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doc/assy: add constraints (#850)

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* doc/assy: add constraints

* doc/gen_colors.py: add script for generating color list

* doc/assy: initial locations
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.. _assytutorial:
***********************
Assembly Tutorial
***********************
**********
Assemblies
**********
Introduction
============
Assembly tutorial
-----------------
The purpose of this section is to demonstrate how to use the assembly and constraints
functionality to build a realistic model. It will be a enclosure door assembly made out of 20x20 v-slot profiles.
@ -373,3 +373,872 @@ STEP can be loaded in all CAD tool, e.g. in FreeCAD and the XML be used in other
In the case of STEP colors are preserved but not transparency.
.. image:: _static/door_assy_freecad.png
Object locations
----------------
Objects can be added to an assembly with initial locations supplied, such as:
.. cadquery::
import cadquery as cq
cone = cq.Solid.makeCone(1, 0, 2)
assy = cq.Assembly()
assy.add(
cone,
loc=cq.Location(cq.Vector(0, 0, 0), cq.Vector(1, 0, 0), 180),
name="cone0",
color=cq.Color("green")
)
assy.add(cone, name="cone1", color=cq.Color("blue"))
show_object(assy)
As an alternative to the user calculating locations, constraints and the method
:meth:`~cadquery.Assembly.solve` can be used to position objects in an assembly.
If initial locations and the method :meth:`~cadquery.Assembly.solve` are used the solver will
overwrite these initial locations with it's solution, however initial locations can still affect the
final solution. In an underconstrained system the solver may not move an object if it does not
contribute to the cost function, or if multiple solutions exist (ie. multiple instances
where the cost function is at a minimum) initial locations can cause the solver to converge on one
particular solution. For very complicated assemblies setting approximately correct initial locations
can also reduce the computational time requred.
Constraints
-----------
Constraints are often a better representation of the real world relationship the user wants to
model than directly supplying locations. In the above example the real world relationship is that
the bottom face of each cone should touch, which can be modelled with a Plane constraint. When the
user provides explicit locations (instead of constraints) then they are also reponsible for updating
them when, for example, the location of ``cone1`` changes.
When at least one constraint is supplied and the method :meth:`~cadquery.Assembly.solve` is run, an
optimization problem is set up. Each constraint provides a cost function that depends on the
position and orientation (represented by a :class:`~cadquery.Location`) of the two objects specified
when creating the constraint. The solver varies the location of the assembly's children and attempts
to minimize the sum of all cost functions. Hence by reading the formulae of the cost functions
below, you can understand exactly what each constraint does.
Point
=====
The Point constraint is a frequently used constraint that minimizes the distance between two points.
Some example uses are centering faces or aligning verticies, but it is also useful with dummy
vertices to create offsets between two parts.
The cost function is:
.. math::
( param - \lvert \vec{ c_1 } - \vec{ c_2 } \rvert ) ^2
Where:
- :math:`param` is the parameter of the constraint, which defaults to 0,
- :math:`\vec{ c_i }` is the center of the ith object, and
- :math:`\lvert \vec{ v } \rvert` is the modulus of :math:`\vec{ v }`, ie. the length of
:math:`\vec{ v }`.
When creating a Point constraint, the ``param`` argument can be used to specify a desired offset
between the two centers. This offset does not have a direction associated with it, if you want to
specify an offset in a specific direction then you should use a dummy :class:`~cadquery.Vertex`.
The Point constraint uses the :meth:`~cadquery.occ_impl.Shape.Center` to find the center of the
argument. Hence it will work with all subclasses of :class:`~caquery.occ_impl.Shape`.
