robossembler/framework
7
0
Fork 0
Code Issues 21 Pull requests Projects Releases Packages Wiki Activity Actions

Изучить возможности плагина Phobos и объём доработок для интеграции в конвейер #52

New issue
Closed
opened 2023-03-07 16:48:59 +03:00 by movefasta · 29 comments
movefasta commented 2023-03-07 16:48:59 +03:00 (Migrated from gitlab.com)
Copy link

Нужно рассматреть использование Phobos в качестве инструмента для подготовки моделей к экспорту в Gazebo.

На данный момент ведётся работа по выпуску версии Phobos'v2 в отдельной ветке. Работа ведётся весьма интенсивно. Прогресс по этой работе можно отслеживать по pullrequest https://github.com/dfki-ric/phobos/pull/264 . Я предложил нашу помощь в тестировании и доработке плагина - https://github.com/dfki-ric/phobos/pull/264#issuecomment-1464910472

Итак, нужно проверить (для версии v2)

  1. работоспособность плагина для экспорта SDF - как отдельного робота, так и сцены целиком (экспорт world)
  2. импорт URDF и SDF моделей, подготовленных извне
  3. степень полноты соответствия спецификации SDF.
Нужно рассматреть использование [Phobos](https://github.com/dfki-ric/phobos) в качестве инструмента для подготовки моделей к экспорту в Gazebo. На данный момент ведётся работа по выпуску версии Phobos'v2 в отдельной ветке. Работа ведётся весьма интенсивно. Прогресс по этой работе можно отслеживать по pullrequest https://github.com/dfki-ric/phobos/pull/264 . Я предложил нашу помощь в тестировании и доработке плагина - https://github.com/dfki-ric/phobos/pull/264#issuecomment-1464910472 Итак, нужно проверить (для версии v2) 1. работоспособность плагина для экспорта SDF - как отдельного робота, так и сцены целиком (экспорт world) 2. импорт URDF и SDF моделей, подготовленных извне 3. степень полноты соответствия спецификации SDF.
movefasta commented 2023-03-11 16:18:30 +03:00 (Migrated from gitlab.com)
Copy link

changed the description

changed the description
movefasta commented 2023-03-11 16:18:35 +03:00 (Migrated from gitlab.com)
Copy link

assigned to @brothermechanic

assigned to @brothermechanic
brothermechanic commented 2023-03-12 20:34:25 +03:00 (Migrated from gitlab.com)
Copy link

интересная особенность фобоса
читает только в относительном формате (слева)
а в газебовском model: (справа) не читает

Screenshot_20230312_203230

интересная особенность фобоса читает только в относительном формате (слева) а в газебовском model: (справа) не читает ![Screenshot_20230312_203230](/uploads/fc2d39d74839fc41ac1fb90a1c5ee095/Screenshot_20230312_203230.jpg)
movefasta commented 2023-03-13 19:18:01 +03:00 (Migrated from gitlab.com)
Copy link

Нам model://адреса не особо актуальны, так как у нас будут пути, но issue можно создать. Всяко полезная информация. Пусть знают. А вдруг уже и пофиксил во второй версии.

Нам model://адреса не особо актуальны, так как у нас будут пути, но issue можно создать. Всяко полезная информация. Пусть знают. А вдруг уже и пофиксил во второй версии.
brothermechanic commented 2023-03-14 08:07:16 +03:00 (Migrated from gitlab.com)
Copy link

понял
хорошо, создам

вряд ли, я все ветки тестировал

понял хорошо, создам вряд ли, я все ветки тестировал
brothermechanic commented 2023-03-15 11:48:35 +03:00 (Migrated from gitlab.com)
Copy link

импорт world будет поддерживаться в фобосе-2,1

scene support anyways as this is planned to be integrated in v2.1.0

https://github.com/dfki-ric/phobos/pull/264#issuecomment-1465669658

импорт world будет поддерживаться в фобосе-2,1 >scene support anyways as this is planned to be integrated in v2.1.0 https://github.com/dfki-ric/phobos/pull/264#issuecomment-1465669658
brothermechanic commented 2023-03-15 11:54:54 +03:00 (Migrated from gitlab.com)
Copy link

тестовый мир
world.sdf

тестовый мир [world.sdf](/uploads/4f0025a619e6884079daa747281b6c0d/world.sdf)
brothermechanic commented 2023-03-17 11:21:59 +03:00 (Migrated from gitlab.com)
Copy link

тестовый механизм SDF от @solid-sinusoid Assembly1.sdf

(получен из URDF от @3dcnc Assembly1.urdf)

тестовый механизм SDF от @solid-sinusoid [Assembly1.sdf](/uploads/2c6d8786e92f50574beac6bb73a9b503/Assembly1.sdf) (получен из URDF от @3dcnc [Assembly1.urdf](/uploads/8e4d505044623ea04b97dda942831d8b/Assembly1.urdf))
brothermechanic commented 2023-03-17 11:36:00 +03:00 (Migrated from gitlab.com)
Copy link

Замечания к Phobos по импорту SDF механизма:

  • Импорт мешей без учета масштаба Blender сцены (1:1000) при импорте из Solid Works
  • Несоответствие осей мешей и данных SDF файла при импорте из Solid Works
  • Арматура в режиме Octahedral
  • Относительные координаты игнорируются (pre_v2.0.0)
  • Импорт лимитов неверен
  • Нельзя выбирать кости разных арматур
  • Импорт мешей с неверным шейдингом
  • ? Импорт материалов из SDF ?

