Merge branch 'joss_paper' of github.com:ibois-epfl/augmented-carpentr…

…y into joss_paper

assets/illustration/meshbit_illustration/meshbit_illustration.3dm.rhl

@@ -1,3 +1,3 @@
 andre
 LAPTOP-RR341PAC
-Saturday, December 21, 2024
+Sunday, December 22, 2024

assets/illustration/meshbit_illustration/meshbit_illustration_v2.3dm.rhl

@@ -0,0 +1,3 @@
+andre
+LAPTOP-RR341PAC
+Sunday, December 22, 2024

assets/illustration/meshbit_illustration/moveit.py

@@ -0,0 +1,200 @@
+#! python3
+#r: pillow
+#r: Wand
+
+import System
+import System.Drawing
+
+import math
+import sys
+import os
+
+from wand.image import Image
+from wand.api import library
+
+import Rhino
+import Rhino.Geometry as rg
+import rhinoscriptsyntax as rs
+
+
+def gaussian(x, mu, sigma):
+    return (1.0 / (sigma * math.sqrt(2 * math.pi))) * math.exp(-0.5 * ((x - mu) / sigma) ** 2)
+
+def print_progress_bar(
+        iteration, total,
+        prefix='', suffix='',
+        decimals=1, length=10,
+        fill='▒', empty='■'):
+    percent = ("{0:." + str(decimals) + "f}").format(100 * (iteration / float(total)))
+    filled_length = int(length * iteration // total)
+    bar = fill * filled_length + empty * (length - filled_length)
+    Rhino.RhinoApp.SetCommandPrompt(f'{prefix} |{bar}| {percent}% {suffix}')
+    if iteration == total:
+        Rhino.RhinoApp.SetCommandPrompt(f'{prefix} |{bar}| {percent}% {suffix}\n')
+
+def main() -> None:
+    #------------------------------------------------------------
+    # Rhin commandline options
+    #------------------------------------------------------------
+    start_log = \
+    ">" * 60 + \
+        r"""
+                                                                 __  __       __
+        >-->-->    .--------..-----..--.--..-----.  |__||  |_     |  |  >-->-->
+          >-->-->  |          ||   _   ||   |   ||   -__|  |  ||   _|    |__|    >-->-->
+        >-->-->    |__|__|__||_____| \___/ |_____|  |__||____|  |__|  >-->-->
+        """ + "\n" + \
+        "Author: @AndreaSettimi: [email protected] (IBOIS,EPFL)" + "\n" + \
+        "Description: Animate a mesh object in Rhino and save the animation as a gif." + "\n" + \
+        "Usage: Select an object to animate and set the options." + "\n" + \
+    ">" * 60
+    print(start_log)
+
+    go = Rhino.Input.Custom.GetObject()
+    go.SetCommandPrompt("Select object to animate")
+    go.AcceptNothing(True)
+    go.ClearCommandOptions()
+    go.EnableHighlight(False)
+    __OPT_is_saving_gif = Rhino.Input.Custom.OptionToggle(False, "Off", "On")
+    __OPT_transparent_background = Rhino.Input.Custom.OptionToggle(True, "Off", "On")
+    __OPT_fps = Rhino.Input.Custom.OptionInteger(30, 0, 120)
+    __OPT_duration = Rhino.Input.Custom.OptionInteger(3500, 1, 10000)
+    _build_folder = os.path.dirname(Rhino.RhinoDoc.ActiveDoc.Path)
+    __OPT_width = Rhino.Input.Custom.OptionInteger(1500, 1, 5000)
+    __OPT_height = Rhino.Input.Custom.OptionInteger(1500, 1, 5000)
+    go.AddOptionToggle("isSavingGif", __OPT_is_saving_gif)
+    go.AddOptionToggle("TransparentBackground", __OPT_transparent_background)
+    go.AddOptionInteger("Fps", __OPT_fps)
+    go.AddOptionInteger("Duration_ms", __OPT_duration)
+    go.AddOption("BuildDirectory")
+    go.AddOptionInteger("Width", __OPT_width)
+    go.AddOptionInteger("Height", __OPT_height)
+    while True:
+        get_rc: Rhino.Input.GetResult = go.Get()
+        if go.CommandResult() == Rhino.Commands.Result.Cancel:
+            return go.CommandResult()
+        if get_rc == Rhino.Input.GetResult.Object:
+            break
+        elif get_rc == Rhino.Input.GetResult.Cancel:
+            return Rhino.Commands.Result.Cancel
+        elif get_rc == Rhino.Input.GetResult.Option:
+            option = go.Option().EnglishName
+            if option == "BuildDirectory":
+                folder = rs.BrowseForFolder("Select folder to save the animation")
+                if folder:
+                    _build_folder = folder
+            continue
+        break
+
+    go.Get()
+    obj_ref = go.Object(0)
+    mesh = obj_ref.Mesh()
+
+    _is_saving_gif = __OPT_is_saving_gif.CurrentValue
+    _transparent_background = __OPT_transparent_background.CurrentValue
+    _fps = __OPT_fps.CurrentValue
+    _duration = __OPT_duration.CurrentValue