.. cadquery::
import cadquery as cq
# Use the Point constraint to position boxes relative to an arc
line = cq.Edge.makeCircle(radius=10, angle1=0, angle2=90)
box = cq.Workplane().box(1, 1, 1)
assy = cq.Assembly()
assy.add(line, name="line")
# position the red box on the center of the arc
assy.add(box, name="box0", color=cq.Color("red"))
assy.constrain("line", "box0", "Point")
# position the green box at a normalized distance of 0.8 along the arc
position0 = line.positionAt(0.8)
assy.add(box, name="box1", color=cq.Color("green"))
assy.constrain(
"line", cq.Vertex.makeVertex(*position0.toTuple()), "box1", box.val(), "Point",
)
# position the orange box 2 units in any direction from the green box
assy.add(box, name="box2", color=cq.Color("orange"))
assy.constrain(
"line",
cq.Vertex.makeVertex(*position0.toTuple()),
"box2",
box.val(),
"Point",
param=2,
)
# position the blue box offset 2 units in the x direction from the green box
position1 = position0 + cq.Vector(2, 0, 0)
assy.add(box, name="box3", color=cq.Color("blue"))
assy.constrain(
"line", cq.Vertex.makeVertex(*position1.toTuple()), "box3", box.val(), "Point",
)
assy.solve()
show_object(assy)
Axis
====
The Axis constraint minimizes the angle between two vectors. It is frequently used to align faces
and control the rotation of an object.
The cost function is:
.. math::
( k_{ dir } \times ( param - \vec{ d_1 } \angle \vec{ d_2 } ) ^2
Where:
- :math:`k_{ dir }` is a scaling factor for directional constraints,
- :math:`param` is the parameter of the constraint, which defaults to :math:`\pi` radians,
- :math:`\vec{d_i}` is the direction created from the ith object argument as described below, and
- :math:`\vec{ d_1 } \angle \vec{ d_2 }` is the angle in radians between :math:`\vec{ d_1 }` and
:math:`\vec{ d_2 }`.
The argument ``param`` defaults to :math:`\pi` radians, which sets the two directions opposite
to each other. This represents what is often called a "mate" relationship, where the external faces
of two objects touch.
.. cadquery::
import cadquery as cq
cone = cq.Solid.makeCone(1, 0, 2)
assy = cq.Assembly()
assy.add(cone, name="cone0", color=cq.Color("green"))
assy.add(cone, name="cone1", color=cq.Color("blue"))
assy.constrain("cone0@faces@<Z", "cone1@faces@<Z", "Axis")
assy.solve()
show_object(assy)
If the ``param`` argument is set to zero, then the two objects will point in the same direction.
This is often used when one object goes through another, such as a pin going into a hole in a plate:
.. cadquery::
import cadquery as cq
plate = cq.Workplane().box(10, 10, 1).faces(">Z").workplane().hole(2)
cone = cq.Solid.makeCone(0.8, 0, 4)
assy = cq.Assembly()
assy.add(plate, name="plate", color=cq.Color("green"))
assy.add(cone, name="cone", color=cq.Color("blue"))
# place the center of the flat face of the cone in the center of the upper face of the plate
assy.constrain("plate@faces@>Z", "cone@faces@<Z", "Point")
# set both the flat face of the cone and the upper face of the plate to point in the same direction
assy.constrain("plate@faces@>Z", "cone@faces@<Z", "Axis", param=0)
assy.solve()
show_object(assy)
In creating an Axis constraint, a direction vector is extracted in one of three different ways,
depending on the object's type.
:class:`~cadquery.Face`:
Using :meth:`~cadquery.Face.normalAt`
:class:`~cadquery.Edge` and :meth:`~cadquery.Shape.geomType` is ``"CIRCLE"``:
Using :meth:`~cadquery.Mixin1D.normal`
:class:`~cadquery.Edge` and :meth:`~cadquery.Shape.geomType` is not ``"CIRCLE"``:
Using :meth:`~cadquery.Mixin1D.tangentAt`
Using any other type of object will raise a :exc:`ValueError`. By far the most common use case
is to define an Axis constraint from a :class:`~cadquery.Face`.
