': obj.get_cp('category_id'), 'name': str(obj.get_cp('category_id')), 'supercategory':
+                            dataset_name} for obj in dataset_objects]
+
+    поэтому заменим наименование категории в аннотации
+    """
+    def change_categories_name(dir: str):
+        coco_file = os.path.join(dir,FILE_GT_COCO)
+        with open(coco_file, "r") as fh:
+            data = json.load(fh)
+        cats = data["categories"]
+
+        for i,cat in enumerate(cats):
+            cat["name"] = rnd_par.models.names[i] #obj_names[i]
+
+        with open(coco_file, "w") as fh:
+            json.dump(data, fh, indent=0)
+
+    def explore(path: str):
+        if not os.path.isdir(path):
+            return
+        folders = [
+            os.path.join(path, o)
+            for o in os.listdir(path)
+            if os.path.isdir(os.path.join(path, o))
+        ]
+        for path_entry in folders:
+            print(path_entry)
+            if os.path.isfile(os.path.join(path_entry,FILE_GT_COCO)):
+                change_categories_name(path_entry)
+            else:
+                explore(path_entry)
+
+    if Not_Categories_Name:
+        explore(res_dir)
+    return 0 # success
+
+def _get_models(par, data) -> int:
+    global all_meshs
+
+    par.models = lambda: None
+    par.models.n_item = len(data)
+    if par.models.n_item == 0:
+        return 0 # no models
+
+    # загрузим объекты
+    par.models.names = []     # obj_names
+    par.models.filenames = [] # obj_filenames
+    i = 1
+    for f in data:
+        nam = f
+        par.models.names.append(nam)
+        ff = _get_path_model(nam)
+        par.models.filenames.append(ff)
+        if not os.path.isfile(ff):
+            print(f"Error: no such file '{ff}'")
+            return -1
+        obj = bproc.loader.load_obj(ff)
+        all_meshs += obj
+        obj[0].set_cp("category_id", i) # начиная с 1
+        i += 1
+    return par.models.n_item
+
+def _get_scene(par, data) -> int:
+    # load scene
+    par.scene = lambda: None
+    objs = data["objects"]
+    par.scene.n_obj = len(objs)
+    if par.scene.n_obj == 0:
+        return 0 # empty scene
+    lights = data["lights"]
+    par.scene.n_light = len(lights)
+    if par.scene.n_light == 0:
+        return 0 # no lighting
+    
+    par.scene.objs = []
+    par.scene.collision_objects = []
+    for f in objs:
+        ff = _get_path_object(f["name"])
+        if not os.path.isfile(ff):
+            print(f"Error: no such file '{ff}'")
+            return -1
+        obj = bproc.loader.load_obj(ff)
+        obj[0].set_cp("category_id", 999)
+        coll = f["collision_shape"]
+        if len(coll) > 0:
+            obj[0].enable_rigidbody(False, collision_shape=coll)
+            par.scene.collision_objects += obj
+        par.scene.objs += obj
+
+    if not par.scene.collision_objects:
+        print("Collision objects not found in the scene")
+        return 0
+    par.scene.obj_data = objs
+    par.scene.light_data = lights
+    return par.scene.n_obj
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--cfg", required=True, help="Json-string with dataset parameters")
+    args = parser.parse_args()
+
+    if args.cfg[-5:] == ".json":
+        if not os.path.isfile(args.cfg):
+            print(f"Error: no such file '{args.cfg}'")
+            exit(-1)
+        with open(args.cfg, "r") as f:
+            j_data = f.read()
+    else:
+        j_data = args.cfg
+    try:
+        cfg = json.loads(j_data)
+    except json.JSONDecodeError as e:
+        print(f"JSon error: {e}")
+        exit(-2)
+
+    ds_cfg = cfg["formBuilder"]["output"] # dataset config
+    generation = ds_cfg["generation"]
+    cam_pos = ds_cfg["camera_position"]
+    models_randomization = ds_cfg["models_randomization"]
+
+    rnd_par = lambda: None
+    rnd_par.single_object = True
+    rnd_par.ds_name = cfg["name"]
+    rnd_par.output_dir = cfg["local_path"]
+    rnd_par.dataset_objs = cfg["dataSetObjects"]
+    rnd_par.n_cam_pose = generation["n_cam_pose"]
+    rnd_par.n_sample_on_pose = generation["n_sample_on_pose"]
+    rnd_par.n_series = generation["n_series"]
+    rnd_par.image_format = generation["image_format"]
+    rnd_par.image_size_wh = generation["image_size_wh"]
+    rnd_par.center_shell = cam_pos["center_shell"]
+    rnd_par.radius_range = cam_pos["radius_range"]
+    rnd_par.elevation_range = cam_pos["elevation_range"]
+    rnd_par.loc_range_low = models_randomization["loc_range_low"]
+    rnd_par.loc_range_high = models_randomization["loc_range_high"]
+
+    if not os.path.isdir(rnd_par.output_dir):
+        print(f"Error: invalid path '{rnd_par.output_dir}'")
+        exit(-3)
+
+    bproc.init()
+    
+    all_meshs = []
+    ret = _get_models(rnd_par, rnd_par.dataset_objs)
+    if ret <= 0:
+        print("Error: no models in config")
+        exit(-4)
+    if _get_scene(rnd_par, ds_cfg["scene"]) == 0:
+        print("Error: empty scene in config")
+        exit(-5)
+    exit(render())

dataset_generation/renderBOPdataset2.py

@@ -0,0 +1,412 @@
+import blenderproc as bproc
+"""
+  renderBOPdataset2
+  Общая задача: common pipeline
+  Реализуемая функция: создание датасета в формате BOP с заданными параметрами рандомизации
+  Используется модуль blenderproc
+
+  02.05.2024 @shalenikol release 0.1
+  02.07.2024 @shalenikol release 0.2
+  28.10.2024 @shalenikol release 0.3
+"""
+import numpy as np
+import argparse
+import random
+import os
+import shutil
+import json
+from pathlib import Path
+
+import bpy
+
+VHACD_PATH = "blenderproc_resources/vhacd"
+DIR_MODELS = "models"
+DIR_MESH = "assets/libs/objects/"
+FILE_LOG_SCENE = "res.txt"
+FILE_RBS_INFO = "rbs_info.json"
+FILE_GT_COCO = "scene_gt_coco.json"
+EXT_MODELS = ".fbx"
+TEXTURE_TMPL = "*.jpg"
+
+Not_Categories_Name = True # наименование категории в COCO-аннотации отсутствует
+
+def _get_list_texture(rel_path: str) -> list:
+    # local_path/texture/
+    loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))
+    path = os.path.join(loc, rel_path)
+    return list(Path(path).absolute().rglob(TEXTURE_TMPL))
+
+# def _get_path_model(name_model: str) -> str:
+#     # TODO on name_model find path for mesh (model.fbx)
+#     # local_path/assets/libs/objects   # assets/mesh/
+#     loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))
+#     return os.path.join(loc, DIR_MESH + name_model + EXT_MODELS)
+
+def _get_path_object(name_obj: str) -> str:
+    # TODO on name_obj find path for scene object (object.fbx)
+    # loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))
+    # return os.path.join(loc, DIR_MESH + name_obj + EXT_MODELS)
+    return os.path.join(rnd_par.details_dir, name_obj + EXT_MODELS)
+
+def convert2relative(height, width, bbox):
+    """
+    YOLO format use relative coordinates for annotation
+    """
+    x, y, w, h = bbox
+    x += w/2
+    y += h/2
+    return x/width, y/height, w/width, h/height
+
+def render() -> int:
+    i = 0
+    for obj in all_meshs:
+        # Make the object actively participate in the physics simulation
+        obj.enable_rigidbody(active=True, collision_shape="COMPOUND")
+        # Also use convex decomposition as collision shapes
+        obj.build_convex_decomposition_collision_shape(VHACD_PATH)
+        i += 1
+        # print(f"{i} : {obj.get_name()}")
+
+    objs = all_meshs + rnd_par.scene.objs
+
+    log_txt = os.path.join(os.path.dirname(rnd_par.output_dir), FILE_LOG_SCENE)
+    with open(log_txt, "w") as fh:
+        for i,o in enumerate(objs):
+            loc = o.get_location()
+            euler = o.get_rotation_euler()
+            fh.write(f"{i} : {o.get_name()}  {loc} {euler}  category_id = {o.get_cp('category_id')}\n")
+
+    # define a light and set its location and energy level
+    ls = []
+    for l in rnd_par.scene.light_data:
+        light = bproc.types.Light(name=f"l{l['id']}")
+        light.set_type(l["type"])
+        light.set_location(l["loc_xyz"]) #[5, -5, 5])
+        light.set_rotation_euler(l["rot_euler"]) #[-0.063, 0.6177, -0.1985])
+        ls += [light]
+
+    # define the camera intrinsics
+    bproc.camera.set_intrinsics_from_blender_params(1,
+                                                    rnd_par.image_size_wh[0],
+                                                    rnd_par.image_size_wh[1],
+                                                    lens_unit="FOV")
+
+    # add segmentation masks (per class and per instance)
+    bproc.renderer.enable_segmentation_output(map_by=["category_id", "instance", "name"])
+
+    # activate depth rendering
+    bproc.renderer.enable_depth_output(activate_antialiasing=False)
+
+    # res_dir = os.path.join(rnd_par.output_dir, rnd_par.ds_name)
+    res_dir = rnd_par.output_dir
+    if os.path.isdir(res_dir):
+        shutil.rmtree(res_dir)
+    # Цикл рендеринга
+    # Do multiple times: Position the shapenet objects using the physics simulator and render X images with random camera poses
+    for r in range(rnd_par.n_series):
+        print(f"********** Series : {r+1}")
+        is_texture = True if "texture_path" in rnd_par.models_randomization else False
+        if is_texture:
+            val = rnd_par.models_randomization["texture_path"]
+            l_texture = _get_list_texture(val)
+            image = bpy.data.images.load(filepath=str(l_texture[r % len(l_texture)]))
+        # один случайный объект в кадре / все заданные объекты
+        random_obj = random.choice(range(rnd_par.models.n_item))
+        meshs = []
+        for i,o in enumerate(all_meshs): # активные модели
+            if rnd_par.single_object and i != random_obj:
+                continue
+            meshs += [o]
+            if is_texture:
+                mats = o.get_materials()
+                for mat in mats:
+                    # image = bpy.data.images.load(filepath=str(random.choice(l_texture)))
+                    mat.set_principled_shader_value("Base Color", image)
+
+        for i,o in enumerate(rnd_par.scene.objs): # объекты сцены
+            rnd_mat = rnd_par.scene.obj_data[i]["material_randomization"]
+            mats = o.get_materials() #[0]
+            for mat in mats:
+                val = rnd_mat["specular"]
+                mat.set_principled_shader_value("Specular", random.uniform(val[0], val[1]))
+                val = rnd_mat["roughness"]
+                mat.set_principled_shader_value("Roughness", random.uniform(val[0], val[1]))
+                val = rnd_mat["metallic"]
+                mat.set_principled_shader_value("Metallic", random.uniform(val[0], val[1]))
+                if "texture_path" in rnd_mat: # путь к текстурам (*.jpg)
+                    val = rnd_mat["texture_path"]
+                    val = _get_list_texture(val)
+                    image = bpy.data.images.load(filepath=str(random.choice(val)))
+                    mat.set_principled_shader_value("Base Color", image)
+                else:
+                    val = rnd_mat["base_color"]
+                    mat.set_principled_shader_value("Base Color", np.random.uniform(val[0], val[1]))
+                # mat.set_principled_shader_value("Base Color", image)
+
+        # Randomly set the color and energy
+        for i,l in enumerate(ls):
+            current = rnd_par.scene.light_data[i]
+            l.set_color(np.random.uniform(current["color_range_low"], current["color_range_high"]))
+            energy = current["energy_range"]
+            l.set_energy(random.uniform(energy[0], energy[1]))
+
+        # Clear all key frames from the previous run
+        bproc.utility.reset_keyframes()
+
+        # Define a function that samples 6-DoF poses
+        def sample_pose(obj: bproc.types.MeshObject):
+            obj.set_location(np.random.uniform(rnd_par.loc_range_low, rnd_par.loc_range_high)) #[-1, -1, 0], [1, 1, 2]))
+            obj.set_rotation_euler(bproc.sampler.uniformSO3())
+
+        # Sample the poses of all shapenet objects above the ground without any collisions in-between
+        bproc.object.sample_poses(meshs,
+                                  objects_to_check_collisions = meshs + rnd_par.scene.collision_objects,
+                                  sample_pose_func = sample_pose)
+
+        # Run the simulation and fix the poses of the shapenet objects at the end
+        bproc.object.simulate_physics_and_fix_final_poses(min_simulation_time=4, max_simulation_time=20, check_object_interval=1)
+
+        # Find point of interest, all cam poses should look towards it
+        poi = bproc.object.compute_poi(meshs)
+
+        coord_max = [0.1, 0.1, 0.1]
+        coord_min = [0., 0., 0.]
+
+        with open(log_txt, "a") as fh:
+            fh.write("*****************\n")
+            fh.write(f"{r}) poi = {poi}\n")
+            i = 0
+            for o in meshs:
+                i += 1
+                loc = o.get_location()
+                euler = o.get_rotation_euler()
+                fh.write(f"   {i} : {o.get_name()}  {loc} {euler}\n")
+                for j in range(3):
+                    if loc[j] < coord_min[j]:
+                        coord_min[j] = loc[j]
+                    if loc[j] > coord_max[j]:
+                        coord_max[j] = loc[j]
+
+        # Sample up to X camera poses
+        #an = np.random.uniform(0.78, 1.2) #1. #0.35
+        for i in range(rnd_par.n_cam_pose):
+            # Sample location
+            location = bproc.sampler.shell(center=rnd_par.center_shell,
+                                        radius_min=rnd_par.radius_range[0],
+                                        radius_max=rnd_par.radius_range[1],
+                                        elevation_min=rnd_par.elevation_range[0],
+                                        elevation_max=rnd_par.elevation_range[1])
+            # координата, по которой будем сэмплировать положение камеры
+            j = random.randint(0, 2)
+            # разовый сдвиг по случайной координате
+            d = (coord_max[j] - coord_min[j]) / rnd_par.n_sample_on_pose
+            if location[j] < 0:
+                d = -d
+            for _ in range(rnd_par.n_sample_on_pose):
+                # Compute rotation based on vector going from location towards poi
+                rotation_matrix = bproc.camera.rotation_from_forward_vec(poi - location, inplane_rot=np.random.uniform(-0.7854, 0.7854))
+                # Add homog cam pose based on location an rotation
+                cam2world_matrix = bproc.math.build_transformation_mat(location, rotation_matrix)
+                bproc.camera.add_camera_pose(cam2world_matrix)
+                location[j] -= d
+        # render the whole pipeline
+        data = bproc.renderer.render()
+        # Write data to bop format
+        bproc.writer.write_bop(res_dir,
+                            target_objects = all_meshs, # Optional[List[MeshObject]] = None
+                            depths = data["depth"],
+                            depth_scale = 1.0,
+                            colors = data["colors"],
+                            color_file_format=rnd_par.image_format,
+                            append_to_existing_output = (r>0),
+                            save_world2cam = False) # world coords are arbitrary in most real BOP datasets
+        #                       dataset="robo_ds",
+
+    models_dir = os.path.join(res_dir, DIR_MODELS)
+    os.mkdir(models_dir)
+
+    data = []
+    for i,objn in enumerate(rnd_par.models.names):
+        rec = {}
+        rec["id"] = i+1
+        rec["name"] = objn
+        rec["model"] = os.path.join(DIR_MODELS, os.path.split(rnd_par.models.filenames[i])[1]) # путь относительный
+        t = [obj.get_bound_box(local_coords=True).tolist() for obj in all_meshs if obj.get_name() == objn]
+        rec["cuboid"] = t[0]
+        data.append(rec)
+        shutil.copy2(rnd_par.models.filenames[i], models_dir)
+        f = (os.path.splitext(rnd_par.models.filenames[i]))[0] + ".mtl" # файл материала
+        if os.path.isfile(f):
+            shutil.copy2(f, models_dir)
+    
+    with open(os.path.join(res_dir, FILE_RBS_INFO), "w") as fh:
+        json.dump(data, fh, indent=2)
+
+    """
+    !!! categories -> name берётся из category_id !!!
+        см.ниже
+    blenderproc.python.writer : BopWriterUtility.py
+    class _BopWriterUtility
+        def calc_gt_coco
+        ...
+        CATEGORIES = [{'id': obj.get_cp('category_id'), 'name': str(obj.get_cp('category_id')), 'supercategory':
+                            dataset_name} for obj in dataset_objects]
+
+    поэтому заменим наименование категории в аннотации
+    """
+    def change_categories_name(dir: str):
+        coco_file = os.path.join(dir,FILE_GT_COCO)
+        with open(coco_file, "r") as fh:
+            data = json.load(fh)
+        cats = data["categories"]
+
+        for i,cat in enumerate(cats):
+            cat["name"] = rnd_par.models.names[i] #obj_names[i]
+
+        with open(coco_file, "w") as fh:
+            json.dump(data, fh, indent=1)
+
+    def explore(path: str):
+        if not os.path.isdir(path):
+            return
+        folders = [
+            os.path.join(path, o)
+            for o in os.listdir(path)
+            if os.path.isdir(os.path.join(path, o))
+        ]
+        for path_entry in folders:
+            print(path_entry)
+            if os.path.isfile(os.path.join(path_entry,FILE_GT_COCO)):
+                change_categories_name(path_entry)
+            else:
+                explore(path_entry)
+
+    if Not_Categories_Name:
+        explore(res_dir)
+    return 0 # success
+
+def _get_models(par, data) -> int:
+    global all_meshs
+
+    par.models = lambda: None
+    par.models.n_item = len(data)
+    if par.models.n_item == 0:
+        return 0 # no models
+
+    # загрузим объекты
+    par.models.names = []     # obj_names
+    par.models.filenames = [] # obj_filenames
+    i = 1
+    for f in data:
+        nam = f["name"]
+        par.models.names.append(nam)
+        ff = f["fbx"] # _get_path_model(nam)
+        par.models.filenames.append(ff)
+        if not os.path.isfile(ff):
+            print(f"Error: no such file '{ff}'")
+            return -1
+        # !!! dir with meshs
+        par.details_dir = os.path.split(ff)[0]
+
+        obj = bproc.loader.load_obj(ff)
+        all_meshs += obj
+        obj[0].set_cp("category_id", i) # начиная с 1
+        i += 1
+    return par.models.n_item
+
+def _get_scene(par, data) -> int:
+    # load scene
+    par.scene = lambda: None
+    objs = data["objects"]
+    par.scene.n_obj = len(objs)
+    if par.scene.n_obj == 0:
+        return 0 # empty scene
+    lights = data["lights"]
+    par.scene.n_light = len(lights)
+    if par.scene.n_light == 0:
+        return 0 # no lighting
+    if len(rnd_par.details_dir) == 0:
+        return 0 # no path to details
+
+    par.scene.objs = []
+    par.scene.collision_objects = []
+    for f in objs:
+        ff = _get_path_object(f["name"])
+        if not os.path.isfile(ff):
+            print(f"Error: no such file '{ff}'")
+            return -1
+        obj = bproc.loader.load_obj(ff)
+        obj[0].set_cp("category_id", 999)
+        coll = f["collision_shape"]
+        if len(coll) > 0:
+            obj[0].enable_rigidbody(False, collision_shape=coll)
+            par.scene.collision_objects += obj
+        par.scene.objs += obj
+
+    if not par.scene.collision_objects:
+        print("Collision objects not found in the scene")
+        return 0
+    par.scene.obj_data = objs
+    par.scene.light_data = lights
+    return par.scene.n_obj
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--form", required=True, help="Json-string with dataset parameters")
+    parser.add_argument("--path", required=True, help="Output path")
+    args = parser.parse_args()
+
+    if args.form[-5:] == ".json":
+        if not os.path.isfile(args.form):
+            print(f"Error: no such file '{args.form}'")
+            exit(-1)
+        with open(args.form, "r") as f:
+            j_data = f.read()
+    else:
+        j_data = args.form
+    try:
+        cfg = json.loads(j_data)
+    except json.JSONDecodeError as e:
+        print(f"JSon error: {e}")
+        exit(-2)
+
+    # output_dir = args.path
+
+    ds_cfg = cfg["output"] # dataset config
+    generation = ds_cfg["generation"]
+    cam_pos = ds_cfg["camera_position"]
+    models_randomization = ds_cfg["models_randomization"]
+
+    rnd_par = lambda: None
+    rnd_par.output_dir = args.path # cfg["local_path"]
+
+    if not os.path.isdir(rnd_par.output_dir):
+        print(f"Error: invalid path '{rnd_par.output_dir}'")
+        exit(-3)
+
+    rnd_par.single_object = False # True
+    rnd_par.details_dir = ""
+    # rnd_par.ds_name = os.path.split(rnd_par.output_dir)[1] # cfg["name"]
+    rnd_par.dataset_objs = ds_cfg["datasetObjects"]["details"] # ["knight"]
+    rnd_par.n_cam_pose = generation["n_cam_pose"]
+    rnd_par.n_sample_on_pose = generation["n_sample_on_pose"]
+    rnd_par.n_series = generation["n_series"]
+    rnd_par.image_format = generation["image_format"]
+    rnd_par.image_size_wh = generation["image_size_wh"]
+    rnd_par.center_shell = cam_pos["center_shell"]
+    rnd_par.radius_range = cam_pos["radius_range"]
+    rnd_par.elevation_range = cam_pos["elevation_range"]
+    rnd_par.models_randomization = models_randomization
+    rnd_par.loc_range_low = models_randomization["loc_range_low"]
+    rnd_par.loc_range_high = models_randomization["loc_range_high"]
+
+    bproc.init()
+    
+    all_meshs = []
+    if _get_models(rnd_par, rnd_par.dataset_objs) <= 0:
+        print("Error: no models in config")
+        exit(-4)
+    if _get_scene(rnd_par, ds_cfg["scene"]) <= 0:
+        print("Error: empty scene in config")
+        exit(-5)
+    exit(render())

