69 lines
2.6 KiB
Markdown
69 lines
2.6 KiB
Markdown
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# Arbench
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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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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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# Freecad to Gazebo exporter
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To generate SDF and URDF model from freecad assembly use python call:
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```python
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freecad_exporter.export_gazebo_model(freecad_assembly_file, model_destination_folder, config)
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```
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Note: Only links and joints are generated in the SDF model. To use the model with ros, use the URDF model.
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## Config specification
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```json
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{
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"name": "robot_name",
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"joints_limits": {"upper": 90, "lower": -90, "effort": 10, "velocity": 5},
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"transmission": {
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"type": "transmission_interface/SimpleTransmission",
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"hardware_interface": "hardware_interface/PositionJointInterface"
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},
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"joints_config": {
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"type": "position_controllers/JointGroupPositionController",
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"grouped": true
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},
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"joints_pid": {"p": 20.0, "i": 10.0, "d": 0.0, "i_clamp": 0.0},
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"root_link": "base_link",
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"ros_package": "humanoid_17dof_description",
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"sdf_only": false,
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"export": true
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}
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```
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**sdf_only**: Export only SDF.
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**export**: Export mesh files.
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## Future plans
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* Extend collada exporter to export materials from assemblies.
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* Create a FreeCAD workbench to interactively assign joints and export to gazebo.
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* Support any valid structures of assemblies.
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