.. cadquery::
import cadquery as cq
from math import cos, sin, pi
# Create a sinusoidal surface:
surf = cq.Workplane().parametricSurface(
lambda u, v: (u, v, 5 * sin(pi * u / 10) * cos(pi * v / 10)),
N=40,
start=0,
stop=20,
)
# Create a cone with a small, flat tip:
cone = (
cq.Workplane()
.add(cq.Solid.makeCone(1, 0.1, 2))
# tag the tip for easy reference in the constraint:
.faces(">Z")
.tag("tip")
.end()
)
assy = cq.Assembly()
assy.add(surf, name="surf", color=cq.Color("lightgray"))
assy.add(cone, name="cone", color=cq.Color("green"))
# set the Face on the tip of the cone to point in
# the opposite direction of the center of the surface:
assy.constrain("surf", "cone?tip", "Axis")
# to make the example clearer, move the cone to the center of the face:
assy.constrain("surf", "cone?tip", "Point")
assy.solve()
show_object(assy)
Plane
=====
The Plane constraint is simply a combination of both the Point and Axis constraints. It is a
convienient shortcut for a commonly used combination of constraints. It can be used to shorten the
previous example from the two constraints to just one:
.. code-block:: diff
assy = cq.Assembly()
assy.add(surf, name="surf", color=cq.Color("lightgray"))
assy.add(cone, name="cone", color=cq.Color("green"))
-# set the Face on the tip of the cone to point in
-# the opposite direction of the center of the surface:
-assy.constrain("surf", "cone?tip", "Axis")
-# to make the example clearer, move the cone to the center of the face:
-assy.constrain("surf", "cone?tip", "Point")
+assy.constrain("surf", "cone?tip", "Plane")
assy.solve()
show_object(assy)
The result of this code is identical to the above two constraint example.
For the cost function of Plane, please see the Point and Axis sections. The ``param`` argument is
copied into both constraints and should be left as the default value of ``None`` for a "mate" style
constraint (two surfaces touching) or can be set to ``0`` for a through surface constraint (see
desciption in the Axis constraint section).
PointInPlane
============
PointInPlane positions the center of the first object within the plane defined by the second object.
The cost function is:
.. math::
\operatorname{dist}( \vec{ c }, p_\text{ offset } ) ^2
Where:
- :math:`\vec{ c }` is the center of the first argument,
- :math:`p_\text{ offset }` is a plane created from the second object, offset in the plane's normal
direction by ``param``, and
- :math:`\operatorname{dist}( \vec{ a }, b)` is the distance between point :math:`\vec{ a }` and
plane :math:`b`.
.. cadquery::
import cadquery as cq
# Create an L-shaped object:
bracket = (
cq.Workplane("YZ")
.hLine(1)
.vLine(0.1)
.hLineTo(0.2)
.vLineTo(1)
.hLineTo(0)
.close()
.extrude(1)
# tag some faces for easy reference:
.faces(">Y[1]")
.tag("inner_vert")
.end()
.faces(">Z[1]")
.tag("inner_horiz")
.end()
)
box = cq.Workplane().box(0.5, 0.5, 0.5)
assy = cq.Assembly()
assy.add(bracket, name="bracket", color=cq.Color("gray"))
assy.add(box, name="box", color=cq.Color("green"))
# lock bracket orientation:
assy.constrain("bracket@faces@>Z", "box@faces@>Z", "Axis", param=0)
assy.constrain("bracket@faces@>X", "box@faces@>X", "Axis", param=0)
# constrain the bottom of the box to be on the plane defined by inner_horiz:
assy.constrain("box@faces@<Z", "bracket?inner_horiz", "PointInPlane")
# constrain the side of the box to be 0.2 units from the plane defined by inner_vert
assy.constrain("box@faces@<Y", "bracket?inner_vert", "PointInPlane", param=0.2)
# constrain the end of the box to be 0.1 units inside the end of the bracket
assy.constrain("box@faces@>X", "bracket@faces@>X", "PointInPlane", param=-0.1)
assy.solve()
show_object(assy)
Assembly colors
---------------
Aside from RGBA values, the :class:`~cadquery.Color` class can be instantiated from a text name. Valid names are
listed along with a color sample below:
.. raw:: html
<div class="color-grid" style="display:grid;grid-gap:10px;grid-template-columns:repeat(auto-fill, minmax(200px,1fr));">
<div style="background-color:rgba(222,239,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">aliceblue</div>
<div style="background-color:rgba(243,211,173,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">antiquewhite</div>
<div style="background-color:rgba(255,220,180,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">antiquewhite1</div>
<div style="background-color:rgba(218,188,153,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">antiquewhite2</div>
<div style="background-color:rgba(155,134,110,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">antiquewhite3</div>
<div style="background-color:rgba(65,57,47,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">antiquewhite4</div>
<div style="background-color:rgba(54,255,167,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">aquamarine1</div>
<div style="background-color:rgba(46,218,144,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">aquamarine2</div>