docs/framework_debug_3part.md

@@ -0,0 +1,17 @@
+# Фреймворк: отладка.
+
+После того как был отлажен механизм обнаружения объектов на основе метода YoloV4 и в результате его испытаний, нами было принято решение имплементировать более совершенный и современный метод Yolo 8-ой версии ([YoloV8](https://github.com/ultralytics/ultralytics)).  
+На основе предыдущего опыта был взят за основу lifecycle-узел ROS2, который управлялся бы исполнением действий деревьев поведения (Behavior Tree). В ходе работы над этим модулем и дальнейшей отладки выявились преимущества метода YoloV8 в сравнении с YoloV4: файл весов модели 8-й версии по размеру составил около 6 МБ, в 4-й - около 244 МБ. Также на реальных изображениях распечатанных нами моделей улучшилась их точность распознавания (рис.1). В качестве моделей мы использовали набор шахматных фигур, распечатанных на 3D-принтере.  
+
+![pic1](img/P_curve.png)
+Рис.1
+
+Когда отлаживался модуль распознавания объектов (Object Detection), выявилась сложность проектирования и отладки этого навыка. Необходимо было кроме основной логики ROS-узла создавать и отлаживать передачу параметров в дереве поведения. И была предложена схема обобщения интерфейса для любых навыков.  
+
+![Схема1](img/scheme1.jpg)
+
+В ней предположено использовать отдельный интерфейсный узел (Interface Node), который будет реализовывать взаимодействие системы исполнения дерева поведения (BT Engine Node) c библиотекой навыков. А сами навыки предложено упаковывать в отдельные ROS-пакеты с json-файлом описания, который позволит декларативно описывать элементы интерфейса, а также схему запуска навыков.
+
+Такой интерфейсный узел был реализован и позволил упростить как составление и выполнение дерева поведения, так и облегчить создание самой библиотеки навыков.  
+
+Первым навыком, который использовал интерфейсный узел, стала имплементация метода оценки 6D-позы объекта [DOPE](https://github.com/NVlabs/Deep_Object_Pose).

docs/randomization.md

@@ -0,0 +1,123 @@
+# Рандомизация
+
+### При обучении робота (Илья Ураев)
+
+- Гравитация
+- Положение камеры
+- Конфигурацию робота (положение джоинтов так называется)
+- Положение объекта или точки куда надо дотянутся
+- Текстуру поверхности размещения
+- Ну и я думаю чтобы с robot_builder смотрелось, то можно рандомизировать число степеней свободы робота.
+- Можно рандомизировать позиции спавна робота
+
+### При создании датасета (Александр Шушпанов)
+
+- Зона локации (спавна) активных объектов
+- Позиция камеры: радиус сферы размещения и наклон, центр этой сферы
+- Источники света: количество, тип, локализация в пространстве, цветность, сила света
+- Свойства материала по отражению света: зеркальность, шероховатость, металлизация, цвет
+
+  Гиперпараметры.
+- количество серий (спавна активных объектов)
+- количество позиций камеры на одну серию
+- количество сдвигов камеры на 1 позу
+
+### Общий список параметров рандомизации
+
+- Положение искомого(активного) объекта(-ов) в рабочей зоне
+- Позиция камеры: радиус сферы размещения и наклон, центр этой сферы
+- Текстуры повехностей объектов и/или свойства материала по отражению света: зеркальность, шероховатость, металлизация, цвет
+- Источники света: количество, тип, локализация в пространстве, цветность, сила света
+- Конфигурация робота (положение джоинтов), число степеней свободы и его начальное расположение
+- Гравитация
+
+## Web-сервис для генерации датасетов
+
+Для реализации пользовательского интерфейса web-сервиса нами была разработана схема описания параметров рандомизации. Её использование позволяет изменять конфигурацию параметров в зависимости от задачи. Предполагается в дальнейшем использовать модуль ввода параметров в том числе и в задачах обучения с подкреплением.  
+
+Пример такой схемы:
+```
+ENUM T = "ObjectDetection","PoseEstimation"
+ENUM C = "","BOX","SPHERE","CAPSULE","CYLINDER","CONE","CONVEX_HULL","MESH","COMPOUND"
+ENUM L = "POINT","SUN"
+ENUM F = "JPEG","PNG"
+
+MODELS = {
+  "id": ${ID:number:1},
+  "name": ${NAME:string:""},
+  "model": ${MODEL:string:"models/1.fbx"}
+}
+OBJECTS_SCENE = {
+  "name": ${NAME:string:""},
+  "collision_shape": ${enum:C:"BOX"},
+  "loc_xyz": [${LOC_XYZ_1:number:0}, ${LOC_XYZ_2:number:0}, ${LOC_XYZ_3:number:0}],
+  "rot_euler": [${ROT_EULER_1:number:0}, ${ROT_EULER_2:number:0}, ${ROT_EULER_3:number:0}],
+  "material_randomization": {
+    "specular": [${SPECULAR_1:number:0}, ${SPECULAR_2:number:1}],
+    "roughness": [${ROUGHNESS_1:number:0}, ${ROUGHNESS_2:number:1}],
+    "metallic": [${METALLIC_1:number:0}, ${METALLIC_2:number:1}],
+    "base_color": [
+          [
+            ${BASE_COLOR_1:number:0},
+            ${BASE_COLOR_2:number:0},
+            ${BASE_COLOR_3:number:0},
+            ${BASE_COLOR_4:number:1}
+          ],
+          [
+            ${BASE_COLOR_5:number:1},
+            ${BASE_COLOR_6:number:1},
+            ${BASE_COLOR_7:number:1},
+            ${BASE_COLOR_8:number:1}
+          ]
+        ]
+  }
+}
+LIGHTS = {
+  "id": ${ID:number:1},
+  "type": ${enum:L:"POINT"},
+  "loc_xyz": [${LOC_XYZ_1:number:5}, ${LOC_XYZ_2:number:5}, ${LOC_XYZ_3:number:5}],
+  "rot_euler": [${ROT_EULER_1:number:-0.06}, ${ROT_EULER_2:number:0.61}, ${ROT_EULER_3:number:-0.19}],
+  "color_range_low": [${COLOR_RANGE_LOW_1:number:0.5}, ${COLOR_RANGE_LOW_2:number:0.5}, ${COLOR_RANGE_LOW_3:number:0.5}],
+  "color_range_high":[${COLOR_RANGE_HIGH_1:number:1}, ${COLOR_RANGE_HIGH_2:number:1}, ${COLOR_RANGE_HIGH_3:number:1}],
+  "energy_range":[${ENERGY_RANGE_1:number:400},${ENERGY_RANGE_2:number:900}]
+}
+
+{
+  "typedataset": ${enum:T:"ObjectDetection"},
+  "dataset_path": ${DATASET_PATH:string},
+  "models":${ARRAY:MODELS:[]},
+  "models_randomization":{
+    "loc_range_low":  [${LOC_RANGE_LOW_1:number:-1}, ${LOC_RANGE_LOW_2:number:-1}, ${LOC_RANGE_LOW_3:number:0}],
+    "loc_range_high": [${LOC_RANGE_HIGH_1:number:1}, ${LOC_RANGE_HIGH_2:number:1}, ${LOC_RANGE_HIGH_3:number:2}]
+  },
+  "scene":{
+    "objects": ${ARRAY:OBJECTS_SCENE:[]},
+    "lights": ${ARRAY:LIGHTS:[]},
+  },
+  "camera_position":{
+    "center_shell": [${CENTER_SHELL_1:number:0}, ${CENTER_SHELL_2:number:0}, ${CENTER_SHELL_3:number:0}],
+    "radius_range": [${RADIUS_RANGE_1:number:0.4}, ${RADIUS_RANGE_2:number:1.4}],
+    "elevation_range": [${ELEVATION_RANGE_1:number:10}, ${ELEVATION_RANGE_2:number:90}]
+  },
+  "generation":{
+    "n_cam_pose": ${N_CAM_POSE:number:5},
+    "n_sample_on_pose": ${N_SAMPLE_ON_POSE:number:3},
+    "n_series": ${N_SERIES:number:100},
+    "image_format": ${enum:F:"jpg"},
+    "image_size_wh": [${IMAGE_SIZE_WH_1:number:640}, ${IMAGE_SIZE_WH_2:number:480}]
+  }
+}
+```
+
+Вначале описываются перечисления - ENUM, которым присваиваются имена и список возможных значений. Затем описываются составные именованные объекты, а затем основной блок описания параметров. Этот блок представляет из себя JSON-словарь параметров, который будет подготовлен на выходе модуля ввода параметров. Каждый ключ этого словаря дополняется мини-схемой описания вводимого значения.  
+Формат:
+```
+${<имя_переменной>:<тип>:<значение_по_умолчанию>}
+```
+либо массив объектов
+```
+${ARRAY:<имя_объекта>:[]}
+```
+
+В нашем алгоритме формирования датасета для задач компьютерного зрения (ObjectDetection, PoseEstimation) выбран формат [BOP: Benchmark for 6D Object Pose Estimation](https://bop.felk.cvut.cz/home/), в его [BOP-Classic](https://bop.felk.cvut.cz/datasets/) версии.  
+Он содержит в своей аннотации все необходимые данные (ground truth) для обучения нейросетевых моделей поиску объектов на изображении, а также распознавания поз искомых объектов.

