i do not see the workbench

[Dawsatek22]

i try to install the workbench on a appimage version of freecad but when i restart the app the workbench does not appear

[drfenixion]

Hello. Problem is that your FreeCAD AppImage python version (inside it) not 3.12. Maybe it 3.11 or 3.10. Use bash script to run RobotCAD in container (it will install FreeCAD conda build with py3.12 inside) or use conda FreeCAD build with python 3.12 (inside FreeCAD) manually.

It is can be there is not currently FreeCAD AppImage with python 3.12.

Also logs you can see in FreeCAD ReportView panel.

[drfenixion]

I added Conda FreeCAD py3.12 installation instruction to Readme if you prefer to install it manually.
https://github.com/drfenixion/freecad.robotcad/blob/main/README.md#installation

[Dawsatek22]

i have it shown installed in the addon manager. but it does not show up in the workbench selection menu.

[Shaw-Way]

I installed via the Addon manager, but when restart FreeCAD, it report following error:

During initialization the error "cannot import name 'init_stacks' from 'xacro' (/home/nvidia/miniconda3/envs/freecad/lib/python3.12/site-packages/xacro/__init__.py)" occurred in freecad.cross
--------------------------------------------------------------------------------
Traceback (most recent call last):
  File "<string>", line 235, in InitApplications
  File "/home/nvidia/miniconda3/envs/freecad/lib/python3.12/importlib/__init__.py", line 90, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "<frozen importlib._bootstrap>", line 1387, in _gcd_import
  File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
  File "<frozen importlib._bootstrap>", line 1331, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 935, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 999, in exec_module
  File "<frozen importlib._bootstrap>", line 488, in _call_with_frames_removed
  File "/home/nvidia/.local/share/FreeCAD/Mod/freecad.robotcad/freecad/cross/init_gui.py", line 4, in <module>
    from .ui import command_assembly_from_urdf  # noqa: F401
    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/nvidia/.local/share/FreeCAD/Mod/freecad.robotcad/freecad/cross/ui/command_assembly_from_urdf.py", line 6, in <module>
    from freecad.cross.robot_from_urdf import assembly_from_urdf_path  # FreeCAD's PySide!
    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/nvidia/.local/share/FreeCAD/Mod/freecad.robotcad/freecad/cross/robot_from_urdf.py", line 15, in <module>
    from freecad.cross.urdf_loader import UrdfLoader
  File "/home/nvidia/.local/share/FreeCAD/Mod/freecad.robotcad/freecad/cross/urdf_loader.py", line 11, in <module>
    from xacro import init_stacks, process_doc, XacroException
ImportError: cannot import name 'init_stacks' from 'xacro' (/home/nvidia/miniconda3/envs/freecad/lib/python3.12/site-packages/xacro/__init__.py)

[drfenixion]

@Shaw-Way, looks like it is related to old version of Xacro on pip that installed automatically if you dont have xacro.

I cant currenly test and fix that on my side because have problem with internet connection to conda package files.
If Conda works fine for you. You can try to uninstall Xacro from PIP (where old not suited version) and install Xacro via Conda https://anaconda.org/robostack-jazzy/ros-jazzy-xacro/. Remember install it to RobotCAD namespace (conda activate freecad_1_0_312).
Other way is install Xacro from dependency package of RobotCAD https://github.com/drfenixion/freecad.robotcad/tree/main/docker/ros2_ws/src/freecad_cross_rosdep via rosdep install
and source ROS2 workspace after that.

Also you can just use fast run script. It will install all required in container https://github.com/drfenixion/freecad.robotcad?tab=readme-ov-file#fast-install-and-run

@Shaw-Way. let me know if helps or not.

[drfenixion]

@Dawsatek22, copy-paste here error from FreeCAD Report view.

[Dawsatek22]

i try to open with script%docker but the only workbench i got was 1 called: robotdescriptor but when i try to install from flathub version of freecad i can click install on robot cad but it does not response

[drfenixion]

@Shaw-Way, i have problem currently with my internet connection to Conda package file and cant test.

But you can try this:

conda create -n freecad_1_0_312_test freecad=1.0.0=py312h0c3bf70_4 python=3.12 && \
conda activate freecad_1_0_312_test && \
conda install numpy pandas matplotlib requests qt6-wayland pycollada
conda install robostack-jazzy::ros-jazzy-xacro
cd ~/.local/share/FreeCAD/Mod
git clone https://github.com/drfenixion/freecad.robotcad.git
cd -
freecad

It should installs freecad from conda with correct Xacro and directly install RobotCAD by git clone.

