Model import

.gitignore

@@ -2,4 +2,6 @@ __pycache__
 notes.txt
 .vscode
 test.py
-out.xml
+out.xml
+fnrpl.sh
+TODO.txt

InitGui.py

@@ -22,9 +22,9 @@ def Initialize(self):
 		__dirname__ = os.path.join(FreeCAD.getUserAppDataDir(), "Mod", "RobotDescriptor")
 		#print("got dir:" + __dirname__);
 
-		from robot_descriptor import initialize 
+		from robot_descriptor import initialize ,model_editor
 		from robot_descriptor.sdf_elements import world
-		self.list = ['RD_initialize','world_properties']
+		self.list = ['RD_initialize','world_properties','Model_Editor']
 		self.appendToolbar("RobotDescription",self.list) # creates a new toolbar with your commands
 		self.appendMenu("Robot Description",self.list) # creates a new menu
 		#self.appendMenu(["Robot Description","Tools"],self.list) # appends a submenu to an existing menu

robot_descriptor/RD_parser/RD_parse_sdf.py → robot_descriptor/RD_utils/RD_parse_sdf.py

@@ -1,6 +1,6 @@
 import xml.etree.ElementTree as ET
 import os 
-from .. import RD_globals
+from .. import common
 
 
 

robot_descriptor/RD_parser/initialize_element_tree.py → robot_descriptor/RD_utils/initialize_element_tree.py

@@ -1,5 +1,5 @@
 
-from .. import RD_globals
+from .. import common
 
 from . import  RD_parse_sdf
 
@@ -63,7 +63,7 @@ def get_element(self)->ET.Element:
     t=convdict_2_tree("world.sdf")
     tree=t.get_tree
     elm=t.get_elements
-    e_elem=RD_globals.set_xml_data('linear_velocity',elm,False,[12,9,8])
+    e_elem=common.set_xml_data('linear_velocity',elm,False,[12,9,8])
     e_elem_t=ET.ElementTree(e_elem)
     tree.write("out.xml",encoding='utf8',xml_declaration=True)
     e_elem_t.write("out.xml",encoding='utf8',xml_declaration=True)

robot_descriptor/RD_utils/parse_asm4_model.py

@@ -0,0 +1,98 @@
+import FreeCAD
+import FreeCADGui
+import robot_descriptor.common as common
+import os
+
+'''
+assembly4 Technical manual 
+https://github.com/Zolko-123/FreeCAD_Assembly4/blob/master/TECHMANUAL.md
+
+'''
+
+def read_assembly():
+    links=FreeCAD.ActiveDocument.findObjects("App::Link")
+
+    #get all objects of type part feature 
+    objs=FreeCAD.ActiveDocument.findObjects("Part::Feature")
+    #get objects in the parts group  
+    parts=FreeCAD.ActiveDocument.Parts.Group
+    #get fasteners since fasteners might not be  accesed through links 
+    #remove objects in parts , coordinate systems 
+    #coordinate systems are removed by checking the MapMode attribute
+    #hopefully this is will get only fasteners 
+    fasteners=[fast for fast in objs if fast not in parts and not hasattr(fast,'MapMode')]
+
+    #ensure that the link and the fastener are not the same object 
+    #this might occur when the parts folder contains some parts that are used in the  assembly 
+    #get link documents 
+    lnk_docs=[lnk.LinkedObject.Document for lnk in links]
+    for fastener in fasteners:
+        if fastener.Document not  in lnk_docs:
+            links.append(fastener) 
+
+        #links in Assembly4 are of type "App::Link" 
+        #this is a list 
+        #this will store a list of dictionaries 
+    def create_structure(data,dest):
+        #check the parent objects 
+        #since data is a list of dictionaries 
+        #for every element int he list check  if its parent is  dest 
+        children=[child for child in data if child["parent"]==dest["name"]]
+        #return of no children are found 
+        if len (children)==0:
+            return
+        #append the children to the current item 
+        for ch in children:
+            dest["children"].append(ch)
+            create_structure(data,ch)
+
+
+    link_data=[]
+    #create the root parent
+    structured_data={}
+
+    #links that have been iterated and not references 
+    non_refs=[]
+    for child in links:
+
+        name=child.Label
+            #attachedTo returns a string of the format 'Parent Assembly#LCS_Origin' hence
+            #hence separating by the the '#' and  taking the first element will be the parent 
+            #the 2nd the coordinate system its attached to 
+        parent,attachement=child.AttachedTo.split('#')
+        #returned type has '#' preceeding the coordinate remove it 
+        attached_by=child.AttachedBy.replace('#','')
+        if hasattr(child,"LinkedObject") :
+            #get links  which refer to the same document
+            ref=[r for r in non_refs if r.LinkedObject.Document ==child.LinkedObject.Document]
+            if len(ref)==1:
+            #set type as reference i.e its a copy of a link that already exists in the assembly 
+                link_data.append({"ref_label":ref[0].Label,"type":"ref","link":child,"name":name,"parent":parent,"attached_to":attachement,"attached_by":attached_by,'children':[]})
+            elif len(ref)==0:
+               link_data.append({"ref_label":None,"type":"link","link":child,"name":name,"parent":parent,"attached_to":attachement,"attached_by":attached_by,'children':[]})
+               non_refs.append(child)
+            else:
+                FreeCAD.Console.PrintDeveloperError("parse_asm4:error getting refs no than 1 were found, this is  a bug \n")
+                return
+        else:
+            #add fasterners and other too 
+            link_data.append({"ref_label":None,"type":"link","link":child,"name":name,"parent":parent,"attached_to":attachement,"attached_by":attached_by,'children':[]})
+
+        #create a  hierarchial data 
+        if hasattr(child,"LinkedObject"):
+            if hasattr(child.LinkedObject.Document,"Assembly"):
+                FreeCAD.Console.PrintError("Sub assemblies not supported yet \n")
+                return None
+        root_lcs=FreeCAD.ActiveDocument.findObjects("PartDesign::CoordinateSystem")
+        structured_data={"ref_label":None,"type":"link","link":None,'name':"Parent Assembly","attachment":None,"coordinate_systems":root_lcs,"children":[]}
+
+        #this will just create a hierarchial data representation 
+    create_structure(link_data,structured_data)
+    del link_data
+    del non_refs
+    return structured_data
+
+
+def get_pose_info():
+    pass
+