docs/scene_generator.md

@@ -0,0 +1,435 @@
+## Мета-модель фреймворка
+
+## Соответствие Digital Twin Definition Language и мета-модели Robossembler
+
+Слои абстракции
+1. DTDL - BASETYPES, COMPLEXTYPES (Array, Map, ...), DT_TYPES
+2. ROBOSSEMBLER_CONTEXT (Represents)
+3. USE_CASE_CONTEXT (Entities)
+4. USE_CASE_INSTANCE (Product)
+
+## Сравнение мета-моделей Digital Twin Definition Language и ROS 2
+
+| Сущность | DTDL | ROS | Robonomics |
+| - | - | - | - |
+| Описывает всё содержимое двойника, включая ниже приведённые сущности | **Interface** | **Interface Spec** | - |
+| Передаваемые данные и их тип | **Telemetry** | **Topic** | **Datalog Hash** |
+| Свойство, описывающее какое-то состояние двойника, может быть read-only или read/write; также описывает синхронизацию состояния между компонентами (например, показание датчика записано в облако) | **Property** | **Parameters** | **Launch Param** |
+| Функция или операция, которая может быть осуществлена над двойником (например, `reboot`) | **Command** | **Service** / **Action** | **Launch** |
+| Структура из примитивных типов (Array, Enum, Map, Object) данных для сериализации (в JSON, Avro, Protobuf) | **Schema** | **IDL** | - |
+| Часть интерфейса (отношение part-of с каким-то другим двойником) | **Component** | - | - |
+| Связь с другим цифровым двойником. Связи могут представлять различные семантические значения. Например, `contains` ("этаж содержит комнату"), `cools` ("hvac cools room"), `isBilledTo` ("счёт выставляется пользователю") | **Relationship** | - | - |
+
+
+```json
+# базовые типы значений (из JSON Schema)
+"string","number", "boolean", "array", "object";
+
+{
+  "type": "object",
+  "properties": {
+    "REPRESENT": { 
+      "type": { 
+        "enum": [ "OBJECT_LINK", "KEY", "FILEPATH", "VALUE", "TREE", "ARRAY", "SEQUENCE" ] 
+      }
+    }
+  }
+}
+
+# представления
+ENUM REPRESENT = "OBJECT_LINK", # строка-ссылка на объект (ENTITY)
+                 "KEY",         # уникальный ключ в виде строки (используется как идентификатор записи)
+                 "FILEPATH",    # строка - путь к файлу
+                 "VALUE",       # непосредственное значение
+                 "TREE",        # представление в виде дерева
+                 "ARRAY",       # массив значений
+                 "SEQUENCE";    # массив ссылок на объект определённого типа
+
+# сущности
+
+ENUM ENTITY =  "MESH", "PART", "ASSET", "BTREE", "BTACTION", "SKILL", "DATASET", "INTERFACE", "WEIGHTS", "DEVICE";
+
+ENUM DEVICE = "ROBOT", "SENSOR";
+
+type SCENE = {
+    "objects": [ { ref: "1", type: "PART" }; { ref: "2", type: "PART" }; ]
+};
+
+type PARAM = {
+    "sid": \${KEY:string:""},
+    "name": \${NAME:string:""},
+    "represent": \${REPRESENT:Enum<REPRESENT>:"VALUE"},
+    "link": \${LINK:Enum<LINK>:"topic"}
+};
+
+### тип поверхность детали
+
+type MESH/SURFACE = {
+  "sid": \${KEY:string:""};
+  "path": { "stl": "PATH/*.stl", "brep": "PATH/*.brep", "fbx": "PATH/*.fbx",  }
+};
+
+type PART = {
+  "sid": \${NAME:string:""},
+  "name": \${NAME:string:""},
+  "pose6d": { "loc_xyz": \${XYZ:Array<number>3:[0.0,0.0,0.0] }, "rot_xyzw": \${XYZW:Array<number>4:[0.0,0.0,0.0,1.0]} },
+  "attributes": [
+      "Robossembler_NonSolid": True
+  ],
+  "surface": { "stl": "PATH/*.stl", "brep": "PATH/*.brep", },
+  "material": "/path/to/robossembler/materials/mmm.FCMat",
+  "unit_scale": \${UNIT_SCALE:number:1.0},
+  "dimensions": \${Array<number>3:[0.0,0.0,0.0]},
+  "assets": { "fbx": "PATH/*.fbx", "blend": "PATH/*.blend", }
+};
+
+type DATASET = {
+  "sid": \${NAME:string:""},
+  "name": \${NAME:string:""},
+  "objects": \${SEQUENCE:PART},
+  "environment": \${SEQUENCE:PART},
+  "randomisation": \${FILE}
+};
+
+type WEIGHTS = {
+  "sid": \${NAME:string:""},
+  "name": \${NAME:string:""},
+  "file": \${FILE:string:"*.pth"},
+  "epoch": \${EPOCH:number:""},
+  "dataset": \${OBJECT_LINK:DATASET}
+};
+
+type TOPIC = {
+  "sid": ...,
+  "name": "topic_name",
+  "msg": "sensor_msgs/Image",
+};
+
+DEVICE = {
+  "sid": 1235,
+  "name": "dev",
+  "topics": \${SEQUENCE:TOPIC},
+}
+
+// DEVICE -> TOPIC LIST -> {DEVICE: {TOPIC LIST}}
+
+type POSE_ESTIMATION = {
+  "object_name": \${OBJECT_LINK:PART},
+  "weights": \${OBJECT_LINK:WEIGHTS},
+  "topic_name": \${OBJECT_LINK:TOPIC}
+};
+
+type SKILL = {
+  "sid": \${NAME:string:""},
+  "name": \${NAME:string:""},
+  "interface": \${INTERFACE}
+};
+
+command_LifeCycle = "run", "stop"
+
+type ASSEMBLY_SEQUENCE = \{SEQUENCE:TASK};
+
+# task1 = { source_state = []; target_state = [ p1 ] }
+# task2 = { source_state = [ p1 ]; target_state = [ p1 p2 ] }
+# task3 = { source_state = [ p1 p2 ]; target_state = [ p1 p2 p3 ] }
+
+task = { source_state = \${TREE:PART}; target_state = \${TREE:PART} }
+
+type TASK = {
+  "sid": ...
+  "action": \${BT_TREE}
+  "source_state": \${TREE:PART} // PART
+  "target_state": \${TREE:PART} // PRODUCT
+};
+
+type DOMAIN = {
+  "objects": \{SEQUENCE:PART}
+  "predicates": \{OBJECT_LINK:CONDITION}
+  "actions": \${OBJECT_LINK:BT_ACTION}
+};
+
+type BTREE = {
+  "sid": \${NAME:string:""},
+  "name": \${NAME:string:""},
+};
+
+```
+
+## Device Package
+
+### Camera
+
+```json
+{
+  "DevicePackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
+  "Module": { "name": "RealSense Dxx", "description": "ROS Wrapper for Intel(R) RealSense(TM) Cameras" },
+  "Launch": { "package": "realsense2_camera", "executable": "rs_launch.py" },
+  "DTwin": [
+    { "interface": {
+        "input": [
+          { "name": "camera_namespace", "type": "STRING" }, // -- /robot_drawer/455_1/camera_info
+          { "name": "camera_name", "type": "STRING" },
+          { "name": "serial_port", "type": "STRING" },
+        ],
+        "output": [
+          { "name": "camera_info", "type": "TOPIC", "topic_name": "/${camera_namespace}/${camera_name}/camera_info" },
+          { "name": "pose", "type": "TOPIC", "msg": "Pose" }
+        ]
+      },
+    }
+  ],
+  "Settings": [
+    { "name": "camera_config", "description": "Camera Config", "type":"file", "defaultValue": "{ rgb_camera.profile: 1280x720x15 }" }
+  ]
+}
+```
+
+### Robot RBS
+
+
+```json
+{
+  "DevicePackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
+  "Module": { "name": "RBS", "description": "Main Robot" },
+  "Launch": { "package": "rbs_bringup", "executable": "single_robot.launch.py" },
+  "DTwin": [
+    { "interface": {
+        "input": [
+          { "name": "robot_namespace", "type": "STRING", "defaultValue": "rbs_arm" },
+          { "name": "dof", "type": "INT", "defaultValue": 6 }
+        ]
+      }
+    }
+  ],
+  "Settings": [
+    { "name": "robot_type", "description": "Type of robot by name", "defaultValue": "rbs_arm" }
+  ]
+}
+```
+
+### Robot UR5
+
+
+```json
+{
+  "DevicePackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
+  "Module": { "name": "UR", "description": "..." },
+  "Launch": { "package": "ur_package", "executable": "ur5_single_arm.py" },
+  "DTwin": [
+    { "interface": {
+        "input": [
+          { "robot_namespace": "robot1" },
+        ],
+      },
+    }
+  ],
+  "Settings": [
+    { "name": "", "description": "Config", "type":"file", "defaultValue": "{}" }
+  ]
+}
+```
+
+```json
+{
+  "SkillPackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
+  "Module": { "name": "PoseEstimation", "description": "Pose Estimation skill with DOPE" },
+  "Launch": { "package": "rbs_perception", "executable": "pe_dope_lc.py", "name": "lc_dope" },
+  "BTAction": [
+    { "name": "peConfigure",
+      "type": "run",
+      "interface": {
+        "input": [
+          { "name": "image_raw", "type": "TOPIC", "msg": "Image" },
+          { "name": "camera_info", "type": "TOPIC", "msg": "CameraInfo" },
+          { "name": "object_name", "type": "PART", "msgs": "Part" }, // string
+          { "name": "weights", "type": "WEIGHTS", "msgs": "" },
+        ],
+        "output": [
+          { "name": "pose_estimation", "type": "TOPIC" },
+        ]
+      },
+    },
+    { "name": "peStop", "type": "stop", "interface": { "input": [], "output": [] } }
+  ],
+  "Settings": [
+    { "name": "publishDelay", "description": "Publish Delay", "type":"float", "defaultValue": 0.5 },
+    { "name": "tf2_send_pose", "description": "Transform Pose", "type":"int", "defaultValue": 1 },
+    { "name": "mesh_scale", "description": "Part Mesh Scale", "type":"float", "defaultValue": 0.001 }
+  ]
+}
+```
+
+## Атомарные навыки
+
+```xml
+<TreeNodesModel>
+    <SubTree ID="GraspObject">
+        <input_port default="false" name="__shared_blackboard"></input_port>
+        <input_port name="pose_vec"/>
+        <input_port name="robot_name"/>
+    </SubTree>
+    <Action ID="GripperAction">
+        <input_port name="action">Open or close</input_port>
+        <input_port name="gripper_name"/>
+    </Action>
+    <SubTree ID="InspectWorkspace">
+        <input_port default="true" name="__shared_blackboard">
+        <input_port name="pose_vec"/>
+        <input_port name="robot_name"/>
+    </SubTree>
+    <Condition ID="IsObjectInWorkspace">
+        <input_port name="topic_name"/>
+    </Condition>
+    <Condition ID="IsObjectVisible"/>
+    <Action ID="MoveToPose">
+        <input_port name="cancel_timeout"/>
+        <input_port name="pose"/>
+        <input_port name="robot_name"/>
+        <input_port name="server_name"/>
+        <input_port name="server_timeout"/>
+    </Action>
+    <Action ID="MoveToPoseArray">
+        <input_port name="cancel_timeout"/>
+        <input_port name="pose_vec_in"/>
+        <output_port name="pose_vec_out"/>
+        <input_port name="robot_name"/>
+        <input_port name="server_name"/>
+        <input_port name="server_timeout"/>
+    </Action>
+    <SubTree ID="PlaceObject">
+        <input_port default="true" name="__shared_blackboard"></input_port>
+        <input_port name="pose_vec"/>
+        <input_port name="robot_name"/>
+    </SubTree>
+    <Action ID="PoseEstimationCleanup"/>
+    <Action ID="PoseEstimationConfigure">
+        <input_port name="object_name"/>
+        <output_port name="topic_name"/>
+        <input_port name="weight_file"/>
+    </Action>
+    <Action ID="RbsBtAction">
+        <input_port name="command"/>
+        <input_port name="do"/>
+        <input_port name="server_name"/>
+        <input_port name="server_timeout"/>
+    </Action>
+</TreeNodesModel>
+```
+
+## Пример интерфейса в DTDL
+
+```json
+{
+  "@context": "...;3",
+  "@id": "robossember_assembly;1",
+  "@type": "Interface",
+  "displayName": "Bolt",
+  "contents": [
+    {
+      "@type": "Property",
+      "name": "Label",
+      "schema": "string"
+    },
+    {
+      "@type": "Property",
+      "name": "mesh",
+      "writable": true,
+      "schema": "string"
+    },
+    {
+      "@type": "Telemetry",
+      "name": "Pose6D",
+      "writable": true,
+      "schema": {
+        "@type": "Object",
+        "fields": [
+          {
+            "name": "x",
+            "schema": "double"
+          },
+          {
+            "name": "y",
+            "schema": "double"
+          },
+          {
+            "name": "z",
+            "schema": "double"
+          }
+        ]
+      }
+    },
+    {
+      "@type": "Relationship",
+      "name": "contains",
+      "target": "dtmi:com:robossember_assembly:Bolt;1"
+    },
+    {
+      "@type": "Component",
+      "name": "frontCamera",
+      "schema": "dtmi:com:example:Camera;3"
+    },
+  ]
+}
+```
+
+## Пример файла описания сцены из Blender
+
+TODO: рассписать потребность в основных элементах, что и для чего
+
+```json
+{
+  "assets": [
+    {
+      "name": "robo-arm",
+      "id": "629b29d7-fe15-428b-9014-6c3dde045af8",
+      "model_path": "../model.urdf"
+    }
+  ],
+  "instances": [
+    // измненная URDF модель
+    {
+      "id": "0e29084f-1190-45d0-bd59-8f4ce2591gb1",
+      "name": "robo-arm-1",
+      //assetId указывает на родительский ассет
+      "assetId": "629b29d7-fe15-428b-9014-6c3dde045af8",
+      "pose": {
+        "x": 12.0,
+        "y": 1.0,
+        "z": 4.0,
+        "roll": 1.0,
+        "pitch": 4.0,
+        "yaw": 5.0
+      },
+      //если изменено внутренее состояние URDF модели
+      "tags": [
+        "<joint name=\"robotiq_85_right_finger_joint\" type=\"fixed\"><parent link=\"robotiq_85_right_knuckle_link\"/><child link=\"robotiq_85_right_finger_link\"/><origin rpy=\"0 0 0\" xyz=\"-0.03152616 0.0 -0.00376347\"/></joint>"
+      ]
+    },
+    {
+      "id": "0e27984f-8890-4d90-bd59-8f4ce29920f9",
+      "name": "robo-arm-2",
+      //assetId указывает на родительский ассет
+      "assetId": "629b29d7-fe15-428b-9014-6c3dde045af8",
+      //если дефолтные позиции модели
+      "pose": null,
+      //если не изменено внутренее состояние URDF модели
+      "tags": null
+    },
+    {
+      "type": "LIGHT",
+      "light_type": "SPOT",
+      "power": 10.0,
+      "spot_angle": 45.0,
+      "name": null,
+      "pose": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "roll": 0.0,
+        "pitch": 0.0,
+        "yaw": 0.0
+      }
+    }
+  ]
+}
+```

docs/Модуль технологической подготовки.md

@@ -0,0 +1,60 @@
+
+
+# Модуль технологической подготовки
+
+На вход: - step-модель описываемого оборудования. 
+
+1. Описание имеющихся сущностей:
+   - Мы можем создать описание действий со станком и его состояниями для связи с окружающим миром нужен некий обобщенный объект
+   его свойством будет возможность воздействовать на состояния, но сам он будет любым. Думаю, нужно описать сами рычаги, а не того, кто будет их нажимать.
+
+   - Описать объекты можно созданием зон вокруг них и/или созданием призрака геометрии оборудования (может быть сложно и избыточно).
+   - Для этого возможно создать параллелепипед/цилиндр, сопоставимый по габаритам с рассматриваемой зоной. С помощью инструментов верстака Part создается объект, имеющий желаемое название (Станок, рабочая зона, etc). Эта зона с помощью отношений parent привязана к геометрии станка.
+
+2. Описание действий
+   - Создается папка actions, в которую сохраняются создаваемые действия
+   - Интерфейс создания действий аналогичен интерфейсу задания других сущностей. Через него мы задаем ссылки на существующие действия и элементы и указываем их тип: триггеры, рабочие органы, конечные состояния, начальные состояния. Указываем их статус (выбор "да/нет")
+   - Указываем ссылки на привязываемую к этим действиям геометрию. (катушки, статоры, расходники и тд) Для этого их геометрия должна быть импортирована в модель. Ссылка будет указывать на конкретный импортированный файл. Если существует идентификатор детали, можно ссылаться на него.
+
+3. Задание состояний и переменных
+   - Переменные задаются средствами параметризации FreeCAD, инструменты для этого можно взять из ASM4, используя функционал переменных (Variables) и панели конфигураций. 
+   - Для состояний переменных аналогично создается (в ASM4 уже имеется при создании модели) отдельная директория.
+  
+4. Результатом описания будет модель, имеющая дерево объектов, в свойствах которых мы имеем всю необходимую информацию. Геометрические характеристики мы сохраняем как json и отправляем в среды, работающие с геометрией и физикой. Действия и геометрия подставляются в шаблон pddl в соответствующие абзацы. 
+
+## Пример описания объекта
+
+Action - "Заправка 3д-принтера пластиком"
+   
+   - |- Объекты: 
+   - - 3d-принтер [printer_id]  /прямоугольная зона по габаритам принтера. Зона привязана к геометрии оборудования
+     - Workzone [printer_id] / прямоугольная зона. Указание на объект workzone, который содержит в себе габариты и позиционирование рабочей зоны относительно 3d-принтера.
+     - Wirenest [printer_id] /цилиндрическая зона. Указание на объект wirenest (цилиндр), хранящий информацию об ориентации и положении гнезда для катушки с пластиком
+     - Filament [filament_id] /катушка с пластиком требуемой модели, формы и габаритов. 
+     - Observer [observer_id] / некая сущность(манипулятор, человек, камера), к которой обращается станок, чтобы с ним провели внешние манипуляции
+   - |- Длительность действия, с
+   
+
+   - |- Стартовые состояния:
+     - Пластика достаточно (нет)
+     - Наблюдатель свободен (да)
+   - |- Во время действия:
+     - Наблюдатель[observer_id] свободен (нет)
+     - Катушка пластика установлена (нет)
+   - |- После окончания:
+     - Катушка пластика установлена (да)
+     - Наблюдатель [observer_id] свободен (да)
+     - Пластика достаточно (да)
+
+
+--В раздел Variables мы можем (должны ли?) полуавтоматически/автоматически указать подобные состояния, привязанные к значениям да/нет.-- (Указывать стартовые значения по умолчанию?)
+
+
+Указанные отдельно состояния пригодились бы, чтобы ссылаться на них при задавании действий, поскольку действия сообщаются между собой не напрямую, а через выполнение определенного набора состояний. 
+
+
+
+
+Пример размеченной модели:
+
+![Разметка](img/qXX7sBMbsvA.jpg)

freecad_workbench

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+Subproject commit 08db6583ce94895103c94b1b70b4846ef581e624

rcg_pipeline

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+Subproject commit 605d45e85ae0ca1076553f0e496442b0f358700c

simulation/asp/.gitignore

@@ -0,0 +1 @@
+out

simulation/asp/helper/fs.py

@@ -0,0 +1,37 @@
+import os
+import json
+import typing
+
+
+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 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
+
+
+def listGetFirstValue(iterable, default=False, pred=None):
+    return next(filter(pred, iterable), default)
+
+
+def filterModels(filterModels, filterModelsDescription: list[str]):
+    models = []
+    for el in filterModelsDescription:
+        models.append(listGetFirstValue(filterModels, None, lambda x: x.name == el))
+    return models

