Packing 3D cuboids with preset items based on rectpack Copyright (c) 2020 - Loc Nguyen All rights reserved.
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Rectpack is a collection of heuristic algorithms for solving the 2D knapsack problem, also known as the bin packing problem. In essence packing a set of rectangles into the smallest number of bins.
Download the package or clone the repository, and then install with:
python setup.py installor use pypi:
pip install rectpack""" Test 3D Bin Packing Author: Loc Nguyen """ from rectpack.packer import SolPalletization from rectpack import *
import random import time import random
import matplotlib.pyplot as plt import numpy as np from matplotlib.patches import Rectangle from PIL import Image
preset_cuboids =[[0,0,0,50,50,60],[50,0,0,50,50,150],[200,200,0,50,50,300]] pack_cuiboid=[0,0,0,40,50,10] bin_size = (300,300,450)
#generate grid grid_size_w=28 grid_size_h=28
step_w=bin_size[0]/grid_size_w step_h=bin_size[1]/grid_size_h
for i in range(grid_size_w): for j in range(grid_size_h): if random.uniform(0,1)>0.5: preset_cuboids.append([step_wi,step_hj,0,step_w,step_h,random.uniform(bin_size[2]/5, bin_size[2]*5/6) ])
pack3D=SolPalletization(_bin_size=bin_size) print("Bin Size (W,H,D)=",pack3D.bin_size) #print("free rect number=",len(pack3D.packer2D._max_rects)) start= time.time() success,pack_pose=pack3D.pack(preset_cuboids,pack_cuiboid,box_pose=np.identity(4),pick_pose=np.identity(4), level_num=20,display2D=True)
end = time.time() print("Pack time=", end - start)
#DISPLAY by ROS scene if success: print("SUCCESS! pack_pose=\n",pack_pose) file1 = open("D:\packing.scene","w")
# \n is placed to indicate EOL (End of Line)
file1.write("Scene Objects for ROS \n")
file1.writelines("BIN\n\n")
file1.writelines("1\nbox\n")
file1.writelines(str(bin_size[0])+" "+str(bin_size[1])+" "+str(bin_size[2])+"\n")
file1.writelines(str(bin_size[0]/2)+" "+str(bin_size[1]/2)+" "+str(bin_size[2]/2)+"\n")
file1.writelines("0 0 0 1"+"\n")
file1.writelines("0 0 0 0"+"\n")
file1.writelines("PACKED_CUIBOID\n\n")
file1.writelines("1\nbox\n")
file1.writelines(str(pack3D.result[3])+" "+str(pack3D.result[4])+" "+str(pack3D.result[5])+"\n")
file1.writelines(str(pack3D.result[0]+pack3D.result[3]/2)+" "+str(pack3D.result[1]+pack3D.result[4]/2)+" "+str(pack3D.result[2]+pack3D.result[5]/2)+"\n")
file1.writelines("0 0 0 1"+"\n")
file1.writelines("0 0 0 0"+"\n")
for i,cuboid in enumerate(preset_cuboids):
file1.writelines("cuboid "+str(i)+"\n\n")
file1.writelines("1\nbox\n")
file1.writelines(str(cuboid[3])+" "+str(cuboid[4])+" "+str(cuboid[5])+"\n")
file1.writelines(str(cuboid[0]+cuboid[3]/2)+" "+str(cuboid[1]+cuboid[4]/2)+" "+str(cuboid[2]+cuboid[5]/2)+"\n")
file1.writelines("0 0 0 1"+"\n")
file1.writelines("0 0 0 0"+"\n")
file1.close() #to change file access modes
#===========================================
[1] Jukka Jylang - A Thousand Ways to Pack the Bin - A Practical Approach to Two-Dimensional Rectangle Bin Packing (2010)
[2] Huang, E. Korf - Optimal Rectangle Packing: An Absolute Placement Approach (2013)