robot_descriptor/RD_globals.py → robot_descriptor/common.py

@@ -14,10 +14,10 @@
 
 
 
-
+import os 
 import FreeCAD
-ICON_PATH=FreeCAD.getUserAppDataDir()+"Mod/RobotDescriptor/robot_descriptor/icons"
-UI_PATH=FreeCAD.getUserAppDataDir()+"Mod/RobotDescriptor/robot_descriptor/forms"
+ICON_PATH=os.path.join(FreeCAD.getUserAppDataDir()+"Mod","RobotDescriptor","robot_descriptor","icons")
+UI_PATH=os.path.join(FreeCAD.getUserAppDataDir()+"Mod","RobotDescriptor","robot_descriptor","forms")
 DOCUMENT=FreeCAD.ActiveDocument
 import copy
 import xml.etree.ElementTree as ET
@@ -78,7 +78,7 @@ def set_xml_data(element:ET.Element,tag:str,Is_Attribute:bool,value:Union[dict,f
     #no need for a loop
     try:
         elem=elem_iter.__next__()
-    except:
+    except Exception:
         return None
         # ensure no dictionaries are sent for non attributes 
     if Is_Attribute is False and isinstance(value,dict) is False:
@@ -90,7 +90,7 @@ def set_xml_data(element:ET.Element,tag:str,Is_Attribute:bool,value:Union[dict,f
     else:
         #add/edit  attributes 
         for key in value.keys():
-            elem.set(key,value[key])
+            elem.set(key,str(value[key]))
     return element
 
 
@@ -114,9 +114,9 @@ def get_value(elem_data):
             try:
                 try:
                     return int(elem_data)
-                except:
+                except Exception:
                     return float(elem_data)    
-            except:
+            except Exception:
                 return elem_data
 
     if Is_Attribute is not True:
@@ -126,7 +126,7 @@ def get_value(elem_data):
     #only a single element exists no need to use a for loop
     try:
         elem=elem_iter.__next__()
-    except:
+    except Exception:
         return None
     if Is_Attribute is False:
         txt=elem.text
@@ -138,9 +138,9 @@ def get_value(elem_data):
         try:
             try:
                 return   int(elem.attrib[tag[1]])
-            except:
+            except Exception:
                 return float(elem.attrib[tag[1]])
-        except:
+        except Exception:
             return   elem.attrib[tag[1]]
 
 #deleting attributes
@@ -165,14 +165,17 @@ def parse_dict(root_dict:dict,path:list):
 
 # used to track the current index of the path list  
     current_idx=0
+    #if only  one element is left return it 
     if len(path)==1:
         if path[-1]=='sdf':
                 return root_dict[path[-1]]
+        #check if the element exists
         elif path[-1] in list(root_dict.keys()):
                 return root_dict[path[-1]]
         else: 
             return None
     else:
+        #get the first item in the dictionary
         parent_key=path[current_idx]
         current_idx+=1
 #child element tag
@@ -202,6 +205,7 @@ def update_dictionary(path:list,child_tag:Union[str,None],elem:Union[list,ET.Ele
 
     parent_dict=parse_dict(elem_dict,path)
     if parent_dict is not None:
+        #this allows update of an element  not its children basically None means not the children
         if child_tag is None:
             if isinstance(elem,list):
                 parent_dict["elem_str"]=list(map(lambda e:ET.tostring(e,encoding="unicode"),elem))
@@ -245,21 +249,28 @@ def merge_elements(destination_el:ET.Element,source_el:ET.Element,recursive:bool
 #implemtatation for all other elements 
 #the ones that are not recursive and not physics                 
     else:
+        # Update attributes of destination_el with source_el
         destination_el.attrib.update(source_el.attrib)
+        if source_el.text:
+            destination_el.text = source_el.text
+    # Merge child elements recursively
         for child in source_el:
-            existing_el=destination_el.find(child.tag)
+            existing_el = destination_el.find(child.tag)
             if existing_el is not None:
-                destination_el.remove(existing_el)
-                destination_el.append(child)
+                merge_elements(existing_el, child)  # Recursively merge the existing element with the new one
             else:
-                destination_el.append(child)
+            # If the element doesn't exist in destination, simply append it
+                # destination_el.append(child)
+                pass
 
 
 import math 
 from PySide.QtGui import QColorDialog
 
 
 class color_pickr:
+    '''class that implements color picker methods 
+    '''
     def __init__(self) -> None:
         pass
     #color picker