simulation/asp/helper/xmlformatter.py

@@ -0,0 +1,877 @@
+"""
+Format and compress XML documents 
+"""
+import getopt
+import re
+import sys
+import xml.parsers.expat
+
+__version__ = "0.2.4"
+
+DEFAULT_BLANKS = False
+DEFAULT_COMPRESS = False
+DEFAULT_SELFCLOSE = False
+DEFAULT_CORRECT = True
+DEFAULT_INDENT = 2
+DEFAULT_INDENT_CHAR = " "
+DEFAULT_INLINE = True
+DEFAULT_ENCODING_INPUT = None
+DEFAULT_ENCODING_OUTPUT = None
+DEFAULT_EOF_NEWLINE = False
+
+
+class Formatter:
+    # Use internal encoding:
+    encoding_internal = None
+
+    def __init__(
+        self,
+        indent=DEFAULT_INDENT,
+        preserve=[],
+        blanks=DEFAULT_BLANKS,
+        compress=DEFAULT_COMPRESS,
+        selfclose=DEFAULT_SELFCLOSE,
+        indent_char=DEFAULT_INDENT_CHAR,
+        encoding_input=DEFAULT_ENCODING_INPUT,
+        encoding_output=DEFAULT_ENCODING_OUTPUT,
+        inline=DEFAULT_INLINE,
+        correct=DEFAULT_CORRECT,
+        eof_newline=DEFAULT_EOF_NEWLINE,
+    ):
+        # Minify the XML document:
+        self.compress = compress
+        # Use self-closing tags
+        self.selfclose = selfclose
+        # Correct text nodes
+        self.correct = correct
+        # Decode the XML document:
+        self.encoding_input = self.enc_normalize(encoding_input)
+        # Encode ouput by:
+        self.encoding_output = self.enc_normalize(encoding_output)
+        # Insert indent = indent*level*indent_char:
+        self.indent = int(indent)
+        # Indent by char:
+        self.indent_char = indent_char
+        # Format inline objects:
+        self.inline = inline
+        # Don't compress this elements and their descendants:
+        self.preserve = preserve
+        # Preserve blanks lines (collapse multiple into one)
+        self.blanks = blanks
+        # Always add a newline character at EOF
+        self.eof_newline = eof_newline
+
+    @property
+    def encoding_effective(self, enc=None):
+        if self.encoding_output:
+            return self.encoding_output
+        elif self.encoding_internal:
+            return self.encoding_internal
+        elif self.encoding_input:
+            return self.encoding_input
+        else:
+            return "UTF-8"
+
+    def enc_normalize(self, string):
+        """ Format an Encoding identifier to upper case. """
+        if isinstance(string, str):
+            return string.upper()
+        return None
+
+    def enc_encode(self, strg):
+        """ Encode a formatted XML document in target"""
+        if sys.version_info > (3, 0):
+            return strg.encode(self.encoding_effective)  # v3
+        return strg.decode("utf-8").encode(self.encoding_effective)  # v2
+
+    def enc_output(self, path, strg):
+        """ Output according to encoding """
+        fh = sys.stdout
+        if strg is not None:
+            if path is not None:
+                open(path, "w+b").write(strg)
+            elif sys.version_info > (3, 0):
+                fh.buffer.write(strg)
+            else:
+                fh.write(strg)
+
+    def format_string(self, xmldoc=""):
+        """ Format a XML document given by xmldoc """
+        token_list = Formatter.TokenList(self)
+        token_list.parser.Parse(xmldoc)
+        return self.enc_encode(str(token_list))
+
+    def format_file(self, file):
+        """ Format a XML document given by path name """
+        fh = open(file, "rb")
+        token_list = Formatter.TokenList(self)
+        token_list.parser.ParseFile(fh)
+        fh.close()
+        return self.enc_encode(str(token_list))
+
+    class TokenList:
+        # Being in a cdata section:
+        cdata_section = False
+        # Lock deletion of leading whitespace:
+        desc_mixed_level = None
+        # Lock indenting:
+        indent_level = None
+        # Reference the Formatter:
+        formatter = None
+        # Count levels:
+        level_counter = 0
+        # Lock deletion of whitespaces:
+        preserve_level = None
+
+        def __init__(self, formatter):
+            # Keep tokens in a list:
+            self._list = []
+            self.formatter = formatter
+            self.parser = xml.parsers.expat.ParserCreate(
+                encoding=self.formatter.encoding_input
+            )
+            self.parser.specified_attributes = 1
+            self.parser.buffer_text = True
+            # Push tokens to buffer:
+            for pattern in [
+                "XmlDecl%s",
+                "ElementDecl%s",
+                "AttlistDecl%s",
+                "EntityDecl%s",
+                "StartElement%s",
+                "EndElement%s",
+                "ProcessingInstruction%s",
+                "CharacterData%s",
+                "Comment%s",
+                "Default%s",
+                "StartDoctypeDecl%s",
+                "EndDoctypeDecl%s",
+                "StartCdataSection%s",
+                "EndCdataSection%s",
+                "NotationDecl%s",
+            ]:
+                setattr(
+                    self.parser, pattern % "Handler", self.xml_handler(pattern % "")
+                )
+
+        def __iter__(self):
+            return iter(self._list)
+
+        def __len__(self):
+            return len(self._list)
+
+        def __getitem__(self, pos):
+            if 0 <= pos < len(self._list):
+                return self._list[pos]
+            else:
+                raise IndexError
+
+        def __setitem__(self, pos, value):
+            if 0 <= pos < len(self._list):
+                self._list[pos] = value
+            else:
+                raise IndexError
+
+        def __str__(self):
+            """ Returns the formatted XML document in UTF-8. """
+            for step in ["configure", "pre_operate", "post_operate"]:
+                for tk in iter(self):
+                    getattr(tk, step)()
+            result = ""
+            for tk in iter(self):
+                result += str(tk)
+            if self.formatter.eof_newline and not result.endswith("\n"):
+                result += "\n"
+            return result
+
+        def append(self, tk):
+            """ Add token to tokenlist. """
+            tk.pos = len(self._list)
+            self._list.append(tk)
+
+        def level_increment(self):
+            """ Increment level counter. """
+            self.level_counter += 1
+
+        def level_decrement(self):
+            """ Decrement level counter. """
+            self.level_counter -= 1
+
+        def token_descendant_mixed(self, tk):
+            """ Mark descendants of mixed content. """
+            if tk.name == "StartElement":
+                # Mark every descendant:
+                if tk.content_model in [2, 3] and self.desc_mixed_level is None:
+                    self.desc_mixed_level = tk.level
+                    return False
+                return self.desc_mixed_level is not None
+            elif tk.name == "EndElement":
+                # Stop marking every descendant:
+                if tk.level is self.desc_mixed_level:
+                    self.desc_mixed_level = None
+                elif self.desc_mixed_level is not None:
+                    return True
+                return False
+            elif self.desc_mixed_level is None:
+                return False
+            return self.desc_mixed_level >= tk.level - 1
+
+        def sequence(self, tk, scheme=None):
+            """Returns sublist of token list.
+            None: next to last
+            EndElement: first to previous"""
+            if scheme == "EndElement" or (scheme is None and tk.end):
+                return reversed(self._list[: tk.pos])
+            return self._list[(tk.pos + 1) :]
+
+        def token_indent(self, tk):
+            if self.formatter.inline:
+                return self.token_indent_inline(tk)
+            """ Indent outside of text of mixed content. """
+            if tk.name == "StartElement":
+                # Block indenting for descendants of text and mixed content:
+                if tk.content_model in [2, 3] and self.indent_level is None:
+                    self.indent_level = tk.level
+                elif self.indent_level is not None:
+                    return False
+                return True
+            elif tk.name == "EndElement":
+                # Unblock indenting for descendants of text and mixed content:
+                if tk.level == self.indent_level:
+                    self.indent_level = None
+                elif self.indent_level is None:
+                    return True
+                return False
+            return self.indent_level is None
+
+        def token_indent_inline(self, tk):
+            """ Indent every element content - no matter enclosed by text or mixed content. """
+            for itk in iter(self.sequence(tk, "EndElement")):
+                if itk.level < tk.level and itk.name == "StartElement":
+                    if itk.content_model == 1:
+                        return True
+                    return False
+                if (
+                    itk.level == tk.level
+                    and tk.name == "EndElement"
+                    and itk.name == "StartElement"
+                ):
+                    if itk.content_model == 1:
+                        return True
+                    return False
+            return True
+
+        def token_model(self, tk):
+            """Returns code for content model.
+            0: empty
+            1: element
+            2: text
+            3: mixed"""
+            eflag = tflag = 0
+            for itk in iter(self.sequence(tk)):
+                # Element boundary found:
+                if itk.level <= tk.level:
+                    break
+                # Direct child found:
+                elif (itk.level - 1) == tk.level:
+                    if itk.start:
+                        eflag = 1
+                    elif itk.not_empty:
+                        tflag = 2
+            return eflag + tflag
+
+        def token_preserve(self, tk):
+            """Preseve eyery descendant of an preserved element.
+            0: not locked
+            1: just (un)locked
+            2: locked"""
+            # Lock perserving for StartElements:
+            if tk.name == "StartElement":
+                if self.preserve_level is not None:
+                    return 2
+                if tk.arg[0] in self.formatter.preserve:
+                    self.preserve_level = tk.level
+                    return 1
+                return 0
+            # Unlock preserving for EndElements:
+            elif tk.name == "EndElement":
+                if (
+                    tk.arg[0] in self.formatter.preserve
+                    and tk.level == self.preserve_level
+                ):
+                    self.preserve_level = None
+                    return 1
+                elif self.preserve_level is None:
+                    return 0
+                return 2
+            return self.preserve_level is not None
+
+        def whitespace_append_trailing(self, tk):
+            """ Add a trailing whitespace to previous character data. """
+            if self.formatter.correct and tk.leading and tk.not_empty:
+                self.whitespace_append(tk, "EndElement", "StartElement", True)
+
+        def whitespace_append_leading(self, tk):
+            """ Add a leading whitespace to previous character data. """
+            if self.formatter.correct and tk.trailing and tk.not_empty:
+                self.whitespace_append(tk)
+
+        def whitespace_append(
+            self, tk, start="StartElement", stop="EndElement", direct=False
+        ):
+            """ Add a whitspace to token list. """
+            for itk in self.sequence(tk, start):
+                if (
+                    itk.empty
+                    or (itk.name == stop and itk.descendant_mixed is False)
+                    or (itk.name == start and abs(tk - itk) == 1)
+                ):
+                    break
+                elif itk.not_empty or (itk.name == start and itk.descendant_mixed):
+                    self.insert_empty(itk, direct)
+                    break
+
+        def whitespace_delete_leading(self, tk):
+            """ Returns True, if no next token or all empty (up to next end element)"""
+            if (
+                self.formatter.correct
+                and tk.leading
+                and not tk.preserve
+                and not tk.cdata_section
+            ):
+                for itk in self.sequence(tk, "EndElement"):
+                    if itk.trailing:
+                        return True
+                    elif itk.name in ["EndElement", "CharacterData", "EndCdataSection"]:
+                        return False
+                return True
+            return False
+
+        def whitespace_delete_trailing(self, tk):
+            """Returns True, if no next token or all empty (up to next end element)"""
+            if (
+                self.formatter.correct
+                and tk.trailing
+                and not tk.preserve
+                and not tk.cdata_section
+            ):
+                for itk in self.sequence(tk, "StartElement"):
+                    if itk.end:
+                        return True
+                    elif (
+                        itk.name in ["StartElement", "StartCdataSection"]
+                        or itk.not_empty
+                    ):
+                        return False
+                return True
+            return False
+
+        def insert_empty(self, tk, before=True):
+            """ Insert an Empty Token into token list - before or after tk. """
+            if not (0 < tk.pos < (len(self) - 1)):
+                return False
+            ptk = self[tk.pos - 1]
+            ntk = self.formatter.CharacterData(self, [" "])
+            ntk.level = max(ptk.level, tk.level)
+            ntk.descendant_mixed = tk.descendant_mixed
+            ntk.preserve = ptk.preserve * tk.preserve
+            ntk.cdata_section = ptk.cdata_section or tk.cdata_section
+            if before:
+                self._list.insert(tk.pos + 1, ntk)
+            else:
+                self._list.insert(tk.pos, ntk)
+            for i in range((tk.pos - 1), len(self._list)):
+                self._list[i].pos = i
+
+        def xml_handler(self, key):
+            """ Returns lambda function which adds token to token list"""
+            return lambda *arg: self.append(getattr(self.formatter, key)(self, arg))
+
+    class Token(object):
+        def __init__(self, tklist, arg):
+            # Reference Token List:
+            self.list = tklist
+            # Token datas:
+            self.arg = list(arg)
+            # Token is placed in an CDATA section:
+            self.cdata_section = False
+            # Token has content model:
+            self.content_model = None
+            # Remove trailing wihtespaces:
+            self.delete_trailing = False
+            # Remove leading whitespaces:
+            self.delete_leading = False
+            # Token is descendant of text or mixed content element:
+            self.descendant_mixed = False
+            # Reference to formatter:
+            self.formatter = tklist.formatter
+            # Insert indenting white spaces:
+            self.indent = False
+            # N-th generation of roots descendants:
+            self.level = self.list.level_counter
+            # Token class:
+            self.name = self.__class__.__name__
+            # Preserve white spaces within enclosed tokens:
+            self.preserve = False
+            # Position in token list:
+            self.pos = None
+
+        def __sub__(self, other):
+            return self.pos - other.pos
+
+        def __unicode__(self):
+            return ""
+
+        # Workaround, see http://lucumr.pocoo.org/2011/1/22/forwards-compatible-python/:
+        if sys.version_info > (3, 0):
+            __str__ = lambda x: x.__unicode__()
+        else:
+            __str__ = lambda x: unicode(x).encode("utf-8")
+
+        @property
+        def end(self):
+            return self.name == "EndElement"
+
+        @property
+        def empty(self):
+            return self.name == "CharacterData" and re.match(
+                r"^[\t\s\n]*$", self.arg[0]
+            )
+
+        @property
+        def leading(self):
+            return self.name == "CharacterData" and re.search(
+                r"^[\t\s\n]+", self.arg[0]
+            )
+
+        @property
+        def not_empty(self):
+            return (
+                self.name == "CharacterData"
+                and not self.cdata_section
+                and not re.match(r"^[\t\s\n]+$", self.arg[0])
+            )
+
+        @property
+        def trailing(self):
+            return self.name == "CharacterData" and re.search(
+                r"[\t\s\n]+$", self.arg[0]
+            )
+
+        @property
+        def start(self):
+            return self.name == "StartElement"
+
+        @property
+        def correct(self):
+            return self.formatter.correct
+
+        def attribute(self, key, value):
+            if key and value:
+                return ' %s="%s"' % (key, value)
+            elif key:
+                return ' %s=""' % (key)
+            return ""
+
+        def indent_insert(self):
+            """ Indent token. """
+            # Child of root and no empty node
+            if (
+                self.level > 0 and not (self.end and self.list[self.pos - 1].start)
+            ) or (  # not empty node:
+                self.end and not self.list[self.pos - 1].start
+            ):
+                return self.indent_create(self.level)
+            return ""
+
+        def indent_create(self, times=1):
+            """ Returns indent string. """
+            if not self.formatter.compress and self.formatter.indent:
+                return "\n%s" % (
+                    (times * self.formatter.indent) * self.formatter.indent_char
+                )
+            return ""
+
+        def identifier(self, systemid, publicid):
+            # TODO add base parameter:
+            if publicid and systemid:
+                return ' PUBLIC "%s" "%s"' % (publicid, systemid)
+            elif publicid:
+                return ' PUBLIC "%s"' % publicid
+            elif systemid:
+                return ' SYSTEM "%s"' % systemid
+            return ""
+
+        def configure(self):
+            """ Set token properties. """
+            self.descendant_mixed = self.list.token_descendant_mixed(self)
+            self.preserve = self.list.token_preserve(self)
+            self.cdata_section = self.list.cdata_section
+
+        def pre_operate(self):
+            pass
+
+        def post_operate(self):
+            pass
+
+    class AttlistDecl(Token):
+        def __unicode__(self):
+            str = self.indent_create()
+            str += "<!ATTLIST %s %s" % (self.arg[0], self.arg[1])
+            if self.arg[2] is not None:
+                str += " %s" % self.arg[2]
+            if self.arg[4] and not self.arg[3]:
+                str += " #REQUIRED"
+            elif self.arg[3] and self.arg[4]:
+                str += " #FIXED"
+            elif not self.arg[4] and not self.arg[3]:
+                str += " #IMPLIED"
+            if self.arg[3]:
+                str += ' "%s"' % self.arg[3]
+            str += ">"
+            return str
+
+    class CharacterData(Token):
+        def __unicode__(self):
+            str = self.arg[0]
+            if not self.preserve and not self.cdata_section:
+                # remove empty tokens always in element content!
+                if self.empty and not self.descendant_mixed:
+                    if self.formatter.blanks and not self.formatter.compress and re.match(r"\s*\n\s*\n\s*", str):
+                        str = "\n"
+                    else:
+                        str = ""
+                else:
+                    if self.correct:
+                        str = re.sub(r"\r\n", "\n", str)
+                        str = re.sub(r"\r|\n|\t", " ", str)
+                        str = re.sub(r"\s+", " ", str)
+                    if self.delete_leading:
+                        str = re.sub(r"^\s", "", str)
+                    if self.delete_trailing:
+                        str = re.sub(r"\s$", "", str)
+            if not self.cdata_section:
+                str = re.sub(r"&", "&amp;", str)
+                str = re.sub(r"<", "&lt;", str)
+            return str
+
+        def pre_operate(self):
+            self.list.whitespace_append_trailing(self)
+            self.list.whitespace_append_leading(self)
+
+        def post_operate(self):
+            self.delete_leading = self.list.whitespace_delete_leading(self)
+            self.delete_trailing = self.list.whitespace_delete_trailing(self)
+
+    class Comment(Token):
+        def __unicode__(self):
+            str = ""
+            if self.preserve in [0, 1] and self.indent:
+                str += self.indent_insert()
+            str += "<!--%s-->" % re.sub(
+                r"^[\r\n]+$", "\n", re.sub(r"^[\r\n]+", "\n", self.arg[0])
+            )
+            return str
+
+        def configure(self):
+            super(Formatter.Comment, self).configure()
+            self.indent = self.list.token_indent(self)
+
+    class Default(Token):
+        pass
+
+    class EndCdataSection(Token):
+        def __unicode__(self):
+            return "]]>"
+
+        def configure(self):
+            self.list.cdata_section = False
+
+    class ElementDecl(Token):
+        def __unicode__(self):
+            str = self.indent_create()
+            str += "<!ELEMENT %s%s>" % (self.arg[0], self.evaluate_model(self.arg[1]))
+            return str
+
+        def evaluate_model(self, model, modelStr="", concatStr=""):
+            childSeq = []
+            mixed = model[0] == xml.parsers.expat.model.XML_CTYPE_MIXED
+            hasChilds = len(model[3]) or mixed
+            if model[0] == xml.parsers.expat.model.XML_CTYPE_EMPTY:  # 1
+                modelStr += " EMPTY"
+            elif model[0] == xml.parsers.expat.model.XML_CTYPE_ANY:  # 2
+                modelStr += " ANY"
+            elif model[0] == xml.parsers.expat.model.XML_CTYPE_NAME:  # 4
+                modelStr = "%s" % model[2]  # new start
+            elif model[0] in (
+                xml.parsers.expat.model.XML_CTYPE_CHOICE,
+                xml.parsers.expat.model.XML_CTYPE_MIXED,
+            ):  # 5
+                concatStr = "|"
+            elif model[0] == xml.parsers.expat.model.XML_CTYPE_SEQ:  # 6
+                concatStr = ","
+            if hasChilds:
+                modelStr += " ("
+            if mixed:
+                childSeq.append("#PCDATA")
+            for child in model[3]:
+                childSeq.append(self.evaluate_model(child))
+            modelStr += concatStr.join(childSeq)
+            if hasChilds:
+                modelStr += ")"
+            modelStr += {
+                xml.parsers.expat.model.XML_CQUANT_NONE: "",
+                xml.parsers.expat.model.XML_CQUANT_OPT: "?",
+                xml.parsers.expat.model.XML_CQUANT_PLUS: "+",
+                xml.parsers.expat.model.XML_CQUANT_REP: "*",
+            }[model[1]]
+            return modelStr
+
+    class EndDoctypeDecl(Token):
+        def __unicode__(self):
+            str = ""
+            if self.list[self.pos - 1].name != "StartDoctypeDecl":
+                str += self.indent_create(0)
+                str += "]"
+            str += ">"
+            str += self.indent_create(0)
+            return str
+
+    class EndElement(Token):
+        def __init__(self, list, arg):
+            list.level_decrement()
+            super(Formatter.EndElement, self).__init__(list, arg)
+
+        def __unicode__(self):
+            str = ""
+            # Don't close empty nodes on compression mode:
+            if (
+                not (self.formatter.compress or self.formatter.selfclose)
+                or self.list[self.pos - 1].name != "StartElement"
+            ):
+                if self.preserve in [0] and self.indent:
+                    str += self.indent_insert()
+                str += "</%s>" % self.arg[0]
+            return str
+
+        def configure(self):
+            self.descendant_mixed = self.list.token_descendant_mixed(self)
+            self.preserve = self.list.token_preserve(self)
+            self.indent = self.list.token_indent(self)
+
+    class EntityDecl(Token):
+        def __unicode__(self):
+            str = self.indent_create()
+            str += "<!ENTITY "
+            if self.arg[1]:
+                str += "% "
+            str += "%s " % self.arg[0]
+            if self.arg[2]:
+                str += '"%s"' % self.arg[2]
+            else:
+                str += "%s " % self.identifier(self.arg[4], self.arg[5])
+                if self.arg[6]:
+                    str += "NDATA %s" % self.arg[6]
+            str += ">"
+            return str
+
+    class NotationDecl(Token):
+        def __unicode__(self):
+            str = self.indent_create()
+            str += "<!NOTATION %s%s>" % (
+                self.arg[0],
+                self.identifier(self.arg[2], self.arg[3]),
+            )
+            return str
+
+    class ProcessingInstruction(Token):
+        def __unicode__(self):
+            str = ""
+            if self.preserve in [0, 1] and self.indent:
+                str += self.indent_insert()
+            str += "<?%s %s?>" % (self.arg[0], self.arg[1])
+            return str
+
+        def configure(self):
+            super(Formatter.ProcessingInstruction, self).configure()
+            self.indent = self.list.token_indent(self)
+
+    class StartCdataSection(Token):
+        def __unicode__(self):
+            return "<![CDATA["
+
+        def configure(self):
+            self.list.cdata_section = True
+
+    class StartDoctypeDecl(Token):
+        def __unicode__(self):
+            str = "<!DOCTYPE %s" % (self.arg[0])
+            if self.arg[1]:
+                str += self.identifier(self.arg[1], self.arg[2])
+            if self.arg[3]:
+                str += " ["
+            return str
+
+    class StartElement(Token):
+        def __init__(self, list, arg):
+            super(Formatter.StartElement, self).__init__(list, arg)
+            self.list.level_increment()
+
+        def __unicode__(self):
+            str = ""
+            if self.preserve in [0, 1] and self.indent:
+                str += self.indent_insert()
+            str += "<%s" % self.arg[0]
+            for attr in sorted(self.arg[1].keys()):
+                str += self.attribute(attr, self.arg[1][attr])
+            if self.list[self.pos + 1].end and (self.formatter.compress or self.formatter.selfclose):
+                str += "/>"
+            else:
+                str += ">"
+            return str
+
+        def configure(self):
+            self.content_model = self.list.token_model(self)
+            self.descendant_mixed = self.list.token_descendant_mixed(self)
+            self.preserve = self.list.token_preserve(self)
+            self.indent = self.list.token_indent(self)
+
+    class XmlDecl(Token):
+        def __init__(self, list, arg):
+            super(Formatter.XmlDecl, self).__init__(list, arg)
+            if len(self.arg) > 1:
+                self.formatter.encoding_internal = self.arg[1]
+
+        def __unicode__(self):
+            str = "<?xml%s%s" % (
+                self.attribute("version", self.arg[0]),
+                self.attribute("encoding", self.formatter.encoding_effective),
+            )
+            if self.arg[2] > -1:
+                str += self.attribute("standalone", "yes")
+            str += "?>\n"
+            return str
+
+
+def cli_usage(msg=""):
+    """ Output usage for command line tool. """
+    sys.stderr.write(msg + "\n")
+    sys.stderr.write(
+        'Usage: xmlformat [--preserve "pre,literal"] [--blanks]\
+ [--compress] [--selfclose] [--indent num] [--indent-char char]\
+ [--outfile file] [--encoding enc] [--outencoding enc]\
+ [--disable-inlineformatting] [--overwrite] [--disable-correction]\
+ [--eof-newline]\
+ [--help] <--infile file | file | - >\n'
+    )
+    sys.exit(2)
+
+
+def cli():
+    """ Launch xmlformatter from command line. """
+    res = None
+    indent = DEFAULT_INDENT
+    indent_char = DEFAULT_INDENT_CHAR
+    outfile = None
+    overwrite = False
+    preserve = []
+    blanks = False
+    compress = DEFAULT_COMPRESS
+    selfclose = DEFAULT_SELFCLOSE
+    infile = None
+    encoding = DEFAULT_ENCODING_INPUT
+    outencoding = DEFAULT_ENCODING_OUTPUT
+    inline = DEFAULT_INLINE
+    correct = DEFAULT_CORRECT
+    eof_newline = DEFAULT_EOF_NEWLINE
+    try:
+        opts, args = getopt.getopt(
+            sys.argv[1:],
+            "",
+            [
+                "compress",
+                "selfclose",
+                "disable-correction",
+                "disable-inlineformatting",
+                "encoding=",
+                "help",
+                "infile=",
+                "indent=",
+                "indent-char=",
+                "outfile=",
+                "outencoding=",
+                "overwrite",
+                "preserve=",
+                "blanks",
+                "eof-newline"
+            ],
+        )
+    except getopt.GetoptError as err:
+        cli_usage(str(err))
+    for key, value in opts:
+        if key in ["--indent"]:
+            indent = value
+        elif key in ["--preserve"]:
+            preserve = value.replace(",", " ").split()
+        elif key in ["--blanks"]:
+            blanks = True
+        elif key in ["--help"]:
+            cli_usage()
+        elif key in ["--compress"]:
+            compress = True
+        elif key in ["--selfclose"]:
+            selfclose = True
+        elif key in ["--outfile"]:
+            outfile = value
+        elif key in ["--infile"]:
+            infile = value
+        elif key in ["--encoding"]:
+            encoding = value
+        elif key in ["--outencoding"]:
+            outencoding = value
+        elif key in ["--indent-char"]:
+            indent_char = value
+        elif key in ["--disable-inlineformatting"]:
+            inline = False
+        elif key in ["--disable-correction"]:
+            correct = False
+        elif key in ["--overwrite"]:
+            overwrite = True
+        elif key in ["--eof-newline"]:
+            eof_newline = True
+    try:
+        formatter = Formatter(
+            indent=indent,
+            preserve=preserve,
+            blanks=blanks,
+            compress=compress,
+            selfclose=selfclose,
+            encoding_input=encoding,
+            encoding_output=outencoding,
+            indent_char=indent_char,
+            inline=inline,
+            correct=correct,
+            eof_newline=eof_newline,
+        )
+        input_file = None
+        if infile:
+            input_file = infile
+            res = formatter.format_file(input_file)
+        elif len(args) > 0:
+            if args[0] == "-":
+                res = formatter.format_string("".join(sys.stdin.readlines()))
+            else:
+                input_file = args[0]
+                res = formatter.format_file(input_file)
+
+    except xml.parsers.expat.ExpatError as err:
+        cli_usage("XML error: %s" % err)
+    except IOError as err:
+        cli_usage("IO error: %s" % err)
+    except:
+        cli_usage("Unkonwn error")
+
+    if overwrite:
+        formatter.enc_output(input_file, res)
+    else:
+        formatter.enc_output(outfile, res)