TODO протестировать:

  • импорт массы
  • импорт симметрии
  • импорт текстур
Замечания к Phobos по импорту SDF механизма: - Импорт мешей без учета масштаба Blender сцены (1:1000) при импорте из Solid Works - Несоответствие осей мешей и данных SDF файла при импорте из Solid Works - Арматура в режиме Octahedral - Относительные координаты игнорируются (pre_v2.0.0) - Импорт лимитов неверен - Нельзя выбирать кости разных арматур - Импорт мешей с неверным шейдингом - ? Импорт материалов из SDF ? TODO протестировать: - импорт массы - импорт симметрии - импорт текстур
brothermechanic commented 2023-03-17 11:56:14 +03:00 (Migrated from gitlab.com)
Copy link

Правленный SDF с моделями, работает как с phobos так и с gazebo

my_asm.zip

Screenshot_20230316_202749

Screenshot_20230316_202455

Правленный SDF с моделями, работает как с phobos так и с gazebo [my_asm.zip](/uploads/c08a2f9f79fbfe76d2a7e2d90fd47b66/my_asm.zip) ![Screenshot_20230316_202749](/uploads/7546023bb5c6d7012f074b3cc52ab7d0/Screenshot_20230316_202749.jpg) ![Screenshot_20230316_202455](/uploads/e31c3e0459cd600446c9f76dec638bcd/Screenshot_20230316_202455.jpg)
brothermechanic commented 2023-03-17 12:00:09 +03:00 (Migrated from gitlab.com)
Copy link

@solid-sinusoid можешь проверить его на валидность?

@solid-sinusoid можешь проверить его на валидность?
brothermechanic commented 2023-03-17 19:31:38 +03:00 (Migrated from gitlab.com)
Copy link

Замечания к Phobos по экспорту SDF механизма:

  • Экспорт мешей добавляет объект Plane, зачем?
  • Путь экспорта всегда относительный
Замечания к Phobos по экспорту SDF механизма: - Экспорт мешей добавляет объект Plane, зачем? - Путь экспорта всегда относительный
brothermechanic commented 2023-03-17 19:33:05 +03:00 (Migrated from gitlab.com)
Copy link

Экспорт SDF из Phobos phobos.sdf

Экспорт SDF из Phobos [phobos.sdf](/uploads/72859adcb8dda9aa100eab15c4df3e21/phobos.sdf)
brothermechanic commented 2023-03-17 19:33:22 +03:00 (Migrated from gitlab.com)
Copy link

@solid-sinusoid можешь проверить его на валидность?

@solid-sinusoid можешь проверить его на валидность?
brothermechanic commented 2023-03-17 19:41:04 +03:00 (Migrated from gitlab.com)
Copy link

Ошибка импорта источника света sun.sdf

Traceback (most recent call last):
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/operators/io.py", line 283, in execute
    model = entity_io.entity_types[suffix]['import'](self.filepath)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/entities/sdf.py", line 1856, in importSDF
    if root.attrib['name']:
AttributeError: 'NoneType' object has no attribute 'attrib'

pre_v2.0.0

Traceback (most recent call last):
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 300, in execute
    robot = core.Robot(inputfile=self.filepath)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/core/robot.py", line 36, in __init__
    raise e
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/core/robot.py", line 31, in __init__
    super().__init__(xmlfile=xmlfile, submechanisms_file=submechanisms_file, smurffile=smurffile,
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/smurfrobot.py", line 94, in __init__
    base_robot = parse_xml(self.xmlfile)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/parser.py", line 44, in parse_xml
    xml_root = xml_root.findall("./model")[0]
IndexError: list index out of range
Ошибка импорта источника света [sun.sdf](/uploads/a11d8bd24caf78c388375499751721f4/sun.sdf) ```python Traceback (most recent call last): File "/home/bm/.config/blender/3.5/scripts/addons/phobos/operators/io.py", line 283, in execute model = entity_io.entity_types[suffix]['import'](self.filepath) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/entities/sdf.py", line 1856, in importSDF if root.attrib['name']: AttributeError: 'NoneType' object has no attribute 'attrib' ``` pre_v2.0.0 ```python Traceback (most recent call last): File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 300, in execute robot = core.Robot(inputfile=self.filepath) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/core/robot.py", line 36, in __init__ raise e File "/home/bm/.config/blender/3.5/scripts/addons/phobos/core/robot.py", line 31, in __init__ super().__init__(xmlfile=xmlfile, submechanisms_file=submechanisms_file, smurffile=smurffile, File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/smurfrobot.py", line 94, in __init__ base_robot = parse_xml(self.xmlfile) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/parser.py", line 44, in parse_xml xml_root = xml_root.findall("./model")[0] IndexError: list index out of range ```
brothermechanic commented 2023-03-17 19:43:37 +03:00 (Migrated from gitlab.com)
Copy link

