48 lines
No EOL
2 KiB
Markdown
48 lines
No EOL
2 KiB
Markdown
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# Arbench
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---___!!! USE WITH CAUTION! Plugin on heavy developement !!!___---
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Annotation for robotics bench. A FreeCAD workbench for annotating frames of interest, exporting these w.r.t. the part frame, and exporting part information.
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# Installation instructions
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This workbench supports versions of FreeCAD>0.16.
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1. [Install FreeCAD](https://www.freecadweb.org/wiki/Installing)
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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.
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3. Custom workbenches are located in `.FreeCAD/Mod/` under your home directory
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`cd ~/.FreeCAD/Mod/`
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3. Either
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- Clone the repository there
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- symlink the cloned repo in there (`ln -s ./ARBench ~/.FreeCAD/ARBench`)
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4. Start the workbench by
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1. Running FreeCAD
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2. Open a STEP file
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3. Open the `ARBench` workbench
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# Usage
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## Export meta-data for part's feature frames
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1. Click a small feature e.g. a circle
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2. Press the feature frame creator (cone with a magnifying glass on it icon)
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3. Chose type of feature to create
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4. Chose feature parameters if relevant and the offset of the frame from the feature.
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5. Repeat 4 for each feature you want on each part
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6. Click a part and press the export to json button (block->textfile icon)
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7. Save json
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8. Use the json with whatever you want. E.g. [`arbench_part_publisher`](https://github.com/mahaarbo/arbench_part_publisher)
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## Generate part's model packages for Gazebo simulator
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To generate SDF model packages from FreeCAD Document just press "Gazebo Export" button in ARBench UI. It will create folder for every `Solid` part in Document (`Compound` parts currently doesn't supported) with such structure
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```
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name_of_part
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├── model.sdf
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├── meshes
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│ └── part.dae
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└── model.config
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```
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This packages will placed by default in your FreeCAD Document's folder and could be moved to gazebo model's folder for using them in sumulator. |