+    _width = __OPT_width.CurrentValue
+    _height = __OPT_height.CurrentValue
+    num_frames = int(_fps * (_duration / 1000))
+    gif_delay = int(1000 / _fps) // 10 
+    print("\nOptions values:")
+    print(f"\tSaving gif: {_is_saving_gif}")
+    print(f"\tTransparent background: {_transparent_background}")
+    print(f"\tFPS: {_fps}")
+    print(f"\tNumber of frames: {num_frames}")
+    print(f"\tGif delay (hundredths secs): {gif_delay}")
+    print(f"\tDuration: {_duration}")
+    print(f"\tWidth: {_width}")
+    print(f"\tHeight: {_height}\n")
+
+    build_folder = os.path.join(_build_folder, "build")
+    if os.path.exists(build_folder):
+        for file in os.listdir(build_folder):
+            os.remove(os.path.join(build_folder, file))
+    else:
+        os.makedirs(build_folder)
+
+    if _is_saving_gif:
+        view = Rhino.RhinoDoc.ActiveDoc.Views.ActiveView
+        if view is None:
+            raise Exception("No active view found")
+        view_capture = Rhino.Display.ViewCapture()
+        view_capture.Width = _width
+        view_capture.Height = _height
+        view_capture.ScaleScreenItems = False
+        view_capture.DrawAxes = False
+        view_capture.DrawGrid = False
+        view_capture.DrawGridAxes = False
+        view_capture.TransparentBackground = _transparent_background
+
+    #------------------------------------------------------------
+    # Animation + save bitmpas on memory
+    #------------------------------------------------------------
+    # FIXME: add sub-options for rotation
+    total_rotation = 360  # << input (default: 360)
+
+    mu = num_frames // 2
+    sigma = num_frames // 6
+    gaussian_values = [gaussian(x, mu, sigma) for x in range(num_frames)]
+    max_gaussian = max(gaussian_values)
+    normalized_gaussian_values = [val / max_gaussian for val in gaussian_values]
+    total_gaussian_sum = sum(normalized_gaussian_values)
+    normalized_gaussian_values = [val / total_gaussian_sum for val in normalized_gaussian_values]
+
+    total_angle = 0
+    mesh_ctr = mesh.GetBoundingBox(True).Center
+    for i in range(num_frames):
+        angle = normalized_gaussian_values[i] * total_rotation  # scale the angle by the Gaussian value
+        total_angle += angle
+        xform = rg.Transform.Rotation(math.radians(angle), rg.Vector3d.ZAxis, mesh_ctr)
+        mesh.Transform(xform)
+        Rhino.RhinoDoc.ActiveDoc.Objects.Replace(obj_ref, mesh)
+        Rhino.RhinoDoc.ActiveDoc.Views.Redraw()
+
+        if _is_saving_gif:
+            bitmap = view_capture.CaptureToBitmap(view)
+            if bitmap is None:
+                raise Exception("Failed to capture view to bitmap")
+            bitmap.Save(os.path.join(build_folder, f"frame_{i}.png"), System.Drawing.Imaging.ImageFormat.Png)
+            print_progress_bar(i + 1, num_frames, prefix='Animate:', suffix='Complete')
+            rs.Sleep(1)
+
+    rs.UnselectAllObjects()
+
+    #------------------------------------------------------------
+    # Bake gif
+    #------------------------------------------------------------
+    if _is_saving_gif:
+        gif_path = os.path.join(build_folder, "animation.gif")
+        frames = [os.path.join(build_folder, f"frame_{i}.png") for i in range(num_frames)]
+
+        with Image() as new_gif:
+            arg2 = library.NewPixelWand()
+            library.MagickSetOption(
+                new_gif.wand,
+                b"dispose",
+                b"2"
+            )
+            for img_path in frames:
+                library.MagickReadImage(
+                    new_gif.wand,
+                    img_path.encode('utf-8')
+                )
+                new_gif.delay = gif_delay
+                print_progress_bar(frames.index(img_path) + 1, len(frames), prefix='Saving:', suffix='Complete')
+                rs.Sleep(1)
+            Rhino.RhinoApp.SetCommandPrompt("Saving gif, please wait..")
+            new_gif.save(filename=gif_path)
+
+        for frame in frames:
+            os.remove(frame)
+
+        os.system(f"start {gif_path}")
+        print(f"Animation saved to: {gif_path}")
+
+    print("Closing moveit.")
+
+
+if __name__ == "__main__":
+    main()

assets/illustration/meshbit_illustration/twist_drill_bit_32_165/twist_drill_bit_32_165/metadata.acit