Ошибка импорта мира world_empty.sdf

Traceback (most recent call last):
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/operators/io.py", line 285, in execute
    models.buildModelFromDictionary(model)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/model/models.py", line 1252, in buildModelFromDictionary
    linkmodel.setLinkTransformations(model, root)
UnboundLocalError: local variable 'root' referenced before assignment

pre_v2.0.0

Traceback (most recent call last):
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 300, in execute
    robot = core.Robot(inputfile=self.filepath)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/core/robot.py", line 36, in __init__
    raise e
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/core/robot.py", line 31, in __init__
    super().__init__(xmlfile=xmlfile, submechanisms_file=submechanisms_file, smurffile=smurffile,
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/smurfrobot.py", line 94, in __init__
    base_robot = parse_xml(self.xmlfile)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/parser.py", line 44, in parse_xml
    xml_root = xml_root.findall("./model")[0]
IndexError: list index out of range
Ошибка импорта мира [world_empty.sdf](/uploads/8d4c2e44cb70248d2eed69c0434543d2/world_empty.sdf) ```python Traceback (most recent call last): File "/home/bm/.config/blender/3.5/scripts/addons/phobos/operators/io.py", line 285, in execute models.buildModelFromDictionary(model) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/model/models.py", line 1252, in buildModelFromDictionary linkmodel.setLinkTransformations(model, root) UnboundLocalError: local variable 'root' referenced before assignment ``` pre_v2.0.0 ```python Traceback (most recent call last): File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 300, in execute robot = core.Robot(inputfile=self.filepath) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/core/robot.py", line 36, in __init__ raise e File "/home/bm/.config/blender/3.5/scripts/addons/phobos/core/robot.py", line 31, in __init__ super().__init__(xmlfile=xmlfile, submechanisms_file=submechanisms_file, smurffile=smurffile, File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/smurfrobot.py", line 94, in __init__ base_robot = parse_xml(self.xmlfile) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/parser.py", line 44, in parse_xml xml_root = xml_root.findall("./model")[0] IndexError: list index out of range ```
brothermechanic commented 2023-03-17 20:18:47 +03:00 (Migrated from gitlab.com)
Copy link

Дополнительные замечания к Phobos pre_v2.0.0

  • странная трансформация 3-й детали
    Screenshot_20230317_201059

  • не импортируется одинарная модель korobka.zip

Traceback (most recent call last):
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 301, in execute
    createRobot(robot)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/phobos2blender.py", line 455, in createRobot
    newlink = createLink(link)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/phobos2blender.py", line 209, in createLink
    geom = createGeometry(viscol, 'visual' if isinstance(viscol, representation.Visual) else "collision")
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/phobos2blender.py", line 88, in createGeometry
    newgeom.data = geometry.load_mesh()
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/representation.py", line 712, in load_mesh
    bpy.context.view_layer.objects.active = delete_objects[0]
IndexError: list index out of range
Дополнительные замечания к Phobos pre_v2.0.0 - странная трансформация 3-й детали ![Screenshot_20230317_201059](/uploads/9ee331d634b3500068ff2bc1b02117ec/Screenshot_20230317_201059.jpg) - не импортируется одинарная модель [korobka.zip](/uploads/5ce15fa4b559b8e3d14459c6d156833d/korobka.zip) ```python Traceback (most recent call last): File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 301, in execute createRobot(robot) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/phobos2blender.py", line 455, in createRobot newlink = createLink(link) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/phobos2blender.py", line 209, in createLink geom = createGeometry(viscol, 'visual' if isinstance(viscol, representation.Visual) else "collision") File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/phobos2blender.py", line 88, in createGeometry newgeom.data = geometry.load_mesh() File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/representation.py", line 712, in load_mesh bpy.context.view_layer.objects.active = delete_objects[0] IndexError: list index out of range ```
brothermechanic commented 2023-03-18 08:10:00 +03:00 (Migrated from gitlab.com)
Copy link

URDF повторяет мытарства SDF my_asm.urdf

URDF повторяет мытарства SDF [my_asm.urdf](/uploads/02ca7d21b03504c4cb33e7a87e9650a2/my_asm.urdf)
brothermechanic commented 2023-03-18 08:10:17 +03:00 (Migrated from gitlab.com)
Copy link

@solid-sinusoid можешь проверить его на валидность?

@solid-sinusoid можешь проверить его на валидность?
brothermechanic commented 2023-03-18 08:12:46 +03:00 (Migrated from gitlab.com)
Copy link

Экспорт в URDF не работает в pre_v2.0.0

Error: Python: Traceback (most recent call last):
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 141, in invoke
    return self.execute(context)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 238, in execute
    self.exportModel(root, exportpath)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 156, in exportModel
    robot = deriveRobot(root)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/blender2phobos.py", line 659, in deriveRobot
    links=[deriveLink(obj) for obj in objectlist if obj.phobostype == 'link'],
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/blender2phobos.py", line 659, in <listcomp>
    links=[deriveLink(obj) for obj in objectlist if obj.phobostype == 'link'],
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/utils/validation.py", line 802, in validation_wrapper
    return function(obj, *args, logging=logging, **kwargs)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/blender2phobos.py", line 343, in deriveLink
    collisions.append(deriveCollision(part, logging=logging))
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/blender2phobos.py", line 140, in deriveCollision
    geometry=deriveGeometry(obj, duplicate_mesh),
NameError: name 'duplicate_mesh' is not defined. Did you mean: 'duplicat_mesh'?
Экспорт в URDF не работает в pre_v2.0.0 ```python Error: Python: Traceback (most recent call last): File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 141, in invoke return self.execute(context) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 238, in execute self.exportModel(root, exportpath) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 156, in exportModel robot = deriveRobot(root) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/blender2phobos.py", line 659, in deriveRobot links=[deriveLink(obj) for obj in objectlist if obj.phobostype == 'link'], File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/blender2phobos.py", line 659, in <listcomp> links=[deriveLink(obj) for obj in objectlist if obj.phobostype == 'link'], File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/utils/validation.py", line 802, in validation_wrapper return function(obj, *args, logging=logging, **kwargs) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/blender2phobos.py", line 343, in deriveLink collisions.append(deriveCollision(part, logging=logging)) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/blender2phobos.py", line 140, in deriveCollision geometry=deriveGeometry(obj, duplicate_mesh), NameError: name 'duplicate_mesh' is not defined. Did you mean: 'duplicat_mesh'? ```
brothermechanic commented 2023-03-18 08:17:31 +03:00 (Migrated from gitlab.com)
Copy link

