91 lines
3.6 KiB
Python
91 lines
3.6 KiB
Python
"""Build, validate, and export the leg-wheel robot dog leg example."""
|
|
|
|
from __future__ import annotations
|
|
|
|
import json
|
|
import sys
|
|
from pathlib import Path
|
|
|
|
import simplecadapi as scad
|
|
|
|
from leg_assembly import make_leg_wheel_robot_dog_leg_rassembly
|
|
from actuator import make_actuator_materials_rdict
|
|
from leg_common import ground_compound
|
|
from leg_materials import make_leg_materials_rdict
|
|
from leg_dimensions import validate_leg_interface_dimensions
|
|
|
|
|
|
# Example 16's reducer graph is intentionally deep because of herringbone gears.
|
|
sys.setrecursionlimit(40000)
|
|
|
|
OUT_DIR = Path("examples/out/leg_wheel_robot_dog_leg")
|
|
|
|
|
|
def _build_leg_wheel_robot_dog_leg():
|
|
validate_leg_interface_dimensions()
|
|
actuator_materials = make_actuator_materials_rdict()
|
|
leg_materials = make_leg_materials_rdict()
|
|
with scad.GraphSession(graph_id="leg_wheel_robot_dog_leg") as session:
|
|
assembly = make_leg_wheel_robot_dog_leg_rassembly(
|
|
actuator_materials=actuator_materials,
|
|
leg_materials=leg_materials,
|
|
)
|
|
preview = scad.make_compound_from_assembly_rcompound(assembly=assembly)
|
|
ground_compound(label="leg_preview", compound=preview)
|
|
leaf_ops = [node.op for node in session.graph.leaf_nodes()]
|
|
print(f"leg_graph_results: leaves={len(leaf_ops)} ops={','.join(leaf_ops)}")
|
|
if leaf_ops != ["make_compound_from_assembly_rcompound"]:
|
|
raise RuntimeError("Leg graph contains detached source results")
|
|
session_json = scad.export_session_json(session=session)
|
|
model_json = scad.export_model_json(session=session)
|
|
return assembly, preview, model_json, session_json
|
|
|
|
|
|
def main() -> None:
|
|
OUT_DIR.mkdir(parents=True, exist_ok=True)
|
|
model_path = OUT_DIR / "leg_wheel_robot_dog_leg.model.json"
|
|
session_path = OUT_DIR / "leg_wheel_robot_dog_leg.session.json"
|
|
step_path = OUT_DIR / "leg_wheel_robot_dog_leg.step"
|
|
fcstd_path = OUT_DIR / "leg_wheel_robot_dog_leg.FCStd"
|
|
if fcstd_path.exists():
|
|
fcstd_path.unlink()
|
|
|
|
assembly, preview, model_json, session_json = _build_leg_wheel_robot_dog_leg()
|
|
model_path.write_text(model_json, encoding="utf-8")
|
|
session_path.write_text(session_json, encoding="utf-8")
|
|
scad.export_step(shapes=preview, filename=str(step_path))
|
|
|
|
imported = scad.import_model_json(json_str=model_json)
|
|
replayed = scad.replay_model_json(json_str=model_json)
|
|
payload = json.loads(model_json)
|
|
|
|
fcstd_status = "not attempted"
|
|
try:
|
|
scad.translator.freecad_translator.translate_model_json_to_fcstd(
|
|
json_str=model_json,
|
|
output_path=str(fcstd_path.resolve()),
|
|
document_name="LegWheelRobotDogLeg",
|
|
freecad_cmd=None,
|
|
)
|
|
fcstd_status = f"{fcstd_path} ({fcstd_path.stat().st_size} bytes)"
|
|
except Exception as exc: # pragma: no cover - depends on local FreeCAD install
|
|
fcstd_status = f"skipped ({exc.__class__.__name__}: {exc})"
|
|
|
|
print(f"assembly={assembly.assembly_id}")
|
|
print("components=" + ",".join(assembly.component_ids()))
|
|
print("constraints=" + ",".join(assembly.constraint_ids()))
|
|
print(f"preview_solids={len(preview.get_solids())}")
|
|
print(f"preview_volume={preview.get_volume():.3f}")
|
|
print(f"imported_keys={','.join(sorted(imported.keys()))}")
|
|
print(f"replay_outputs={len(replayed)}")
|
|
print("replay_types=" + ",".join(type(item).__name__ for item in replayed))
|
|
print(f"graph_nodes={len(payload['graph']['nodes'])}")
|
|
print(f"model={model_path}")
|
|
print(f"session={session_path}")
|
|
print(f"step={step_path}")
|
|
print(f"fcstd={fcstd_status}")
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|