simulation/asp/main.py

@@ -0,0 +1,53 @@
+import argparse
+import shutil
+from src.model.enum import Enum
+from helper.fs import FS
+from src.usecases.urdf_sub_assembly_usecase import UrdfSubAssemblyUseCase
+from src.model.sdf_geometry import GeometryModel
+from src.usecases.sdf_sub_assembly_usecase import SdfSubAssemblyUseCase
+
+import os
+from pathlib import Path
+
+
+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")
+    parser.add_argument("--format", help="urdf,sdf,mujoco")
+    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")
+
+    geometryModels: list[GeometryModel] = []
+    for el in geometryFiles:
+        geometryModels.append(
+            GeometryModel.from_dict(
+                FS.readJSON(args.generationFolder + "/assets/" + el)
+            )
+        )
+    if os.path.exists(outPath + Enum.folderPath):
+        shutil.rmtree(outPath + Enum.folderPath)
+    Path(outPath + Enum.folderPath).mkdir(parents=True, exist_ok=True)
+
+    if args.format == "sdf":
+        SdfSubAssemblyUseCase().call(
+            geometryModels=geometryModels,
+            assembly=assemblyStructure,
+            world=args.world,
+            generationFolder=args.generationFolder,
+            outPath=args.outPath,
+        )
+    if args.format == "urdf":
+        UrdfSubAssemblyUseCase().call(
+            geometryModels=geometryModels,
+            assembly=assemblyStructure,
+            world=args.world,
+            generationFolder=args.generationFolder,
+            outPath=args.outPath,
+        )

simulation/asp/mocks/Cube1.json

@@ -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"
+}

simulation/asp/mocks/Cube2.json

@@ -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"
+}

simulation/asp/mocks/sdf/include.sdf

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

simulation/asp/mocks/sdf/include_pose.sdf

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

simulation/asp/mocks/sdf/joint_fixed.sdf

@@ -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>
+ 
+ 

simulation/asp/mocks/sdf/link.sdf

@@ -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>

simulation/asp/mocks/sdf/model.config

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

simulation/asp/mocks/sdf/model.sdf

@@ -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>

simulation/asp/mocks/sdf/world.sdf

@@ -0,0 +1,64 @@
+<sdf version='1.7'>
+  <world name='empty'>
+   
+    
+    <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>

simulation/asp/mocks/urdf/asm.urdf

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robossembler
+  name="{name}">
+</robossembler>

simulation/asp/mocks/urdf/joint.urdf

@@ -0,0 +1,13 @@
+  <joint
+    name="{joint_name}"
+    type="{joint_type}">
+    <origin
+      xyz="{joint_location}"
+      rpy="{joint_rotation}" />
+    <parent
+      link="{parent_part}" />
+    <child
+      link="{child_part}" />
+    <axis
+      xyz="0 0 1" />
+  </joint>

simulation/asp/mocks/urdf/link.urdf

@@ -0,0 +1,31 @@
+  <link
+    name="{part_name}">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="{mass}" />
+      <inertia
+        ixx="0.0"
+        ixy="0.0"
+        ixz="0.0"
+        iyy="0.0"
+        iyz="0.0"
+        izz="0.0" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh
+          filename="{visual_file}"
+          scale="1.0 1.0 1.0" />
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="{collision_file}"
+          scale="1.0 1.0 1.0" />
+      </geometry>
+    </collision>
+  </link>

simulation/asp/mocks/urdf/model.urdf

@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<robot name="{name}">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+      <origin xyz="{centerMassX} {centerMassY} {centerMassZ}" />
+      <mass value="{massSDF}" />
+      <inertia ixx="{ixx}" ixy="{ixy}" ixz="{ixz}" iyy="{iyy}" iyz="{iyz}" izz="{izz}" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="{stl}" scale="0.001 0.001 0.001" />
+      </geometry>
+      <material name="white">
+        <color rgba="1. 1. 1. 1." />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="{stl}" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+    <friction>
+      <ode>
+        <mu>0.2</mu>
+        <mu2>0.1</mu2>
+        <fdir1>1 0 0</fdir1>
+      </ode>
+    </friction>
+  </link>
+</robot>

simulation/asp/requirements.txt

@@ -0,0 +1,5 @@
+argparse
+matplotlib
+pybullet
+argparse
+xmlformatter

simulation/asp/src/model/asm.py

@@ -0,0 +1,16 @@
+from distutils.dir_util import copy_tree
+from src.model.enum import Enum
+
+class Assembly:
+    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
+    def copy(self,generationFolder,format,outPath  ):
+        copy_tree(generationFolder + format, outPath + Enum.folderPath)

simulation/asp/src/model/enum.py

@@ -0,0 +1,2 @@
+class Enum:
+    folderPath = "generation/"

simulation/asp/src/model/sdf_geometry.py

@@ -0,0 +1,327 @@
+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()
+
+
+DELIMITER_SCALE = 10000
+
+
+class GeometryModel:
+    def __init__(
+        self,
+        name,
+        ixx,
+        ixy,
+        ixz,
+        iyy,
+        izz,
+        massSDF,
+        posX,
+        posY,
+        posZ,
+        eulerX,
+        eulerY,
+        eulerZ,
+        iyz,
+        stl,
+        link,
+        friction,
+        centerMassX,
+        centerMassY,
+        centerMassZ,
+    ):
+        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
+        self.centerMassX = centerMassX
+        self.centerMassY = centerMassY
+        self.centerMassZ = centerMassZ
+
+    @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"))
+        centerMassX = from_union([from_str, from_none], obj.get("centerMassX"))
+        centerMassY = from_union([from_str, from_none], obj.get("centerMassY"))
+        centerMassZ = from_union([from_str, from_none], obj.get("centerMassZ"))
+        return GeometryModel(
+            name,
+            ixx,
+            ixy,
+            ixz,
+            iyy,
+            izz,
+            massSDF,
+            posX,
+            posY,
+            posZ,
+            eulerX,
+            eulerY,
+            eulerZ,
+            iyz,
+            stl,
+            link,
+            friction,
+            centerMassX,
+            centerMassY,
+            centerMassZ,
+        )
+
+    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)
+        if self.centerMassX is not None:
+            result["centerMassX"] = from_union([from_str, from_none], self.centerMassX)
+        if self.centerMassY is not None:
+            result["centerMassY"] = from_union([from_str, from_none], self.centerMassY)
+        if self.centerMassZ is not None:
+            result["centerMassZ"] = from_union([from_str, from_none], self.centerMassZ)
+        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["GeometryModel"]):
+        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
+
+    def toUrdf(self):
+        return (
+            FS.readFile(
+                os.path.dirname(os.path.realpath(__file__))
+                + "/../../mocks/urdf/model.urdf"
+            )
+            .replace("{name}", self.name)
+            .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)
+            .replace("{stl}", self.stl)
+            .replace("{massSDF}", self.massSDF)
+            .replace("{centerMassX}", self.centerMassX)
+            .replace("{centerMassY}", self.centerMassY)
+            .replace("{centerMassZ}", self.centerMassZ)
+        )

simulation/asp/src/model/sdf_join.py

@@ -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)

simulation/asp/src/usecases/formatter_usecase.py

@@ -0,0 +1,14 @@
+from helper.xmlformatter import Formatter
+from src.model.enum import Enum
+from helper.fs import FS
+ 
+class FormatterUseCase:
+    def call(outPath: str,   format: str):
+        formatter = Formatter(
+            indent="1", indent_char="\t", encoding_output="ISO-8859-1", preserve=["literal"])
+
+        files = FS.readFilesTypeFolder(
+            outPath + Enum.folderPath, fileType=format)
+        for el in files:
+            FS.writeFile(data=str(formatter.format_file(outPath + Enum.folderPath + el),
+                         'utf-8'), filePath=outPath + Enum.folderPath, fileName=el)

simulation/asp/src/usecases/generate_world.py

@@ -0,0 +1,18 @@
+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
+
+
+class GeometryValidateUseCase:
+    def call(geometry) -> str:
+        return

simulation/asp/src/usecases/sdf_generate_world_usecase.py

@@ -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

simulation/asp/src/usecases/sdf_sub_assembly_usecase.py

@@ -0,0 +1,78 @@
+import os
+from typing import Optional
+from helper.fs import FS
+from helper.fs import filterModels, listGetFirstValue
+from src.model.asm import Assembly
+from src.model.enum import Enum
+from src.usecases.formatter_usecase import FormatterUseCase
+from src.usecases.sdf_generate_world_usecase import SdfGenerateWorldUseCase
+from src.model.sdf_geometry import GeometryModel
+from distutils.dir_util import copy_tree
+
+SDF_FILE_FORMAT = ".sdf"
+CONFIG_PATH = (
+    os.path.dirname(os.path.realpath(__file__)) + "/../../mocks/sdf/model.config"
+)
+
+
+class SdfSubAssemblyUseCase(Assembly):
+    def call(
+        self,
+        geometryModels: list[GeometryModel],
+        assembly: list[str],
+        outPath: str,
+        generationFolder: str,
+        world: bool,
+    ):
+        asm = {}
+        generateSubAssemblyModels = self.generateSubAssembly(assembly)
+        inc = 0
+        for key, value in generateSubAssemblyModels.items():
+            inc += 1
+            if value["assembly"].__len__() != 0:
+                model: Optional[GeometryModel] = listGetFirstValue(
+                    geometryModels, None, lambda x: x.name == value["assembly"][0]
+                )
+
+                if model != None:
+                    asm[key] = {
+                        "assembly": model.generateSDFatJoinFixed(
+                            filterModels(geometryModels, value["assembly"])
+                        ),
+                        "part": (
+                            listGetFirstValue(
+                                geometryModels, None, lambda x: x.name == value["part"]
+                            )
+                        ).includeLink(),
+                    }
+
+        self.copy(generationFolder=generationFolder, format="/sdf", outPath=outPath)
+        dirPath = outPath + Enum.folderPath
+        for el in geometryModels:
+            path = dirPath + el.name + "/"
+            os.makedirs(path)
+            FS.writeFile(
+                data=el.toSDF(), filePath=path, fileName="/model" + SDF_FILE_FORMAT
+            )
+            FS.writeFile(
+                data=FS.readFile(CONFIG_PATH),
+                filePath=path,
+                fileName="/model" + ".config",
+            )
+
+        for key, v in asm.items():
+            FS.writeFile(
+                data=v["assembly"],
+                filePath=dirPath,
+                fileName="/" + key + SDF_FILE_FORMAT,
+            )
+
+        else:
+            for key, v in asm.items():
+                FS.writeFile(
+                    data=SdfGenerateWorldUseCase.call(v["assembly"]),
+                    filePath=dirPath,
+                    fileName="/" + key + SDF_FILE_FORMAT,
+                )
+
+        FormatterUseCase.call(outPath=outPath, format=SDF_FILE_FORMAT)

simulation/asp/src/usecases/urdf_sub_assembly_usecase.py

@@ -0,0 +1,30 @@
+from helper.fs import FS
+from src.model.enum import Enum
+from src.model.asm import Assembly
+from src.model.sdf_geometry import GeometryModel
+import json
+import re
+
+
+URDF_FILE_FORMAT = ".urdf"
+URDF_GENERATOR_FILE = "urdf-generation" + ".json"
+
+
+class UrdfSubAssemblyUseCase(Assembly):
+    def call(
+        self,
+        geometryModels: list[GeometryModel],
+        assembly: list[str],
+        outPath: str,
+        generationFolder: str,
+        world: bool,
+    ):
+        dirPath = generationFolder + Enum.folderPath
+        asm = {}
+        for el in geometryModels:
+            asm[el.name] = el.toUrdf()
+        FS.writeFile(
+            data=json.dumps(asm, indent=4),
+            fileName=URDF_GENERATOR_FILE,
+            filePath=dirPath,
+        )

simulation/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

simulation/insertion_vector_predicate/README.md

@@ -0,0 +1,31 @@
+# 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
+
+Загрузка субмодуля git  
+```
+git submodule update --init 
+```
+
+Создание и активация виртуального окружения
+```
+conda env create -f assembly/environment.yml 
+ 
+conda activate assembly  
+```
+
+Запуск программы
+```
+python3 main.py
+```

simulation/insertion_vector_predicate/assembly

@@ -0,0 +1 @@
+Subproject commit 29db7df4d7f2e6055f3f26fc5c11a424954f7308

simulation/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()

simulation/insertion_vector_predicate/main.py

@@ -0,0 +1,174 @@
+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 *
+from spatialmath.base import *
+from assembly.assets.process_mesh import process_mesh
+from assembly.examples.run_joint_plan import get_planner
+from assembly.baselines.run_joint_plan import PyPlanner
+from assembly.assets.subdivide import subdivide_to_size
+import numpy as np
+import json
+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'
+
+ 
+
+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'):
+        return os.listdir(pathFolder)
+
+    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)
+
+
+def filterModels(filterModels, filterModelsDescription):
+    models = []
+    for el in filterModelsDescription:
+        models.append(listGetFirstValue(
+            filterModels, None, lambda x:  x.name == el))
+    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
+
+    # # 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')
+
+    assemblyDirNormalize = []
+    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)
+        planner = get_planner('bfs')(assembly_dir, assembly_dir, 0, [
+            1], False, 'sdf', 0.05, 0.01, 100, 100, True)
+
+        # Планирование пути
+        status, t_plan, path = planner.plan(
+            120, seed=1, return_path=True, render=False, record_path=None
+        )
+        coords = []
+
+        for k in path:
+            seMatrix = SE3(k)
+            euler = seMatrix.eul()
+            coord = seMatrix.A[0:3, 3]
+            rot = Rotation.from_euler('xyz', euler, degrees=True).as_quat()
+            coords.append({'quadrelion': [rot[0], rot[1], rot[2], rot[3]], 'xyz': [
+                          coord[0], coord[1], coord[2]], 'euler': [euler[0], euler[1], euler[2]]})
+        # Запись пути в кортеж
+        planingObject = {
+            "time": t_plan,
+            "insertion_path": coords,
+            "status": status,
+        }
+        # Запись результата планирования
+        FS.writeFile(json.dumps(planingObject),
+                     el[0:el.__len__() - 8], 'insertion_path.json')
+
+        try:
+            planner = PyPlanner(assembly_dir, 'process', still_ids=[1],)
+            status, t_plan, path = planner.plan(
+                planner_name='rrt',
+                step_size=None,
+                max_time=None,
+                seed=1,
+                return_path=True,
+                simplify=False,
+                render=False
+            )
+
+            print(f'Status: {status}, planning time: {t_plan}')
+
+            if args.save_dir is not None:
+                planner.save_path(path, args.save_dir, args.n_save_state)
+        except Exception as e:
+            print(e)
+
+
+main()

simulation/insertion_vector_predicate/requirements.txt

@@ -0,0 +1,3 @@
+spatialmath
+scipy
+uuid

simulation/intersection_geometry_predicate/README.md

@@ -0,0 +1,37 @@
+# Intersection Geometry Predicate
+
+Осуществляется проверка геометрических вершин пересечения файлов .obj на соответствие допустимой погрешности глубины.
+
+
+### CLI аргументы:
+--aspPath путь до папки с асетами сборки
+
+### вывод
+на выходе делает файл intersection_geometry.json
+в котором записан результат работы предиката в виде ключа status и результат в виде ключа recalculations.
+В ключе recalculations, записан объект в который записываются результаты расчета пересечения.
+Они состоят из объекта.
+- names имена пересекающеюся деталей
+- depth глубина пересечения
+- point геометрические вершины
+
+
+```JSON
+{
+    "status": false,
+    "recalculations": {
+        "disk_bottom bolt ": [
+            {
+                "names": "disk_bottom bolt ",
+                "depth": 0.5127948565443177,
+                "point": [
+                    -1.972554,
+                    16.442781,
+                    -9.208569
+                ]
+            }
+        ]
+    }
+}
+
+```