Пример экспорта в URDF phobos.urdf

Пример экспорта в URDF [phobos.urdf](/uploads/99536cf8eb357d3031a6fb133d7d81f0/phobos.urdf)
solid-sinusoid commented 2023-03-18 08:25:43 +03:00 (Migrated from gitlab.com)
Copy link

Ближайшие пару недель не смогу ничего проверить, так что как-то самостоятельно. Либо пусть попробует @IDONTSUDO запустить у себя посмотреть. Сам можешь проверить на текущей версии газебо

Ближайшие пару недель не смогу ничего проверить, так что как-то самостоятельно. Либо пусть попробует @IDONTSUDO запустить у себя посмотреть. Сам можешь проверить на текущей версии газебо
IDONTSUDO commented 2023-03-18 18:12:40 +03:00 (Migrated from gitlab.com)
Copy link

@brothermechanic то что ты написал можешь проверить проверить нельзя так как оно привязано к STL который хранится у тебя на компе

@brothermechanic то что ты написал можешь проверить проверить нельзя так как оно привязано к STL который хранится у тебя на компе
brothermechanic commented 2023-03-21 11:27:15 +03:00 (Migrated from gitlab.com)
Copy link

импорт составного SDF combo.zip

master

Traceback (most recent call last):
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/operators/io.py", line 285, in execute
    models.buildModelFromDictionary(model)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/model/models.py", line 1252, in buildModelFromDictionary
    linkmodel.setLinkTransformations(model, root)
UnboundLocalError: local variable 'root' referenced before assignment

pre_v2.0.0

Traceback (most recent call last):
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 301, in execute
    createRobot(robot)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/phobos2blender.py", line 471, in createRobot
    rootlink = newlinks[str(robot.get_root())]
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/xmlrobot.py", line 400, in get_root
    assert root is not None, "No roots detected, invalid URDF."
AssertionError: No roots detected, invalid URDF.
импорт составного SDF [combo.zip](/uploads/12c623ead916e6eca6895ed4b0142b63/combo.zip) master ```py Traceback (most recent call last): File "/home/bm/.config/blender/3.5/scripts/addons/phobos/operators/io.py", line 285, in execute models.buildModelFromDictionary(model) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/model/models.py", line 1252, in buildModelFromDictionary linkmodel.setLinkTransformations(model, root) UnboundLocalError: local variable 'root' referenced before assignment ``` pre_v2.0.0 ```py Traceback (most recent call last): File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 301, in execute createRobot(robot) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/phobos2blender.py", line 471, in createRobot rootlink = newlinks[str(robot.get_root())] File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/xmlrobot.py", line 400, in get_root assert root is not None, "No roots detected, invalid URDF." AssertionError: No roots detected, invalid URDF. ```
brothermechanic commented 2023-03-22 09:40:45 +03:00 (Migrated from gitlab.com)
Copy link

git branch pre_v2.0.0
git slice dfki-ric/phobos@1dc7d06a45
import issues:

  • Can't to get working relative paths
    if I import SDF from some path like //my_model/my_model.sdf with relative meshes to this sdf like model://my_model/model/my_model.stl I get this error:
    Mesh with path /media/disk/robossembler/project/pipeline/refs/paleta/model:/paleta/model/paleta.dae wasn't found!
    So, for now I use absolute paths.

  • Can't import combined SDF (with included child SDFs) like

<?xml version="1.0" encoding="utf-8"?>
<sdf version="1.9">
  <model name="combo-model">
    <pose>0 0 1 0 0 0</pose>
    <include>
      <name>model-1</name>
      <uri>~/model-1</uri>
      <pose>0 0 0 0 0 0</pose>
    </include>
    <include>
      <name>model-2</name>
      <uri>~/model-2</uri>
      <pose>0 0 0 0 0 0</pose>
    </include>
  </model>
</sdf>

I get this error with combined SDFs

Traceback (most recent call last):
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 301, in execute
    createRobot(robot)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/phobos2blender.py", line 474, in createRobot
    rootlink = newlinks[str(robot.get_root())]
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/xmlrobot.py", line 400, in get_root
    assert root is not None, "No roots detected, invalid URDF."
AssertionError: No roots detected, invalid URDF.

Traceback (most recent call last):
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 300, in execute
    robot = core.Robot(inputfile=self.filepath)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/core/robot.py", line 38, in __init__
    raise e
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/core/robot.py", line 32, in __init__
    super().__init__(xmlfile=xmlfile, submechanisms_file=submechanisms_file, smurffile=smurffile,
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/smurfrobot.py", line 94, in __init__
    base_robot = parse_xml(self.xmlfile)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/parser.py", line 42, in parse_xml
    return World.from_xml(xml_root.findall("./world")[0], dialect=file_type, _xmlfile=xml_file)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/base.py", line 322, in from_xml
    return cls.factory[dialect].from_xml(cls, xml, **kwargs)
KeyError: 'sdf'

  • Scaling conversion issue.
    As you may already know, 1 unit in blender and gazebo = 1 metter, however for other software (for ex. FreeCAD, Cura etc...) it will be 1 mm (in 1000 times smaller).
    What scale is recommended for phobos? Blender like or FreeCAD like?
    How do you solve scale incompatibility?