@@ -0,0 +1,9 @@
+<acit version="0.1.0">
+	<toolhead name="twist_drill_bit_32_165" type="drillbit">
+		<toolbase> 0 0 0 </toolbase>
+		<tooltip> 0 0 0.162 </tooltip>
+		<eattip> 0 0 0.149602 </eattip>
+		<chucktip> 0 0 0.0399 </chucktip>
+		<radius> 0.025 </radius>
+	</toolhead>
+</acit>

assets/illustration/meshbit_illustration/twist_drill_bit_32_165/twist_drill_bit_32_165/model.initpose

@@ -0,0 +1,3 @@
+   - [ 9.50834990e-01, 2.37247661e-01, -1.99040413e-01, 2.44926587e-02,
+       -6.98316872e-01, -7.15365469e-01, -3.08712870e-01, 6.75321281e-01,
+       -6.69801235e-01, -2.26506889e-02, 2.32661795e-02, 1.76990986e-01 ]

assets/illustration/meshbit_illustration/twist_drill_bit_32_165/twist_drill_bit_32_165/model.mtl

@@ -0,0 +1,12 @@
+# Blender 3.6.0 MTL File: 'reformatter_dataset.blend'
+# www.blender.org
+
+newmtl model.004
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1
+map_Kd C:/Users/localuser/TTool/assets/toolheads_rework/ck30/model.jpg

docs/hardware/woodworking-tools.md

@@ -25,25 +25,35 @@ If you want to add your own 3d-printable mount or tool head model and share it w
 /// html | div[style='clear: both;']
 ///
 
+<!-- TODO: add drawing axo of the system of the mount on the tool with locline and camera and screen -->
 
-## Available Toolheads
 
-<!-- TODO: add rotating svg of the toolhead -->
 
-The following is a list of the available toolheads that are already integrated into the AC system. You will need to use or acquire the corresponding physical toolhead to use the AC system.
+## Available Toolheads
 
-The Zenodo repository containing the dataset is [here](https://zenodo.org/records/12578820).
+/// html | div[style='float: left; width: 52%;']
 
-<!-- TODO: add icons for the type of tool -->
+The following is a list of the available toolheads that are already integrated into the AC system. You will need to use or acquire the corresponding physical toolhead to use the AC system. Each toolhead is digitize and integrated to the dataset, the digital model is necessary to allow AC to detect the 3D position of the toolhead from the sensor stream. The Zenodo repository containing the dataset is [here](https://zenodo.org/records/12578820).
 
-{{ run_python_script('docs/scripts/get_zenodo_toolheads.py') }}
+!!! note "Toolhead integration"
+    If you want to know more about the details of the integration and how toolhead are managed in the AC system, you can read the [developer guide](../developer-guide/toolheads.md).
 
 !!! tip "Want to add a new toolhead?"
     If you want to add your own toolhead to the AC system, follow the instructions in the section [contributing](../contributing/index.md).
 
-!!! note "Toolhead integration"
-    If you want to know more about the details of the integration and how toolhead are managed in the AC system, you can read the [developer guide](../developer-guide/toolheads.md).
+///
+
+/// html | div[style='float: right;width: 45%;']
+
+![rotating model drill bit](../assets/images/getting_started/drill_anim.gif){width="500" class="rounded-corners"}
 
+///
+
+/// html | div[style='clear: both;']
+///
+
+
+{{ run_python_script('docs/scripts/get_zenodo_toolheads.py') }}
 
 ## Available 3D mounts
 
@@ -60,15 +70,12 @@ Each mount is designed with a flexible integration mechanism, allowing for the a
 
 The Zenodo repository containing the dataset is [here](https://zenodo.org/records/14531724).
 
-For convinience, here is a list of the available mounts regrouped by brands:
-
-{{ run_python_script('docs/scripts/get_zenodo_mounts.py') }}
-
 !!! tip "Want to add a new mount?"
     If you want to add your own toolhead to the AC system, follow the instructions in the section [contributing](../contributing/index.md).
 
-<!-- TODO: add example and images on how to integrate our prototype with the loc line and the magnet -->
+{{ run_python_script('docs/scripts/get_zenodo_mounts.py') }}
 
+<!-- TODO: add example and images on how to integrate our prototype with the loc line and the magnet -->
 
 <!-- TODO: update -->
 ## Components list

mkdocs.yml

@@ -272,5 +272,5 @@ nav:
 
   - Publications: publications/index.md
 
-  - Team:
+  - Research team:
     - team/index.md