[drfenixion]

@Shaw-Way, @Dawsatek22, i tested and updated installation by Conda in Installation section.

If your issue is persist try it https://github.com/drfenixion/freecad.robotcad?tab=readme-ov-file#installation
but remove conda freecad_1_0_312 env before (conda deactivate && conda remove --name freecad_1_0_312 --all) if exist.

Let me know if all work fine for you or not.

[Dawsatek22]

i can now access the robotcad on the freecad.docker version but i cannot on the flatpack or appimage versions. and on the docker i cannot access my other files.

[drfenixion]

@Dawsatek22 did you tried conda version? https://github.com/drfenixion/freecad.robotcad?tab=readme-ov-file#installation
It must work.

AppImage has not suited Python version inside. It required to be py3.12. i did not tested Flatpack but most likely there is also not suited Python version.

on the docker i cannot access my other files.

Folder (docker/freecad/freecad_projects_save_dir) is binded to container from host by RobotCAD fast run script https://github.com/drfenixion/freecad.robotcad?tab=readme-ov-file#fast-install-and-run
https://github.com/drfenixion/freecad.robotcad/tree/main/docker/freecad/freecad_projects_save_dir

Save your project file there and select them from FreeCAD open dialog from that dir from container. Same on reverse way.

[Shaw-Way]

@Shaw-Way, looks like it is related to old version of Xacro on pip that installed automatically if you dont have xacro.

I cant currenly test and fix that on my side because have problem with internet connection to conda package files. If Conda works fine for you. You can try to uninstall Xacro from PIP (where old not suited version) and install Xacro via Conda https://anaconda.org/robostack-jazzy/ros-jazzy-xacro/. Remember install it to RobotCAD namespace (conda activate freecad_1_0_312). Other way is install Xacro from dependency package of RobotCAD https://github.com/drfenixion/freecad.robotcad/tree/main/docker/ros2_ws/src/freecad_cross_rosdep via rosdep install and source ROS2 workspace after that.

Also you can just use fast run script. It will install all required in container https://github.com/drfenixion/freecad.robotcad?tab=readme-ov-file#fast-install-and-run

@Shaw-Way. let me know if helps or not.

Thank you for your patient response. After adding the following code to python3.12/site-packages/xacro/__init__.py, it is now working fine.

def init_stacks(file):
    global filestack
    global macrostack
    filestack = [file]
    macrostack = []

The function was removed in xacro version 1.13.3.

[Dawsatek22]

okay that works if you wanna hear more how i do with robot cad i willl give headsup

[Dawsatek22]

i got the robot cad working but when i get tho point of set placement i get this: `Running the Python command 'SetCROSSPlacementFast' failed:
Traceback (most recent call last):
File "/home/d22/.local/share/FreeCAD/Mod/freecad.robotcad/freecad/cross/ui/command_set_placement_fast.py", line 59, in Activated
set_placement_fast()
File "/home/d22/.local/share/FreeCAD/Mod/freecad.robotcad/freecad/cross/wb_utils.py", line 1308, in set_placement_fast
set_placement_by_orienteer(doc, joint, 'Origin', parent_orienteer)
File "/home/d22/.local/share/FreeCAD/Mod/freecad.robotcad/freecad/cross/wb_utils.py", line 738, in set_placement_by_orienteer
placement1 = get_placement_of_orienteer(orienteer1, lcs_concentric_reversed = True)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/d22/.local/share/FreeCAD/Mod/freecad.robotcad/freecad/cross/wb_utils.py", line 807, in get_placement_of_orienteer
lcs, body_lcs_wrapper, placement = make_lcs_at_link_body(orienteer, delete_created_objects, lcs_concentric_reversed)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/d22/.local/share/FreeCAD/Mod/freecad.robotcad/freecad/cross/wb_utils.py", line 896, in make_lcs_at_link_body
original_obj_wrapper.addObject(body_lcs_wrapper)

{'sclassname': 'N4Base10ValueErrorE', 'sErrMsg': 'Body: object is not allowed', 'sfile': '', 'iline': 0, 'sfunction': '', 'swhat': 'Body: object is not allowed', 'btranslatable': False, 'breported': False}is that normal? i try to follow this video:https://youtu.be/NUw6PLPC4x4?si=fvD7yKbJof8DzqVl`

[drfenixion]

@Dawsatek22, you did not attach sreenshot of selected objects but most likely one of objects or both you selected not suited for Set Fast Placement tool.

Suited selection: face or edge or vertex or LCS of solid body of Real Element of Link. One selection for one link and that links must be joined to each other.