  • Axes Mismatch.
    When exporting from Solid Works with the SDF plugin, there is a problem that for SDF Z axis as up, and for meshes Y axis as up.
    Can you give an advice for this?

  • Armature (joints) silhouettes visually block the model.
    I would like to suggest to you, let me make new mesh silhouettes for armature, wire like?

  • Degrees of freedom to > Bone Constraints
    Looks like you have wirk in progress for it? It's don't works right.

  • There are problems with mesh shadings like shading groups, hard edges and autosmoth.

  • A similar import issues has urdf format.

I'm still learning phobos, like object's attributes and exporting, so if you don't mind, I plan to add my comments in the future.

Best regards.

git branch pre_v2.0.0 git slice https://github.com/dfki-ric/phobos/tree/1dc7d06a45c949bb1f309f206aa0e91220253645 import issues: - Can't to get working relative paths if I import SDF from some path like /<somepath>/my_model/my_model.sdf with relative meshes to this sdf like <uri>model://my_model/model/my_model.stl</uri> I get this error: `Mesh with path /media/disk/robossembler/project/pipeline/refs/paleta/model:/paleta/model/paleta.dae wasn't found!` So, for now I use absolute paths. - Can't import combined SDF (with included child SDFs) like ```xml <?xml version="1.0" encoding="utf-8"?> <sdf version="1.9"> <model name="combo-model"> <pose>0 0 1 0 0 0</pose> <include> <name>model-1</name> <uri>~/model-1</uri> <pose>0 0 0 0 0 0</pose> </include> <include> <name>model-2</name> <uri>~/model-2</uri> <pose>0 0 0 0 0 0</pose> </include> </model> </sdf> ``` I get this error with combined SDFs ``` Traceback (most recent call last): File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 301, in execute createRobot(robot) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/phobos2blender.py", line 474, in createRobot rootlink = newlinks[str(robot.get_root())] File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/xmlrobot.py", line 400, in get_root assert root is not None, "No roots detected, invalid URDF." AssertionError: No roots detected, invalid URDF. ``` - Can't import 'world' [world_empty.sdf](/uploads/ad9fa04a3f190ceba6b23b0b73cde38a/world_empty.sdf) ``` Traceback (most recent call last): File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 300, in execute robot = core.Robot(inputfile=self.filepath) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/core/robot.py", line 38, in __init__ raise e File "/home/bm/.config/blender/3.5/scripts/addons/phobos/core/robot.py", line 32, in __init__ super().__init__(xmlfile=xmlfile, submechanisms_file=submechanisms_file, smurffile=smurffile, File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/smurfrobot.py", line 94, in __init__ base_robot = parse_xml(self.xmlfile) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/parser.py", line 42, in parse_xml return World.from_xml(xml_root.findall("./world")[0], dialect=file_type, _xmlfile=xml_file) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/base.py", line 322, in from_xml return cls.factory[dialect].from_xml(cls, xml, **kwargs) KeyError: 'sdf' ``` - Scaling conversion issue. As you may already know, 1 unit in blender and gazebo = 1 metter, however for other software (for ex. FreeCAD, Cura etc...) it will be 1 mm (in 1000 times smaller). What scale is recommended for phobos? Blender like or FreeCAD like? How do you solve scale incompatibility? - Axes Mismatch. When exporting from Solid Works with the [SDF plugin](https://www.youtube.com/playlist?list=PLC-SsBhVny0XrRpYoofHT39dGeGe51UAa), there is a problem that for SDF Z axis as up, and for meshes Y axis as up. Can you give an advice for this? - Armature (joints) silhouettes visually block the model. I would like to suggest to you, let me make new mesh silhouettes for armature, [wire](https://ddz4ak4pa3d19.cloudfront.net/cache/15/13/151336245111ab45404a399431a095a5.jpg) like? - Degrees of freedom to > Bone Constraints Looks like you have wirk in progress for it? It's don't works right. - There are problems with mesh shadings like shading groups, hard edges and autosmoth. - A similar import issues has urdf format. I'm still learning phobos, like object's attributes and exporting, so if you don't mind, I plan to add my comments in the future. Best regards.
brothermechanic commented 2023-04-26 21:25:12 +03:00 (Migrated from gitlab.com)
Copy link