simulation/intersection_geometry_predicate/main.py

@@ -0,0 +1,86 @@
+import trimesh
+import os
+import json
+import argparse
+
+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)
+        f.close()
+
+    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 list(map(lambda x: pathFolder + x, filesJson))
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--aspPath', help='asp generation folder')
+    args = parser.parse_args()
+    
+    if args.aspPath == None:
+        parser.print_help()
+    aspPath = args.aspPath
+    pathMeshes = 'sdf/meshes/'
+    permissibleDepth = 0.5
+
+    trimeshObjects = []
+    meshes = FS.readFilesTypeFolder(aspPath + pathMeshes, '.obj')
+    for el in meshes:
+        trimeshObjects.append(trimesh.load(el))
+
+    manager = trimesh.collision.CollisionManager()
+
+    for el in range(len(trimeshObjects)):
+        manager.add_object(str(meshes[el]), trimeshObjects[el])
+
+    def set_to_dict(s):
+        keys = list(s)
+        values = [None] * len(s)
+        return {k: v for k, v in zip(keys, values)}
+    collisions = manager.in_collision_internal(True, True)
+
+    recalculations = {}
+    for el in collisions[collisions.__len__() - 1]:
+        if (el.depth > permissibleDepth):
+            labels = ''
+            for key in set_to_dict(el.names).keys():     
+                label = key[key.rfind('/') + 1:key.__len__() - 4]
+                labels+=label + " "
+            message = {
+                'names': labels,
+                'depth': el.depth,
+                'point': el.point.tolist()
+            }
+            if(recalculations.get(labels) != None):
+                recalculations[labels].append(message)
+            else:
+                recalculations[labels] = [message]
+
+    if(len(list(recalculations.keys())) >= 1):
+        messageError = {
+            'status':False,
+            'recalculations':recalculations
+        }
+        FS.writeFile(json.dumps(messageError, ensure_ascii=False, indent=4), aspPath,'intersection_geometry.json')
+    else: 
+        message = {
+            'status':True,
+            'recalculations': None
+        }
+        FS.writeFile(json.dumps(messageError, ensure_ascii=False, indent=4), aspPath,'intersection_geometry.json')
+
+
+
+main()
+ 

simulation/intersection_geometry_predicate/requirements.txt

@@ -0,0 +1,2 @@
+argparse
+trimesh

simulation/robossembler_scene_builder/main.py

@@ -0,0 +1,97 @@
+from types import LambdaType, UnionType
+from returns.pipeline import is_successful
+from typing import List, TypeVar
+from returns.result import Result, Success, Failure
+import os
+from model.robossembler_assets import (
+    MappingInstanceAtModel,
+    RobossemblerAssets,
+    Instance,
+)
+import re
+import pathlib
+from repository.file_system import FileSystemRepository
+from model.robossembler_assets import Physics
+from argparse import ArgumentParser
+
+
+T = TypeVar("T")
+
+
+class JsonReaderAndModelMapperUseCase:
+    def call(path: str, model: T) -> Result[T, str]:
+        try:
+            if not re.search("^(.+)\/([^\/]+)$", path):
+                return Failure("path not valid")
+            if model.from_dict == None:
+                return Failure("Model is not have mapping method from_dict")
+            return Success(model.from_dict(FileSystemRepository.readJSON(path=path)))
+        except:
+            return Failure("JsonReaderAndModelMapperUseCase unknown error")
+
+
+class MappingInstanceAtModelToSdfUseCase:
+    def call(instances: List[MappingInstanceAtModel]) -> Result[List[str], str]:
+        try:
+            return Success(list(map(lambda el: el.toSDF(), instances)))
+        except:
+            return Failure("MappingInstanceAtModelToSdfUseCase unknown error")
+
+
+class MappingSdfWorldToPhysicsModelUseCase:
+    def call(physicModel: Physics) -> Result[List[str], str]:
+        try:
+            return Success(Physics.toSDF(physicModel))
+        except:
+            return Failure("MappingInstanceAtModelToSdfUseCase unknown error")
+
+
+class FormationOfTheSDFUseCase:
+    def call(worldTag: str, modelsTags: List[str], path: str) -> Result[bool, str]:
+        path = str(pathlib.Path(path).parent.resolve()) + "/"
+        if modelsTags == None:
+            return Failure("FormationOfTheSDFUseCase modelsTags is None")
+        if worldTag == None:
+            return Failure("FormationOfTheSDFUseCase worldTag is None")
+
+        FileSystemRepository.writeFile(
+            data=worldTag.replace("{models}", "\n".join(modelsTags)),
+            filePath=path,
+            fileName="world.sdf",
+        )
+        return Success(True)
+
+
+def main():
+    parser = ArgumentParser()
+    parser.add_argument("--path", help="need path .json")
+    args = parser.parse_args()
+
+    if args.path == None:
+        parser.print_help()
+        return
+    path = args.path
+    jsonReaderAndModelMapperUseCase = JsonReaderAndModelMapperUseCase.call(
+        path=path, model=RobossemblerAssets
+    )
+
+    if not is_successful(jsonReaderAndModelMapperUseCase):
+        return
+    robossemblerAssets = jsonReaderAndModelMapperUseCase.value_or(None)
+
+    instanceSdfModel = MappingInstanceAtModelToSdfUseCase.call(
+        instances=robossemblerAssets.getAllAssetsInstanceAtModel()
+    )
+
+    sdfWorld = MappingSdfWorldToPhysicsModelUseCase.call(
+        physicModel=robossemblerAssets.physics
+    )
+
+    FormationOfTheSDFUseCase.call(
+        worldTag=sdfWorld.value_or(None),
+        modelsTags=instanceSdfModel.value_or(None),
+        path=path,
+    )
+
+
+main()

simulation/robossembler_scene_builder/mocks/light_sdf.xml

@@ -0,0 +1,12 @@
+<light type="{type_light}" name="{name_light}">
+    <pose>{x} {y} {z} {roll} {pitch} {yaw}</pose>
+    <diffuse>{r} {g} {b} {a}</diffuse>
+    <specular>.1 .1 .1 1</specular>
+    <attenuation>
+        <range>20</range>
+        <linear>0.2</linear>
+        <constant>0.8</constant>
+        <quadratic>0.01</quadratic>
+    </attenuation>
+    <cast_shadows>false</cast_shadows>
+</light>

simulation/robossembler_scene_builder/mocks/model_include_sdf.xml

@@ -0,0 +1,7 @@
+<model name="{name}">
+  <pose>{x} {y} {z} {roll} {pitch} {yaw}</pose>
+  <include>
+    <name>{name}</name>
+    <uri>model://{uri}</uri>
+  </include>
+</model>

simulation/robossembler_scene_builder/mocks/world.xml

@@ -0,0 +1,105 @@
+<?xml version="1.0"?>
+<sdf version='1.9'>
+  <world name='mir'>
+    <physics name='1ms' type='{engine_type}'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</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' />
+    <plugin
+      name="ignition::gazebo::systems::Sensors" filename="ignition-gazebo-sensors-system">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <gravity>{gravity_x} {gravity_y} {gravity_z}</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>false</shadows>
+    </scene>
+    <gui fullscreen="0">
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>1.0 1.0 1.0</ambient_light>
+        <background_color>0.4 0.6 1.0</background_color>
+        <camera_pose>3.3 2.8 2.8 0 0.5 -2.4</camera_pose>
+      </plugin>
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right" />
+            <line own="bottom" target="bottom" />
+          </anchors>
+        </ignition-gui>
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+      </plugin>
+    </gui>
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+    <model name='ground'>
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+            </plane>
+          </geometry>
+        </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>
+      </link>
+    </model>
+    {models} </world>
+</sdf>

simulation/robossembler_scene_builder/model/robossembler_assets.py

@@ -0,0 +1,394 @@
+from dataclasses import dataclass
+import os
+from returns.result import Result, Success, Failure
+from typing import Optional, Any, List, TypeVar, Callable, Type, cast
+from enum import Enum
+
+from repository.file_system import FileSystemRepository
+
+T = TypeVar("T")
+EnumT = TypeVar("EnumT", bound=Enum)
+
+
+def from_float(x: Any) -> float:
+    assert isinstance(x, (float, int)) and not isinstance(x, bool)
+    return float(x)
+
+
+def from_none(x: Any) -> Any:
+    return x
+
+
+def from_union(fs, x):
+    for f in fs:
+        try:
+            return f(x)
+        except:
+            pass
+    assert False
+
+
+def to_float(x: Any) -> float:
+    assert isinstance(x, float)
+    return x
+
+
+def from_str(x: Any) -> str:
+    assert isinstance(x, str)
+    return x
+
+
+def from_int(x: Any) -> int:
+    assert isinstance(x, int) and not isinstance(x, bool)
+    return x
+
+
+def from_list(f: Callable[[Any], T], x: Any) -> List[T]:
+    assert isinstance(x, list)
+    return [f(y) for y in x]
+
+
+def to_class(c: Type[T], x: Any) -> dict:
+    assert isinstance(x, c)
+    return cast(Any, x).to_dict()
+
+
+def to_enum(c: Type[EnumT], x: Any) -> EnumT:
+    assert isinstance(x, c)
+    return x.value
+
+
+@dataclass
+class Model:
+    name: Optional[str] = None
+    id: Optional[str] = None
+    path: Optional[str] = None
+
+    @staticmethod
+    def from_dict(obj: Any) -> "Model":
+        assert isinstance(obj, dict)
+        name = from_union([from_str, from_none], obj.get("name"))
+        id = from_union([from_str, from_none], obj.get("id"))
+        path = from_union([from_str, from_none], obj.get("path"))
+        return Model(name, id, path)
+
+    def to_dict(self) -> dict:
+        result: dict = {}
+        if self.name is not None:
+            result["name"] = from_union([from_str, from_none], self.name)
+        if self.id is not None:
+            result["id"] = from_union([from_str, from_none], self.id)
+        if self.path is not None:
+            result["path"] = from_union([from_str, from_none], self.path)
+        return result
+
+
+@dataclass
+class Pose:
+    x: Optional[float] = None
+    y: Optional[float] = None
+    z: Optional[float] = None
+    roll: Optional[float] = None
+    pitch: Optional[float] = None
+    yaw: Optional[float] = None
+
+    @staticmethod
+    def from_dict(obj: Any) -> "Pose":
+        assert isinstance(obj, dict)
+        x = from_union([from_float, from_none], obj.get("x"))
+        y = from_union([from_float, from_none], obj.get("y"))
+        z = from_union([from_float, from_none], obj.get("z"))
+        roll = from_union([from_float, from_none], obj.get("roll"))
+        pitch = from_union([from_float, from_none], obj.get("pitch"))
+        yaw = from_union([from_float, from_none], obj.get("yaw"))
+        return Pose(x, y, z, roll, pitch, yaw)
+
+    def to_dict(self) -> dict:
+        result: dict = {}
+        if self.x is not None:
+            result["x"] = from_union([to_float, from_none], self.x)
+        if self.y is not None:
+            result["y"] = from_union([to_float, from_none], self.y)
+        if self.z is not None:
+            result["z"] = from_union([to_float, from_none], self.z)
+        if self.roll is not None:
+            result["roll"] = from_union([to_float, from_none], self.roll)
+        if self.pitch is not None:
+            result["pitch"] = from_union([to_float, from_none], self.pitch)
+        if self.yaw is not None:
+            result["yaw"] = from_union([to_float, from_none], self.yaw)
+        return result
+
+
+class TypeEnum(Enum):
+    ASSET = "asset"
+    LIGHT = "light"
+
+
+@dataclass
+class Instance:
+    model_name: Optional[str] = None
+    model_id: Optional[str] = None
+    id: Optional[str] = None
+    pose: Optional[Pose] = None
+    scale: Optional[int] = None
+    type: Optional[TypeEnum] = None
+    parent: Optional[str] = None
+    light_type: Optional[str] = None
+    intencity: Optional[int] = None
+    diffuse: Optional[List[float]] = None
+    spot_angle: Optional[int] = None
+
+    @staticmethod
+    def from_dict(obj: Any) -> "Instance":
+        assert isinstance(obj, dict)
+        model_name = from_union([from_str, from_none], obj.get("model_name"))
+        model_id = from_union([from_str, from_none], obj.get("model_id"))
+        id = from_union([from_str, from_none], obj.get("id"))
+        pose = from_union([Pose.from_dict, from_none], obj.get("pose"))
+        scale = from_union([from_int, from_none], obj.get("scale"))
+        type = from_union([TypeEnum, from_none], obj.get("type"))
+        parent = from_union([from_str, from_none], obj.get("parent"))
+        light_type = from_union([from_str, from_none], obj.get("light_type"))
+        intencity = from_union([from_int, from_none], obj.get("intencity"))
+        diffuse = from_union(
+            [lambda x: from_list(from_float, x), from_none], obj.get("diffuse")
+        )
+        spot_angle = from_union([from_int, from_none], obj.get("spot_angle"))
+        return Instance(
+            model_name,
+            model_id,
+            id,
+            pose,
+            scale,
+            type,
+            parent,
+            light_type,
+            intencity,
+            diffuse,
+            spot_angle,
+        )
+
+    def fromMappingInstanceAtModel(
+        self, models: List[Model]
+    ) -> "MappingInstanceAtModel":
+        for el in models:
+            if el.id == self.model_id:
+                return MappingInstanceAtModel(instance=self, model=el)
+        return Failure("not found model at {self.model_id} ")
+
+    def to_dict(self) -> dict:
+        result: dict = {}
+        if self.model_name is not None:
+            result["model_name"] = from_union([from_str, from_none], self.model_name)
+        if self.model_id is not None:
+            result["model_id"] = from_union([from_str, from_none], self.model_id)
+        if self.id is not None:
+            result["id"] = from_union([from_str, from_none], self.id)
+        if self.pose is not None:
+            result["pose"] = from_union(
+                [lambda x: to_class(Pose, x), from_none], self.pose
+            )
+        if self.scale is not None:
+            result["scale"] = from_union([from_int, from_none], self.scale)
+        if self.type is not None:
+            result["type"] = from_union(
+                [lambda x: to_enum(TypeEnum, x), from_none], self.type
+            )
+        if self.parent is not None:
+            result["parent"] = from_union([from_str, from_none], self.parent)
+        if self.light_type is not None:
+            result["light_type"] = from_union([from_str, from_none], self.light_type)
+        if self.intencity is not None:
+            result["intencity"] = from_union([from_int, from_none], self.intencity)
+        if self.diffuse is not None:
+            result["diffuse"] = from_union(
+                [lambda x: from_list(to_float, x), from_none], self.diffuse
+            )
+        if self.spot_angle is not None:
+            result["spot_angle"] = from_union([from_int, from_none], self.spot_angle)
+        return result
+
+
+class BasePose:
+    def __init__(self, x: float, y: float, z: float, **kwargs):
+        self.x = x
+        self.y = y
+        self.z = z
+
+    def toPose(self, sdfXmlMock: str):
+        return (
+            sdfXmlMock.replace("{x}", str(self.x))
+            .replace("{y}", str(self.y))
+            .replace("{z}", str(self.z))
+        )
+
+
+class MappingInstanceAtModel(BasePose):
+    instance: Instance
+    model: Model
+
+    def __init__(self, instance: Instance, model: Model) -> None:
+        self.instance = instance
+        self.model = model
+        pass
+
+    def toSDF(self):
+        pose = self.instance.pose
+        match self.instance.type:
+            case TypeEnum.ASSET:
+                mock = FileSystemRepository.readFile(
+                    os.path.dirname(os.path.realpath(__file__))
+                    + "/../mocks/model_include_sdf.xml"
+                )
+                # mockPose = self.toPose(mock)
+                return (
+                    mock.replace("{name}", str(self.model.name))
+                    .replace("{x}", str(pose.x))
+                    .replace("{y}", str(pose.y))
+                    .replace("{z}", str(pose.z))
+                    .replace("{pitch}", str(pose.pitch))
+                    .replace("{yaw}", str(pose.yaw))
+                    .replace("{roll}", str(pose.roll))
+                    .replace("{uri}", str(self.model.path))
+                )
+            case TypeEnum.LIGHT:
+                pathMock = (
+                    os.path.dirname(os.path.realpath(__file__))
+                    + "/../mocks/light_sdf.xml"
+                )
+
+                return (
+                    FileSystemRepository.readFile(pathMock)
+                    .replace("{x}", str(pose.x))
+                    .replace("{y}", str(pose.y))
+                    .replace("{z}", str(pose.z))
+                    .replace("{pitch}", str(pose.pitch))
+                    .replace("{yaw}", str(pose.yaw))
+                    .replace("{roll}", str(pose.roll))
+                    .replace("{type_light}", str(self.instance.light_type))
+                    .replace("{name_light}", str("132"))
+                    .replace("{r}", self.instance.diffuse[0])
+                    .replace("{g}", self.instance.diffuse[1])
+                    .replace("{b}", self.instance.diffuse[2])
+                    .replace("{a}", self.instance.diffuse[3])
+                )
+
+
+@dataclass
+class Gravity:
+    x: Optional[int] = None
+    y: Optional[int] = None
+    z: Optional[float] = None
+
+    @staticmethod
+    def from_dict(obj: Any) -> "Gravity":
+        assert isinstance(obj, dict)
+        x = from_union([from_int, from_none], obj.get("x"))
+        y = from_union([from_int, from_none], obj.get("y"))
+        z = from_union([from_float, from_none], obj.get("z"))
+        return Gravity(x, y, z)
+
+    def to_dict(self) -> dict:
+        result: dict = {}
+        if self.x is not None:
+            result["x"] = from_union([from_int, from_none], self.x)
+        if self.y is not None:
+            result["y"] = from_union([from_int, from_none], self.y)
+        if self.z is not None:
+            result["z"] = from_union([to_float, from_none], self.z)
+        return result
+
+
+@dataclass
+class Physics:
+    engine_name: Optional[str] = None
+    gravity: Optional[Gravity] = None
+
+    @staticmethod
+    def from_dict(obj: Any) -> "Physics":
+        assert isinstance(obj, dict)
+        engine_name = from_union([from_str, from_none], obj.get("engine_name"))
+        gravity = from_union([Gravity.from_dict, from_none], obj.get("gravity"))
+        return Physics(engine_name, gravity)
+
+    def to_dict(self) -> dict:
+        result: dict = {}
+        if self.engine_name is not None:
+            result["engine_name"] = from_union([from_str, from_none], self.engine_name)
+        if self.gravity is not None:
+            result["gravity"] = from_union(
+                [lambda x: to_class(Gravity, x), from_none], self.gravity
+            )
+        return result
+
+    def toSDF(self) -> str:
+        pathMock = os.path.dirname(os.path.realpath(__file__)) + "/../mocks/world.xml"
+        gravity = self.gravity
+
+        return (
+            FileSystemRepository.readFile(pathMock)
+            .replace("{gravity_x}", str(gravity.x))
+            .replace("{gravity_y}", str(gravity.y))
+            .replace("{gravity_z}", str(gravity.z))
+            .replace("{engine_type}", str(self.engine_name))
+        )
+
+
+@dataclass
+class RobossemblerAssets:
+    models: Optional[List[Model]] = None
+    instances: Optional[List[Instance]] = None
+    physics: Optional[Physics] = None
+
+    @staticmethod
+    def from_dict(obj: Any) -> "RobossemblerAssets":
+        assert isinstance(obj, dict)
+        models = from_union(
+            [lambda x: from_list(Model.from_dict, x), from_none], obj.get("models")
+        )
+
+        instances = from_union(
+            [lambda x: from_list(Instance.from_dict, x), from_none],
+            obj.get("instances"),
+        )
+
+        physics = from_union([Physics.from_dict, from_none], obj.get("physics"))
+        return RobossemblerAssets(models, instances, physics)
+
+    def to_dict(self) -> dict:
+        result: dict = {}
+        if self.models is not None:
+            result["models"] = from_union(
+                [lambda x: from_list(lambda x: to_class(Model, x), x), from_none],
+                self.models,
+            )
+        if self.instances is not None:
+            result["instances"] = from_union(
+                [lambda x: from_list(lambda x: to_class(Instance, x), x), from_none],
+                self.instances,
+            )
+        if self.physics is not None:
+            result["physics"] = from_union(
+                [lambda x: to_class(Physics, x), from_none], self.physics
+            )
+        return result
+
+    def _getAllAtType(self, type: TypeEnum) -> List[Instance]:
+        return list(filter(lambda x: x.type == type, self.instances))
+
+    def getAllLightInstances(self) -> List[Instance]:
+        return list(
+            map(
+                lambda el: el.fromMappingInstanceAtModel(self.models),
+                self._getAllAtType(type=TypeEnum.LIGHT),
+            )
+        )
+
+    def getAllAssetsInstanceAtModel(self) -> List[MappingInstanceAtModel]:
+        return list(
+            map(
+                lambda el: el.fromMappingInstanceAtModel(self.models),
+                self._getAllAtType(type=TypeEnum.ASSET),
+            )
+        )