пример экспорта модели grip_tool размеченной мной в фобос

<?xml version="1.0"?>
<!-- created with Phobos 1.0.1 "Capricious Choutengan" -->
<sdf version="1.5">
  <model name="grip_tool">
    <link name="root">
      <pose>0 0 0 0 0 0</pose>
      <collision name="mount_lp.001">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://grip_tool/meshes/Part__Feature.002.dae</uri>
            <scale>1.0 1.0 1.0</scale>
          </mesh>
        </geometry>
      </collision>
      <visual name="mount_lp.001">
        <pose>0.0 0.0 0.0 0.0 -0.0 0.0</pose>
        <material>
          <ambient>0.8 0.8 0.8 1.0</ambient>
          <diffuse>0.8 0.8 0.8 1.0</diffuse>
          <specular>0.5 0.5 0.5 1.0</specular>
        </material>
        <geometry>
          <mesh>
            <uri>model://grip_tool/meshes/Part__Feature.003.dae</uri>
            <scale>1.0 1.0 1.0</scale>
          </mesh>
        </geometry>
      </visual>
    </link>
    <link name="link_grip_rotator">
      <pose>0 0 0.1095 0 0 0</pose>
      <collision name="grip_rotator_lp.001">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://grip_tool/meshes/Part__Feature007.002.dae</uri>
            <scale>1.0 1.0 1.0</scale>
          </mesh>
        </geometry>
      </collision>
      <visual name="grip_rotator_lp.001">
        <pose>0.0 0.0 0.0 0.0 -0.0 0.0</pose>
        <material>
          <ambient>0.8 0.8 0.8 1.0</ambient>
          <diffuse>0.8 0.8 0.8 1.0</diffuse>
          <specular>0.5 0.5 0.5 1.0</specular>
        </material>
        <geometry>
          <mesh>
            <uri>model://grip_tool/meshes/Part__Feature007.003.dae</uri>
            <scale>1.0 1.0 1.0</scale>
          </mesh>
        </geometry>
      </visual>
    </link>
    <link name="link_grip1">
      <pose>0.068 0.02375 0.1145 0 1.5708 0</pose>
      <collision name="grip1_lp.001">
        <pose>0 0 0 0 -1.5708 0</pose>
        <geometry>
          <mesh>
            <uri>model://grip_tool/meshes/grip.004.dae</uri>
            <scale>1.0 1.0 1.0</scale>
          </mesh>
        </geometry>
      </collision>
      <visual name="grip1_lp.001">
        <pose>-2.3167228135889673e-09 0.0 0.0 -0.0 -1.570796251296997 0.0</pose>
        <material>
          <ambient>0.8 0.8 0.8 1.0</ambient>
          <diffuse>0.8 0.8 0.8 1.0</diffuse>
          <specular>0.5 0.5 0.5 1.0</specular>
        </material>
        <geometry>
          <mesh>
            <uri>model://grip_tool/meshes/grip.005.dae</uri>
            <scale>1.0 1.0 1.0</scale>
          </mesh>
        </geometry>
      </visual>
    </link>
    <link name="link_grip2">
      <pose>-0.068 -0.02375 0.1145 3.14159 1.5708 0</pose>
      <collision name="grip2_lp.001">
        <pose>0 0 0 0 -1.5708 0</pose>
        <geometry>
          <mesh>
            <uri>model://grip_tool/meshes/grip.003.dae</uri>
            <scale>1.0 1.0 1.0</scale>
          </mesh>
        </geometry>
      </collision>
      <visual name="grip2_lp.001">
        <pose>1.661072168701594e-09 0.0 0.0 -1.7021841970882648e-14 -1.5707961320877075 0.0</pose>
        <material>
          <ambient>0.8 0.8 0.8 1.0</ambient>
          <diffuse>0.8 0.8 0.8 1.0</diffuse>
          <specular>0.5 0.5 0.5 1.0</specular>
        </material>
        <geometry>
          <mesh>
            <uri>model://grip_tool/meshes/grip.006.dae</uri>
            <scale>1.0 1.0 1.0</scale>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name="link_grip_rotator" type="revolute">
      <parent>root</parent>
      <child>link_grip_rotator</child>
      <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
      <axis>
        <xyz>0 0 1.0</xyz>
        <limit>
          <lower></lower>
          <upper></upper>
          <effort>2.0</effort>
          <velocity>1.0</velocity>
        </limit>
      </axis>
    </joint>
    <joint name="link_grip1" type="prismatic">
      <parent>link_grip_rotator</parent>
      <child>link_grip1</child>
      <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
      <axis>
        <xyz>0 0 1.0</xyz>
        <limit>
          <lower>-0.05</lower>
          <upper>0</upper>
          <effort>2.0</effort>
          <velocity>1.0</velocity>
        </limit>
      </axis>
    </joint>
    <joint name="link_grip2" type="prismatic">
      <parent>link_grip_rotator</parent>
      <child>link_grip2</child>
      <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
      <axis>
        <xyz>0 0 1.0</xyz>
        <limit>
          <lower>-0.05</lower>
          <upper>0</upper>
          <effort>2.0</effort>
          <velocity>1.0</velocity>
        </limit>
      </axis>
    </joint>
  </model>
</sdf>
пример экспорта модели grip_tool размеченной мной в фобос ```xml <?xml version="1.0"?> <!-- created with Phobos 1.0.1 "Capricious Choutengan" --> <sdf version="1.5"> <model name="grip_tool"> <link name="root"> <pose>0 0 0 0 0 0</pose> <collision name="mount_lp.001"> <pose>0 0 0 0 0 0</pose> <geometry> <mesh> <uri>model://grip_tool/meshes/Part__Feature.002.dae</uri> <scale>1.0 1.0 1.0</scale> </mesh> </geometry> </collision> <visual name="mount_lp.001"> <pose>0.0 0.0 0.0 0.0 -0.0 0.0</pose> <material> <ambient>0.8 0.8 0.8 1.0</ambient> <diffuse>0.8 0.8 0.8 1.0</diffuse> <specular>0.5 0.5 0.5 1.0</specular> </material> <geometry> <mesh> <uri>model://grip_tool/meshes/Part__Feature.003.dae</uri> <scale>1.0 1.0 1.0</scale> </mesh> </geometry> </visual> </link> <link name="link_grip_rotator"> <pose>0 0 0.1095 0 0 0</pose> <collision name="grip_rotator_lp.001"> <pose>0 0 0 0 0 0</pose> <geometry> <mesh> <uri>model://grip_tool/meshes/Part__Feature007.002.dae</uri> <scale>1.0 1.0 1.0</scale> </mesh> </geometry> </collision> <visual name="grip_rotator_lp.001"> <pose>0.0 0.0 0.0 0.0 -0.0 0.0</pose> <material> <ambient>0.8 0.8 0.8 1.0</ambient> <diffuse>0.8 0.8 0.8 1.0</diffuse> <specular>0.5 0.5 0.5 1.0</specular> </material> <geometry> <mesh> <uri>model://grip_tool/meshes/Part__Feature007.003.dae</uri> <scale>1.0 1.0 1.0</scale> </mesh> </geometry> </visual> </link> <link name="link_grip1"> <pose>0.068 0.02375 0.1145 0 1.5708 0</pose> <collision name="grip1_lp.001"> <pose>0 0 0 0 -1.5708 0</pose> <geometry> <mesh> <uri>model://grip_tool/meshes/grip.004.dae</uri> <scale>1.0 1.0 1.0</scale> </mesh> </geometry> </collision> <visual name="grip1_lp.001"> <pose>-2.3167228135889673e-09 0.0 0.0 -0.0 -1.570796251296997 0.0</pose> <material> <ambient>0.8 0.8 0.8 1.0</ambient> <diffuse>0.8 0.8 0.8 1.0</diffuse> <specular>0.5 0.5 0.5 1.0</specular> </material> <geometry> <mesh> <uri>model://grip_tool/meshes/grip.005.dae</uri> <scale>1.0 1.0 1.0</scale> </mesh> </geometry> </visual> </link> <link name="link_grip2"> <pose>-0.068 -0.02375 0.1145 3.14159 1.5708 0</pose> <collision name="grip2_lp.001"> <pose>0 0 0 0 -1.5708 0</pose> <geometry> <mesh> <uri>model://grip_tool/meshes/grip.003.dae</uri> <scale>1.0 1.0 1.0</scale> </mesh> </geometry> </collision> <visual name="grip2_lp.001"> <pose>1.661072168701594e-09 0.0 0.0 -1.7021841970882648e-14 -1.5707961320877075 0.0</pose> <material> <ambient>0.8 0.8 0.8 1.0</ambient> <diffuse>0.8 0.8 0.8 1.0</diffuse> <specular>0.5 0.5 0.5 1.0</specular> </material> <geometry> <mesh> <uri>model://grip_tool/meshes/grip.006.dae</uri> <scale>1.0 1.0 1.0</scale> </mesh> </geometry> </visual> </link> <joint name="link_grip_rotator" type="revolute"> <parent>root</parent> <child>link_grip_rotator</child> <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose> <axis> <xyz>0 0 1.0</xyz> <limit> <lower></lower> <upper></upper> <effort>2.0</effort> <velocity>1.0</velocity> </limit> </axis> </joint> <joint name="link_grip1" type="prismatic"> <parent>link_grip_rotator</parent> <child>link_grip1</child> <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose> <axis> <xyz>0 0 1.0</xyz> <limit> <lower>-0.05</lower> <upper>0</upper> <effort>2.0</effort> <velocity>1.0</velocity> </limit> </axis> </joint> <joint name="link_grip2" type="prismatic"> <parent>link_grip_rotator</parent> <child>link_grip2</child> <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose> <axis> <xyz>0 0 1.0</xyz> <limit> <lower>-0.05</lower> <upper>0</upper> <effort>2.0</effort> <velocity>1.0</velocity> </limit> </axis> </joint> </model> </sdf> ```
brothermechanic commented 2023-04-26 21:26:43 +03:00 (Migrated from gitlab.com)
Copy link

Screenshot_20230426_212337

![Screenshot_20230426_212337](/uploads/26726b630ec6041cc04e841b6ef21bfb/Screenshot_20230426_212337.jpg)
brothermechanic commented 2023-04-26 21:27:22 +03:00 (Migrated from gitlab.com)
Copy link

Алгоритм разметки Phobos

Screenshot_20230426_165410

Алгоритм разметки Phobos ![Screenshot_20230426_165410](/uploads/3193542071a25a40387bd5501d04f4b9/Screenshot_20230426_165410.jpg)
brothermechanic commented 2023-05-02 17:59:00 +03:00 (Migrated from gitlab.com)
Copy link

баги последней фиксации второй ветки

bpy.ops.phobos.create_links()

Error: Python: Traceback (most recent call last):
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/editing.py", line 1972, in execute
    modellinks.deriveLinkfromObject(
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/model/links.py", line 70, in deriveLinkfromObject
    link = createLink({'scale': scale, 'name': linkname, 'matrix': obj.matrix_world})
NameError: name 'createLink' is not defined


bpy.ops.phobos.create_collision_objects()

Error: Python: Traceback (most recent call last):
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/editing.py", line 1343, in execute
    bpy.ops.object.transform_apply(location=False, rotation=False, scale=True, properties=False)
  File "/usr/share/blender/3.5/scripts/modules/bpy/ops.py", line 113, in __call__
    ret = _op_call(self.idname_py(), None, kw)
RuntimeError: Error: Cannot apply to a multi user: Object "grip_rotator_collision", Mesh "Part__Feature007.003", aborting


bpy.ops.phobos.add_motor()