simulation/robossembler_scene_builder/repository/file_system.py

@@ -0,0 +1,25 @@
+import json
+import os
+
+
+class FileSystemRepository:
+    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 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

simulation/stability_process_predicate/main.py

@@ -0,0 +1,14 @@
+import argparse
+from usecases.stability_check_usecase import StabilityCheckUseCase
+
+# python3 main.py --aspPath /Users/idontsudo/Desktop/asp-example/
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--aspPath", help="asp folder generation path")
+    args = parser.parse_args()
+    StabilityCheckUseCase().call(args.aspPath)
+
+
+main()

simulation/stability_process_predicate/usecases/stability_check_usecase.py

@@ -0,0 +1,229 @@
+from typing import Any, List, TypeVar, Type, cast, Callable
+import numpy as np
+import pybullet as p
+import time
+import pybullet_data
+import os
+import json
+
+from time import sleep
+
+
+T = TypeVar("T")
+
+
+def from_str(x):
+    assert isinstance(x, str)
+    return x
+
+
+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 from_int(x: Any) -> int:
+    assert isinstance(x, int) and not isinstance(x, bool)
+    return x
+
+
+def to_class(c: Type[T], x: Any) -> dict:
+    assert isinstance(x, c)
+    return cast(Any, x).to_dict()
+
+
+def from_list(f: Callable[[Any], T], x: Any) -> List[T]:
+    assert isinstance(x, list)
+    return [f(y) for y in x]
+
+
+class Coords:
+    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) -> "Coords":
+        assert isinstance(obj, dict)
+        x = from_float(obj.get("x"))
+        y = from_float(obj.get("y"))
+        z = from_float(obj.get("z"))
+        return Coords(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 SimulatorStabilityResultModel:
+    id: str
+    quaternion: Coords
+    position: Coords
+
+    def __init__(self, id: int, quaternion: Coords, position: Coords) -> None:
+        self.id = id
+        self.quaternion = quaternion
+        self.position = position
+
+    @staticmethod
+    def from_dict(obj: Any) -> "SimulatorStabilityResultModel":
+        assert isinstance(obj, dict)
+        id = from_str(obj.get("id"))
+        quaternion = Coords.from_dict(obj.get("quaternion"))
+        position = Coords.from_dict(obj.get("position"))
+        return SimulatorStabilityResultModel(id, quaternion, position)
+
+    def to_dict(self) -> dict:
+        result: dict = {}
+        result["id"] = from_str(self.id)
+        result["quaternion"] = to_class(Coords, self.quaternion)
+        result["position"] = to_class(Coords, self.position)
+        return result
+
+
+def SimulatorStabilityModelfromdict(s: Any) -> List[SimulatorStabilityResultModel]:
+    return from_list(SimulatorStabilityResultModel.from_dict, s)
+
+
+def SimulatorStabilityModeltodict(x: List[SimulatorStabilityResultModel]) -> Any:
+    return from_list(lambda x: to_class(SimulatorStabilityResultModel, x), x)
+
+
+class StabilityCheckUseCase:
+    def urdfLoader(
+        self, assembly: list[str], outPath: str, urdfGeneration: dict[str:str]
+    ):
+        urdfs = []
+        for assemblyCount in range(len(assembly)):
+            urdf = urdfGeneration.get(assembly[assemblyCount])
+            file_to_open = outPath + "/generation/" + str(assemblyCount) + ".urdf"
+            f = open(file_to_open, "w", encoding="utf-8", errors="ignore")
+            f.write(urdf)
+            f.close()
+            urdfs.append(os.path.abspath(f.name))
+        return urdfs
+
+    def executeSimulation(
+        self,
+        assembly: list[str],
+        outPath: str,
+        urdfGeneration: dict[str:str],
+        duration: int,
+    ) -> list["SimulatorStabilityResultModel"]:
+        p.connect(p.DIRECT)
+        p.setGravity(0, 0, -10)
+        p.setAdditionalSearchPath(pybullet_data.getDataPath())
+        p.loadURDF("plane.urdf")
+        resultCoords = []
+
+        urdfs = self.urdfLoader(
+            assembly=assembly, urdfGeneration=urdfGeneration, outPath=outPath
+        )
+        bulletIds = []
+        for el in urdfs:
+            id = p.loadURDF(el)
+            bulletIds.append(id)
+        for i in range(duration):
+            if i + 200 == duration:
+                inc = 0
+                for bulletUUID in bulletIds:
+                    pos, rot = p.getBasePositionAndOrientation(bulletUUID)
+                    resultCoords.append(
+                        SimulatorStabilityResultModel(
+                            id=assembly[inc],
+                            quaternion=Coords(x=rot[0], y=rot[1], z=rot[2]),
+                            position=Coords(x=pos[0], y=pos[1], z=pos[2]),
+                        )
+                    )
+                    p.removeBody(bulletUUID)
+                    inc += 1
+
+            p.stepSimulation()
+
+            time.sleep(1.0 / 240.0)
+        return resultCoords
+
+    def call(self, aspPath: str):
+        try:
+            assemblyFolder = aspPath
+            assemblesStructures = json.loads(
+                (open(assemblyFolder + "sequences.json")).read()
+            ).get("sequences")
+
+            tasks = len(assemblesStructures) * len(assemblesStructures[0])
+            taskCounter = 0
+            urdfGeneration = json.loads(
+                (open(assemblyFolder + "generation/urdf-generation.json")).read()
+            )
+            for activeAssemblyNumber in range(len(assemblesStructures)):
+                pathSaveResultAssemblyFolder = (
+                    aspPath + "stability" + "/" + str(activeAssemblyNumber + 1) + "/"
+                )
+                if not os.path.exists(pathSaveResultAssemblyFolder):
+                    os.makedirs(pathSaveResultAssemblyFolder)
+
+                for subAssemblyNumber in range(
+                    len(assemblesStructures[activeAssemblyNumber])
+                ):
+                    taskCounter += 1
+                    subAssembly = assemblesStructures[activeAssemblyNumber][
+                        0 : subAssemblyNumber + 1
+                    ]
+                    print(subAssembly)
+
+                    if subAssembly == [
+                        "disk_top",
+                        "disk_middel",
+                    ]:
+                        asm = []
+                        for el in subAssembly:
+                            asm.append(el)
+
+                        resultSimulationStates = self.executeSimulation(
+                            assembly=asm,
+                            outPath=aspPath,
+                            urdfGeneration=urdfGeneration,
+                            duration=1000,
+                        )
+
+                        pathSaveResultSubAssemblyFolder = (
+                            aspPath
+                            + "stability"
+                            + "/"
+                            + str(activeAssemblyNumber + 1)
+                            + "/"
+                            + str(subAssemblyNumber)
+                            + "/"
+                        )
+                        if not os.path.exists(pathSaveResultSubAssemblyFolder):
+                            os.makedirs(pathSaveResultSubAssemblyFolder)
+                        results = {}
+                        for state in resultSimulationStates:
+                            results[state.id] = state.to_dict()
+                        f = open(
+                            pathSaveResultSubAssemblyFolder
+                            + "/"
+                            + "motion_result.json",
+                            "w",
+                            encoding="utf-8",
+                            errors="ignore",
+                        )
+                        f.write(json.dumps(results, ensure_ascii=False, indent=4))
+                        f.close()
+                        percentageOfCompletion = taskCounter / tasks * 100
+                        print("process complete: " + str(percentageOfCompletion) + "%")
+        except Exception as e:
+            print(e)

test_models/assembly_settings.json

@@ -0,0 +1,34 @@
+[
+    {
+        "Name": "Fastener_Set",
+        "Type": "fastener_set",
+        "Parent": "body_down",
+        "Child": "body_up",
+        "Fasteners": [
+            "bolt4",
+            "bolt",
+            "bolt2",
+            "bolt3"
+        ]
+    },
+    {
+        "Name": "Assembly_Sequence",
+        "Type": "asm_sequence",
+        "Parent": "body_down",
+        "Child": "sol_gear"
+    },
+    {
+        "Name": "Clearance_Constraint",
+        "Type": "clearance",
+        "PartName": [
+            "planet_gear002",
+            "planet_gear005",
+            "planet_gear004",
+            "planet_gear003",
+            "planet_gear",
+            "output_shaft",
+            "sol_gear"
+        ],
+        "MaxClearance": 1.0
+    }
+]

test_models/assembly_settings_test_reductor.json

@@ -0,0 +1,34 @@
+[
+    {
+        "Name": "Fastener_Set",
+        "Type": "fastener_set",
+        "Parent": "body_down",
+        "Child": "body_up",
+        "Fasteners": [
+            "bolt4",
+            "bolt",
+            "bolt2",
+            "bolt3"
+        ]
+    },
+    {
+        "Name": "Assembly_Sequence",
+        "Type": "asm_sequence",
+        "Parent": "body_down",
+        "Child": "sol_gear"
+    },
+    {
+        "Name": "Clearance_Constraint",
+        "Type": "clearance",
+        "PartName": [
+            "planet_gear002",
+            "planet_gear005",
+            "planet_gear004",
+            "planet_gear003",
+            "planet_gear",
+            "output_shaft",
+            "sol_gear"
+        ],
+        "MaxClearance": 1.0
+    }
+]

test_models/sequences.json

@@ -0,0 +1,10 @@
+{
+    "sequences": [
+        
+            "body_down",
+            "sol_gear",
+            "output_shaft",
+            "planet_gear",
+            "planet_gear002"
+    ]
+}

train_models/models_dope.py

@@ -0,0 +1,196 @@
+"""
+NVIDIA from jtremblay@gmail.com
+"""
+
+# Networks
+import torch
+import torch
+import torch.nn as nn
+import torch.nn.parallel
+import torch.utils.data
+import torchvision.models as models
+
+
+class DopeNetwork(nn.Module):
+    def __init__(
+        self,
+        pretrained=False,
+        numBeliefMap=9,
+        numAffinity=16,
+        stop_at_stage=6,  # number of stages to process (if less than total number of stages)
+    ):
+        super(DopeNetwork, self).__init__()
+
+        self.stop_at_stage = stop_at_stage
+
+        vgg_full = models.vgg19(pretrained=False).features
+        self.vgg = nn.Sequential()
+        for i_layer in range(24):
+            self.vgg.add_module(str(i_layer), vgg_full[i_layer])
+
+        # Add some layers
+        i_layer = 23
+        self.vgg.add_module(
+            str(i_layer), nn.Conv2d(512, 256, kernel_size=3, stride=1, padding=1)
+        )
+        self.vgg.add_module(str(i_layer + 1), nn.ReLU(inplace=True))
+        self.vgg.add_module(
+            str(i_layer + 2), nn.Conv2d(256, 128, kernel_size=3, stride=1, padding=1)
+        )
+        self.vgg.add_module(str(i_layer + 3), nn.ReLU(inplace=True))
+
+        # print('---Belief------------------------------------------------')
+        # _2 are the belief map stages
+        self.m1_2 = DopeNetwork.create_stage(128, numBeliefMap, True)
+        self.m2_2 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numBeliefMap, False
+        )
+        self.m3_2 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numBeliefMap, False
+        )
+        self.m4_2 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numBeliefMap, False
+        )
+        self.m5_2 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numBeliefMap, False
+        )
+        self.m6_2 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numBeliefMap, False
+        )
+
+        # print('---Affinity----------------------------------------------')
+        # _1 are the affinity map stages
+        self.m1_1 = DopeNetwork.create_stage(128, numAffinity, True)
+        self.m2_1 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numAffinity, False
+        )
+        self.m3_1 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numAffinity, False
+        )
+        self.m4_1 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numAffinity, False
+        )
+        self.m5_1 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numAffinity, False
+        )
+        self.m6_1 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numAffinity, False
+        )
+
+    def forward(self, x):
+        """Runs inference on the neural network"""
+
+        out1 = self.vgg(x)
+
+        out1_2 = self.m1_2(out1)
+        out1_1 = self.m1_1(out1)
+
+        if self.stop_at_stage == 1:
+            return [out1_2], [out1_1]
+
+        out2 = torch.cat([out1_2, out1_1, out1], 1)
+        out2_2 = self.m2_2(out2)
+        out2_1 = self.m2_1(out2)
+
+        if self.stop_at_stage == 2:
+            return [out1_2, out2_2], [out1_1, out2_1]
+
+        out3 = torch.cat([out2_2, out2_1, out1], 1)
+        out3_2 = self.m3_2(out3)
+        out3_1 = self.m3_1(out3)
+
+        if self.stop_at_stage == 3:
+            return [out1_2, out2_2, out3_2], [out1_1, out2_1, out3_1]
+
+        out4 = torch.cat([out3_2, out3_1, out1], 1)
+        out4_2 = self.m4_2(out4)
+        out4_1 = self.m4_1(out4)
+
+        if self.stop_at_stage == 4:
+            return [out1_2, out2_2, out3_2, out4_2], [out1_1, out2_1, out3_1, out4_1]
+
+        out5 = torch.cat([out4_2, out4_1, out1], 1)
+        out5_2 = self.m5_2(out5)
+        out5_1 = self.m5_1(out5)
+
+        if self.stop_at_stage == 5:
+            return [out1_2, out2_2, out3_2, out4_2, out5_2], [
+                out1_1,
+                out2_1,
+                out3_1,
+                out4_1,
+                out5_1,
+            ]
+
+        out6 = torch.cat([out5_2, out5_1, out1], 1)
+        out6_2 = self.m6_2(out6)
+        out6_1 = self.m6_1(out6)
+
+        return [out1_2, out2_2, out3_2, out4_2, out5_2, out6_2], [
+            out1_1,
+            out2_1,
+            out3_1,
+            out4_1,
+            out5_1,
+            out6_1,
+        ]
+
+    @staticmethod
+    def create_stage(in_channels, out_channels, first=False):
+        """Create the neural network layers for a single stage."""
+
+        model = nn.Sequential()
+        mid_channels = 128
+        if first:
+            padding = 1
+            kernel = 3
+            count = 6
+            final_channels = 512
+        else:
+            padding = 3
+            kernel = 7
+            count = 10
+            final_channels = mid_channels
+
+        # First convolution
+        model.add_module(
+            "0",
+            nn.Conv2d(
+                in_channels, mid_channels, kernel_size=kernel, stride=1, padding=padding
+            ),
+        )
+
+        # Middle convolutions
+        i = 1
+        while i < count - 1:
+            model.add_module(str(i), nn.ReLU(inplace=True))
+            i += 1
+            model.add_module(
+                str(i),
+                nn.Conv2d(
+                    mid_channels,
+                    mid_channels,
+                    kernel_size=kernel,
+                    stride=1,
+                    padding=padding,
+                ),
+            )
+            i += 1
+
+        # Penultimate convolution
+        model.add_module(str(i), nn.ReLU(inplace=True))
+        i += 1
+        model.add_module(
+            str(i), nn.Conv2d(mid_channels, final_channels, kernel_size=1, stride=1)
+        )
+        i += 1
+
+        # Last convolution
+        model.add_module(str(i), nn.ReLU(inplace=True))
+        i += 1
+        model.add_module(
+            str(i), nn.Conv2d(final_channels, out_channels, kernel_size=1, stride=1)
+        )
+        i += 1
+
+        return model

train_models/rbs_train.py

@@ -0,0 +1,29 @@
+"""
+  rbs_train
+  Общая задача: web-service pipeline
+  Реализуемая функция: обучение нейросетевой модели по заданному BOP-датасету
+
+    python3 $PYTHON_EDUCATION --path /Users/idontsudo/webservice/server/build/public/7065d6b6-c8a3-48c5-9679-bb8f3a690296 \
+        --name test1234 --datasetName 32123213
+
+  27.04.2024 @shalenikol release 0.1
+"""
+import argparse
+from train_Yolo import train_YoloV8
+from train_Dope import train_Dope_i
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--path", required=True, help="Path for dataset")
+    parser.add_argument("--name", required=True, help="String with result weights name")
+    parser.add_argument("--datasetName", required=True, help="String with dataset name")
+    parser.add_argument("--outpath", default="weights", help="Output path for weights")
+    parser.add_argument("--type", default="ObjectDetection", help="Type of implementation")
+    parser.add_argument("--epoch", default=3, type=int, help="How many training epochs")
+    parser.add_argument('--pretrain', action="store_true", help="Use pretraining")
+    args = parser.parse_args()
+
+    if args.type == "ObjectDetection":
+        train_YoloV8(args.path, args.name, args.datasetName, args.outpath, args.epoch, args.pretrain)
+    else:
+        train_Dope_i(args.path, args.name, args.datasetName, args.outpath, args.epoch, args.pretrain)