Error: Python: Traceback (most recent call last):
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/editing.py", line 1855, in execute
    type=self.controllerType,
  File "/usr/share/blender/3.5/scripts/modules/bpy_types.py", line 816, in __getattribute__
    return super().__getattribute__(attr)
AttributeError: 'AddMotorOperator' object has no attribute 'controllerType'


bpy.ops.phobos.export_model()

Error: Python: Traceback (most recent call last):
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 141, in invoke
    return self.execute(context)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 254, in execute
    self.exportModel(root, exportpath)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 156, in exportModel
    robot = deriveRobot(root)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/blender2phobos.py", line 700, in deriveRobot
    xml_robot = xmlrobot.XMLRobot(
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/xmlrobot.py", line 75, in __init__
    self.link_entities()
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/xmlrobot.py", line 102, in link_entities
    entity.link_with_robot(self, check_linkage_later=True)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/representation.py", line 1615, in link_with_robot
    super(Joint, self).link_with_robot(robot, check_linkage_later=True)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/base.py", line 130, in link_with_robot
    self._attr_set_name(attribute, getattr(self, "_" + attribute), no_check=True)
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/base.py", line 89, in _attr_set_name
    setattr(self, "_" + attribute, self._converter(attribute, new_value))
  File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/base.py", line 75, in _converter
    raise AssertionError(f"{str(type(self))}, can not convert {new_value} to value type {vtype} for variable {varname}")
AssertionError: <class 'phobos.io.representation.Joint'>, can not convert grip_rotator_link_joint_motor to value type motors for variable motor
баги последней фиксации второй ветки ``` bpy.ops.phobos.create_links() Error: Python: Traceback (most recent call last): File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/editing.py", line 1972, in execute modellinks.deriveLinkfromObject( File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/model/links.py", line 70, in deriveLinkfromObject link = createLink({'scale': scale, 'name': linkname, 'matrix': obj.matrix_world}) NameError: name 'createLink' is not defined bpy.ops.phobos.create_collision_objects() Error: Python: Traceback (most recent call last): File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/editing.py", line 1343, in execute bpy.ops.object.transform_apply(location=False, rotation=False, scale=True, properties=False) File "/usr/share/blender/3.5/scripts/modules/bpy/ops.py", line 113, in __call__ ret = _op_call(self.idname_py(), None, kw) RuntimeError: Error: Cannot apply to a multi user: Object "grip_rotator_collision", Mesh "Part__Feature007.003", aborting bpy.ops.phobos.add_motor() Error: Python: Traceback (most recent call last): File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/editing.py", line 1855, in execute type=self.controllerType, File "/usr/share/blender/3.5/scripts/modules/bpy_types.py", line 816, in __getattribute__ return super().__getattribute__(attr) AttributeError: 'AddMotorOperator' object has no attribute 'controllerType' bpy.ops.phobos.export_model() Error: Python: Traceback (most recent call last): File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 141, in invoke return self.execute(context) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 254, in execute self.exportModel(root, exportpath) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/operators/io.py", line 156, in exportModel robot = deriveRobot(root) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/blender/io/blender2phobos.py", line 700, in deriveRobot xml_robot = xmlrobot.XMLRobot( File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/xmlrobot.py", line 75, in __init__ self.link_entities() File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/xmlrobot.py", line 102, in link_entities entity.link_with_robot(self, check_linkage_later=True) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/representation.py", line 1615, in link_with_robot super(Joint, self).link_with_robot(robot, check_linkage_later=True) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/base.py", line 130, in link_with_robot self._attr_set_name(attribute, getattr(self, "_" + attribute), no_check=True) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/base.py", line 89, in _attr_set_name setattr(self, "_" + attribute, self._converter(attribute, new_value)) File "/home/bm/.config/blender/3.5/scripts/addons/phobos/io/base.py", line 75, in _converter raise AssertionError(f"{str(type(self))}, can not convert {new_value} to value type {vtype} for variable {varname}") AssertionError: <class 'phobos.io.representation.Joint'>, can not convert grip_rotator_link_joint_motor to value type motors for variable motor ```
brothermechanic (Migrated from gitlab.com) closed this issue 2023-05-10 15:31:52 +03:00
Sign in to join this conversation.
No Branch/Tag specified
Branches Tags
master
solve_optimizer
159-robossembler-addon
91-material-features
123-api-cg
devel
No results found.
Labels
Clear labels   
bug

   
construct

   
design

   
doc

   
documentation

   
duplicate

   
enhancement

   
feature

   
good first issue

   
help wanted

   
In Progress

   
integration

   
invalid

   
programming

   
question

   
research

   
schematics

   
test

   
wontfix

   
не срочно

   
срочно
No labels
bug
construct
design
doc
documentation
duplicate
enhancement
feature
good first issue
help wanted
In Progress
integration
invalid
programming
question
research
schematics
test
wontfix
не срочно
срочно
Milestone
Clear milestone
No items
No milestone
Projects
Clear projects
No items
No project
Assignees
Clear assignees
No assignees
1 participant
Notifications
Due date
The due date is invalid or out of range. Please use the format "yyyy-mm-dd".

No due date set.

Dependencies

No dependencies set.

Reference
robossembler/framework#52
No description provided.