train_models/train_Dope.py

@@ -0,0 +1,542 @@
+"""
+    train_Dope
+  Общая задача: оценка позиции объекта (Pose estimation)
+  Реализуемая функция: обучение нейросетевой модели DOPE по заданному BOP-датасету
+
+    python3 $PYTHON_EDUCATION --path /Users/user/webservice/server/build/public/7065d6b6-c8a3-48c5-9679-bb8f3a690296 \
+        --name test1234 --datasetName 32123213
+
+  08.05.2024 @shalenikol release 0.1
+"""
+import os
+import json
+import shutil
+import numpy as np
+import transforms3d as t3d
+
+FILE_RBS_INFO = "rbs_info.json"
+FILE_CAMERA   = "camera.json"
+FILE_GT       = "scene_gt.json"
+FILE_GT_COCO  = "scene_gt_coco.json"
+FILE_GT_INFO  = "scene_gt_info.json"
+
+FILE_MODEL     = "epoch"
+EXT_MODEL      = ".pth"
+EXT_RGB        = "jpg"
+DIR_ROOT_DS    = "dataset_dope"
+DIR_TRAIN_OUT  = "out_weights"
+
+MODEL_SCALE = 1000 # исходная модель в метрах, преобразуем в мм (для DOPE)
+
+# Own_Numbering_Files = True # наименование image-файлов: собственная нумерация
+nn_image = 0
+K_intrinsic = []
+model_info = []
+camera_data = {}
+im_width = 0
+
+nb_update_network = 0
+# [
+#     [min(x), min(y), min(z)],
+#     [min(x), max(y), min(z)],
+#     [min(x), max(y), max(z)],
+#     [min(x), min(y), max(z)],
+#     [max(x), min(y), max(z)],
+#     [max(x), max(y), min(z)],
+#     [max(x), max(y), max(z)],
+#     [max(x), min(y), max(z)],
+#     [xc, yc, zc]   # min + (max - min) / 2
+# ]
+
+def trans_3Dto2D_point_in_camera(xyz, K_m, R_m2c, t_m2c):
+    """
+        xyz   : 3D-координаты точки
+        K_m   : внутренняя матрица камеры 3х3
+        R_m2c : матрица поворота 3х3
+        t_m2c : вектор перемещения 3х1
+        return [u,v]
+    """
+    K = np.array(K_m)
+    r = np.array(R_m2c)
+    r.shape = (3, 3)
+    t = np.array(t_m2c)
+    t.shape = (3, 1)
+    T = np.concatenate((r, t), axis=1)
+
+    P_m = np.array(xyz)
+    P_m.resize(4)
+    P_m[-1] = 1.0
+    P_m.shape = (4, 1)
+
+    # Project (X, Y, Z, 1) into cameras coordinate system
+    P_c = T @ P_m # 4x1
+    # Apply camera intrinsics to map (Xc, Yc, Zc) to p=(x, y, z)
+    p = K @ P_c
+    # Normalize by z to get (u,v,1)
+    uv = (p / p[2][0])[:-1]
+    return uv.flatten().tolist()
+
+def gt_parse(path: str, out_dir: str):
+    global nn_image
+    with open(os.path.join(path, FILE_GT_COCO), "r") as fh:
+        coco_data = json.load(fh)
+    with open(os.path.join(path, FILE_GT), "r") as fh:
+        gt_data = json.load(fh)
+    with open(os.path.join(path, FILE_GT_INFO), "r") as fh:
+        gt_info = json.load(fh)
+
+    for img in coco_data["images"]:
+        rgb_file = os.path.join(path, img["file_name"])
+        if os.path.isfile(rgb_file):
+            # if Own_Numbering_Files:
+            ext = os.path.splitext(rgb_file)[1]     # only ext
+            f = f"{nn_image:06}"
+            out_img = os.path.join(out_dir, f + ext)
+            # else:
+            #     f = os.path.split(rgb_file)[1] # filename with extension
+            #     f = os.path.splitext(f)[0]     # only filename
+            #     out_img = out_dir
+            shutil.copy2(rgb_file, out_img)
+            out_file = os.path.join(out_dir,f+".json")
+            nn_image += 1
+
+            # full annotation of the one image
+            all_data = camera_data.copy()
+            cat_names = {obj["id"]: obj["name"] for obj in coco_data["categories"]}
+            id_img = img["id"]    # 0, 1, 2 ...
+            sid_img = str(id_img) # "0", "1", "2" ...
+            img_info = gt_info[sid_img]
+            img_gt = gt_data[sid_img]
+            img_idx = 0 # object index on the image
+            objs = []
+            for ann in coco_data["annotations"]:
+                if ann["image_id"] == id_img:
+                    item = ann["category_id"]
+                    obj_data = {}
+                    obj_data["class"] = cat_names[item]
+                    x, y, width, height = ann["bbox"]
+                    obj_data["bounding_box"] = {"top_left":[x,y], "bottom_right":[x+width,y+height]}
+
+                    # visibility from FILE_GT_INFO
+                    item_info = img_info[img_idx]
+                    obj_data["visibility"] = item_info["visib_fract"]
+                    
+                    # location from FILE_GT
+                    item_gt = img_gt[img_idx]
+                    obj_id = item_gt["obj_id"] - 1 # index with 0
+                    cam_R_m2c = item_gt["cam_R_m2c"]
+                    cam_t_m2c = item_gt["cam_t_m2c"]
+                    obj_data["location"] = cam_t_m2c
+                    q = t3d.quaternions.mat2quat(np.array(cam_R_m2c))
+                    obj_data["quaternion_xyzw"] = [q[1], q[2], q[3], q[0]]
+
+                    cuboid_xyz = model_info[obj_id]
+                    obj_data["projected_cuboid"] = [
+                        trans_3Dto2D_point_in_camera(cub, K_intrinsic, cam_R_m2c, cam_t_m2c)
+                        for cub in cuboid_xyz
+                        ]
+                    
+                    objs.append(obj_data)
+                    img_idx += 1
+
+            all_data["objects"] = objs
+            with open(out_file, "w") as fh:
+                json.dump(all_data, fh, indent=2)
+
+def explore(path: str, res_dir: str):
+    if not os.path.isdir(path):
+        return
+    folders = [
+        os.path.join(path, o)
+        for o in os.listdir(path)
+        if os.path.isdir(os.path.join(path, o))
+    ]
+    for path_entry in folders:
+        if os.path.isfile(os.path.join(path_entry,FILE_GT_COCO)) and \
+           os.path.isfile(os.path.join(path_entry,FILE_GT_INFO)) and \
+           os.path.isfile(os.path.join(path_entry,FILE_GT)):
+            gt_parse(path_entry, res_dir)
+        else:
+            explore(path_entry, res_dir)
+
+def BOP2DOPE_dataset(dpath: str, out_dir: str) -> str:
+    """ Convert BOP-dataset to YOLO format for train """
+    res_dir = os.path.join(out_dir, DIR_ROOT_DS)
+    if os.path.isdir(res_dir):
+        shutil.rmtree(res_dir)
+    os.mkdir(res_dir)
+
+    explore(dpath, res_dir)
+
+    return out_dir
+
+def train(dopepath:str, wname:str, epochs:int, pretrain: bool, lname: list):
+    import random
+    # try:
+    import configparser as configparser
+    # except ImportError:
+    #     import ConfigParser as configparser
+    import torch
+    # import torch.nn.parallel
+    import torch.optim as optim
+    import torch.utils.data
+    import torchvision.transforms as transforms
+    from torch.autograd import Variable
+    import datetime
+    from tensorboardX import SummaryWriter
+
+    from models_dope import DopeNetwork
+    from utils_dope import CleanVisiiDopeLoader #, VisualizeBeliefMap, save_image
+
+    import warnings
+    warnings.filterwarnings("ignore")
+
+    os.environ["CUDA_VISIBLE_DEVICES"] = "0,1,2,3,4,5,6,7"
+
+    torch.autograd.set_detect_anomaly(False)
+    torch.autograd.profiler.profile(False)
+    torch.autograd.gradcheck = False
+    torch.backends.cudnn.benchmark = True
+
+    start_time = datetime.datetime.now()
+    print("start:", start_time.strftime("%m/%d/%Y, %H:%M:%S"))
+
+    res_model = os.path.join(dopepath, wname + EXT_MODEL)
+
+    local_rank = 0
+    opt = lambda: None
+    opt.use_s3 = False
+    opt.train_buckets = []
+    opt.endpoint = None
+    opt.lr=0.0001
+    opt.loginterval=100
+    opt.sigma=0.5 # 4
+    opt.nbupdates=None
+    # opt.save=False
+    # opt.option="default"
+    # opt.gpuids=[0]
+
+    opt.namefile=FILE_MODEL
+    opt.workers=8
+    opt.batchsize=16
+
+    opt.data = [os.path.join(dopepath, DIR_ROOT_DS)]
+    opt.outf = os.path.join(dopepath, DIR_TRAIN_OUT)
+    opt.object = lname #["fork"]
+    opt.exts = [EXT_RGB]
+    # opt.imagesize = im_width
+    opt.epochs = epochs
+    opt.pretrained = pretrain
+    opt.net_path = res_model if pretrain else None
+    opt.manualseed = random.randint(1, 10000)
+
+    # # Validate Arguments
+    # if opt.use_s3 and (opt.train_buckets is None or opt.endpoint is None):
+    #     raise ValueError(
+    #         "--train_buckets and --endpoint must be specified if training with data from s3 bucket."
+    #     )
+    # if not opt.use_s3 and opt.data is None:
+    #     raise ValueError("--data field must be specified.")
+
+    os.makedirs(opt.outf, exist_ok=True)
+
+    # if local_rank == 0:
+    #     writer = SummaryWriter(opt.outf + "/runs/")
+    random.seed(opt.manualseed)
+    torch.cuda.set_device(local_rank)
+    # torch.distributed.init_process_group(backend="nccl", init_method="env://")
+    torch.manual_seed(opt.manualseed)
+    torch.cuda.manual_seed_all(opt.manualseed)
+
+    # # Data Augmentation
+    # if not opt.save:
+    #     contrast = 0.2
+    #     brightness = 0.2
+    #     noise = 0.1
+    #     normal_imgs = [0.59, 0.25]
+    #     transform = transforms.Compose(
+    #         [
+    #             AddRandomContrast(0.2),
+    #             AddRandomBrightness(0.2),
+    #             transforms.Resize(opt.imagesize),
+    #         ]
+    #     )
+    # else:
+    #     contrast = 0.00001
+    #     brightness = 0.00001
+    #     noise = 0.00001
+    #     normal_imgs = None
+    #     transform = transforms.Compose(
+    #         [transforms.Resize(opt.imagesize), transforms.ToTensor()]
+    #     )
+
+    # Load Model
+    net = DopeNetwork()
+    output_size = 50
+    # opt.sigma = 0.5
+
+    train_dataset = CleanVisiiDopeLoader(
+        opt.data,
+        sigma=opt.sigma,
+        output_size=output_size,
+        extensions=opt.exts,
+        objects=opt.object,
+        use_s3=opt.use_s3,
+        buckets=opt.train_buckets,
+        endpoint_url=opt.endpoint,
+    )
+    trainingdata = torch.utils.data.DataLoader(
+        train_dataset,
+        batch_size=opt.batchsize,
+        shuffle=True,
+        num_workers=opt.workers,
+        pin_memory=True,
+    )
+    if not trainingdata is None:
+        print(f"training data: {len(trainingdata)} batches")
+
+    print("Loading Model...")
+    net = net.cuda()
+    # net = torch.nn.parallel.DistributedDataParallel(
+    #     net.cuda(), device_ids=[local_rank], output_device=local_rank
+    # )
+    if opt.pretrained:
+        if opt.net_path is not None:
+            net.load_state_dict(torch.load(opt.net_path))
+        else:
+            print("Error: Did not specify path to pretrained weights.")
+            quit()
+
+    parameters = filter(lambda p: p.requires_grad, net.parameters())
+    optimizer = optim.Adam(parameters, lr=opt.lr)
+
+    print("ready to train!")
+
+    global nb_update_network
+    nb_update_network = 0
+    # best_results = {"epoch": None, "passed": None, "add_mean": None, "add_std": None}
+
+    scaler = torch.cuda.amp.GradScaler()
+
+    def _runnetwork(epoch, train_loader): #, syn=False
+        global nb_update_network
+        # net
+        net.train()
+
+        loss_avg_to_log = {}
+        loss_avg_to_log["loss"] = []
+        loss_avg_to_log["loss_affinities"] = []
+        loss_avg_to_log["loss_belief"] = []
+        loss_avg_to_log["loss_class"] = []
+        for batch_idx, targets in enumerate(train_loader):
+            optimizer.zero_grad()
+
+            data = Variable(targets["img"].cuda())
+            target_belief = Variable(targets["beliefs"].cuda())
+            target_affinities = Variable(targets["affinities"].cuda())
+
+            output_belief, output_aff = net(data)
+
+            loss = None
+
+            loss_belief = torch.tensor(0).float().cuda()
+            loss_affinities = torch.tensor(0).float().cuda()
+            loss_class = torch.tensor(0).float().cuda()
+
+            for stage in range(len(output_aff)):  # output, each belief map layers.
+                loss_affinities += (
+                    (output_aff[stage] - target_affinities)
+                    * (output_aff[stage] - target_affinities)
+                ).mean()
+
+                loss_belief += (
+                    (output_belief[stage] - target_belief)
+                    * (output_belief[stage] - target_belief)
+                ).mean()
+
+            loss = loss_affinities + loss_belief
+
+            # if batch_idx == 0:
+            #     post = "train"
+            #     if local_rank == 0:
+            #         for i_output in range(1):
+            #             # input images
+            #             writer.add_image(
+            #                 f"{post}_input_{i_output}",
+            #                 targets["img_original"][i_output],
+            #                 epoch,
+            #                 dataformats="CWH",
+            #             )
+            #             # belief maps gt
+            #             imgs = VisualizeBeliefMap(target_belief[i_output])
+            #             img, grid = save_image(
+            #                 imgs, "some_img.png", mean=0, std=1, nrow=3, save=False
+            #             )
+            #             writer.add_image(
+            #                 f"{post}_belief_ground_truth_{i_output}",
+            #                 grid,
+            #                 epoch,
+            #                 dataformats="CWH",
+            #             )
+            #             # belief maps guess
+            #             imgs = VisualizeBeliefMap(output_belief[-1][i_output])
+            #             img, grid = save_image(
+            #                 imgs, "some_img.png", mean=0, std=1, nrow=3, save=False
+            #             )
+            #             writer.add_image(
+            #                 f"{post}_belief_guess_{i_output}",
+            #                 grid,
+            #                 epoch,
+            #                 dataformats="CWH",
+            #             )
+
+            loss.backward()
+
+            optimizer.step()
+
+            nb_update_network += 1
+
+            # log the loss
+            loss_avg_to_log["loss"].append(loss.item())
+            loss_avg_to_log["loss_class"].append(loss_class.item())
+            loss_avg_to_log["loss_affinities"].append(loss_affinities.item())
+            loss_avg_to_log["loss_belief"].append(loss_belief.item())
+
+            if batch_idx % opt.loginterval == 0:
+                print(
+                    "Train Epoch: {} [{}/{} ({:.0f}%)] \tLoss: {:.15f} \tLocal Rank: {}".format(
+                        epoch,
+                        batch_idx * len(data),
+                        len(train_loader.dataset),
+                        100.0 * batch_idx / len(train_loader),
+                        loss.item(),
+                        local_rank,
+                    )
+                )
+        # # log the loss values
+        # if local_rank == 0:
+        #     writer.add_scalar("loss/train_loss", np.mean(loss_avg_to_log["loss"]), epoch)
+        #     writer.add_scalar("loss/train_cls", np.mean(loss_avg_to_log["loss_class"]), epoch)
+        #     writer.add_scalar("loss/train_aff", np.mean(loss_avg_to_log["loss_affinities"]), epoch)
+        #     writer.add_scalar("loss/train_bel", np.mean(loss_avg_to_log["loss_belief"]), epoch)
+
+    for epoch in range(1, opt.epochs + 1):
+
+        _runnetwork(epoch, trainingdata)
+
+        try:
+            if local_rank == 0:
+                torch.save(
+                    net.state_dict(),
+                    f"{opt.outf}/{opt.namefile}_{str(epoch).zfill(3)}.pth",
+                )
+        except Exception as e:
+            print(f"Encountered Exception: {e}")
+
+        if not opt.nbupdates is None and nb_update_network > int(opt.nbupdates):
+            break
+
+    # if local_rank == 0:
+    # save result model
+    torch.save(net.state_dict(), res_model) #os.path.join(dopepath, wname + EXT_MODEL))
+    # else:
+    #     torch.save(
+    #         net.state_dict(),
+    #         f"{opt.outf}/{opt.namefile}_{str(epoch).zfill(3)}_rank_{local_rank}.pth",
+    #     )
+
+    print("end:", datetime.datetime.now().strftime("%m/%d/%Y, %H:%M:%S"))
+    print("Total time taken: ", str(datetime.datetime.now() - start_time).split(".")[0])
+
+def train_Dope_i(path:str, wname:str, dname:str, outpath:str, epochs:int, pretrain: bool):
+    """ Main procedure for train DOPE model """
+    global K_intrinsic, model_info, camera_data, im_width
+
+    if not os.path.isdir(outpath):
+        print(f"Invalid output path '{outpath}'")
+        exit(-1)
+    out_dir = os.path.join(outpath, wname)
+    ds_path = os.path.join(path, dname)
+
+    if not os.path.isdir(ds_path):
+        print(f"{ds_path} : no BOP directory")
+        return ""
+
+    camera_json = os.path.join(ds_path, FILE_CAMERA)
+    if not os.path.isfile(camera_json):
+        print(f"{camera_json} : no intrinsic camera file")
+        return ""
+
+    rbs_info = os.path.join(ds_path, FILE_RBS_INFO)
+    if not os.path.isfile(rbs_info):
+        print(f"{rbs_info} : no dataset info file")
+        return ""
+
+    camera_data = {}
+    with open(camera_json, "r") as fh:
+        data = json.load(fh)
+    keys = ["cx","cy","fx","fy"]
+    intrinsic = {k: data[k] for k in keys}
+    im_height = data["height"]
+    im_width = data["width"]
+    camera_data["camera_data"] = dict(intrinsic=intrinsic, height=im_height, width=im_width)
+    K_intrinsic = [
+        [data["fx"], 0.0, data["cx"]],
+        [0.0, data["fy"], data["cy"]],
+        [0.0, 0.0, 1.0]
+    ]
+    # calc cuboid + center
+    with open(rbs_info, "r") as fh:
+        info = json.load(fh)
+    # список имён объектов
+    list_name = list(map(lambda x: x["name"], info))
+    # in FILE_RBS_INFO model numbering from smallest to largest
+    model_info = []
+    for m_info in info:
+        cub = np.array(m_info["cuboid"]) * MODEL_SCALE
+        xyz_min = cub.min(axis=0)
+        xyz_max = cub.max(axis=0)
+        # [xc, yc, zc] # min + (max - min) / 2
+        center = []
+        for i in range(3):
+            center.append(xyz_min[i] + (xyz_max[i]- xyz_min[i]) / 2)
+        c = np.array(center, ndmin=2)
+        model_info.append(np.append(cub, c, axis=0))
+
+    if pretrain:
+        # продолжить обучение
+        if not os.path.isdir(out_dir):
+            print(f"No dir '{out_dir}'")
+            exit(-2)
+        dpath = out_dir
+        # model_path = os.path.join(dpath, wname + ".pt")
+    else:
+        # обучение сначала
+        if not os.path.isdir(out_dir):
+            os.mkdir(out_dir)
+
+        dpath = BOP2DOPE_dataset(ds_path, out_dir)
+        if len(dpath) == 0:
+            print(f"Error in convert dataset '{ds_path}' to '{outpath}'")
+            exit(-4)
+        # model_path = os.path.join(dpath, FILE_BASEMODEL)
+
+    # results = f"python train.py --local_rank 0 --data {dpath} --object fork" \
+    #     + f" -e {epochs} --batchsize 16 --exts jpg --imagesize 640 --pretrained" \
+    #     + " --net_path /home/shalenikol/fork_work/dope_training/output/weights_2996/net_epoch_47.pth"
+    # print(results)
+    train(dpath, wname, epochs, pretrain, list_name)
+
+import argparse
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--path", required=True, help="Path for dataset")
+    parser.add_argument("--name", required=True, help="String with result weights name")
+    parser.add_argument("--datasetName", required=True, help="String with dataset name")
+    parser.add_argument("--outpath", default="weights", help="Output path for weights")
+    parser.add_argument("--epoch", default=3, help="How many training epochs")
+    parser.add_argument('--pretrain', action="store_true", help="Use pretraining")
+    args = parser.parse_args()
+
+    train_Dope_i(args.path, args.name, args.datasetName, args.outpath, args.epoch, args.pretrain)