<div style="background-color:rgba(15,65,44,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">aquamarine4</div>
<div style="background-color:rgba(222,255,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">azure</div>
<div style="background-color:rgba(190,218,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">azure2</div>
<div style="background-color:rgba(135,155,155,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">azure3</div>
<div style="background-color:rgba(57,65,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">azure4</div>
<div style="background-color:rgba(68,10,68,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">beet</div>
<div style="background-color:rgba(232,232,182,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">beige</div>
<div style="background-color:rgba(255,197,140,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">bisque</div>
<div style="background-color:rgba(218,169,120,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">bisque2</div>
<div style="background-color:rgba(155,120,87,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">bisque3</div>
<div style="background-color:rgba(65,52,37,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">bisque4</div>
<div style="background-color:rgba(0,0,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">black</div>
<div style="background-color:rgba(255,211,155,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">blanchedalmond</div>
<div style="background-color:rgba(0,0,255,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">blue</div>
<div style="background-color:rgba(0,0,255,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">blue1</div>
<div style="background-color:rgba(0,0,218,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">blue2</div>
<div style="background-color:rgba(0,0,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">blue3</div>
<div style="background-color:rgba(0,0,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">blue4</div>
<div style="background-color:rgba(64,6,193,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">blueviolet</div>
<div style="background-color:rgba(95,5,5,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">brown</div>
<div style="background-color:rgba(255,13,13,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">brown1</div>
<div style="background-color:rgba(218,11,11,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">brown2</div>
<div style="background-color:rgba(155,8,8,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">brown3</div>
<div style="background-color:rgba(65,4,4,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">brown4</div>
<div style="background-color:rgba(186,122,61,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">burlywood</div>
<div style="background-color:rgba(255,166,83,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">burlywood1</div>
<div style="background-color:rgba(218,142,72,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">burlywood2</div>
<div style="background-color:rgba(155,102,52,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">burlywood3</div>
<div style="background-color:rgba(65,43,23,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">burlywood4</div>
<div style="background-color:rgba(29,87,89,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">cadetblue</div>
<div style="background-color:rgba(80,232,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">cadetblue1</div>
<div style="background-color:rgba(68,199,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">cadetblue2</div>
<div style="background-color:rgba(49,142,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">cadetblue3</div>
<div style="background-color:rgba(22,60,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">cadetblue4</div>
<div style="background-color:rgba(54,255,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">chartreuse</div>
<div style="background-color:rgba(54,255,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">chartreuse1</div>
<div style="background-color:rgba(46,218,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">chartreuse2</div>
<div style="background-color:rgba(33,155,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">chartreuse3</div>
<div style="background-color:rgba(15,65,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">chartreuse4</div>
<div style="background-color:rgba(164,36,3,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">chocolate</div>
<div style="background-color:rgba(255,54,4,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">chocolate1</div>
<div style="background-color:rgba(218,46,3,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">chocolate2</div>
<div style="background-color:rgba(155,33,3,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">chocolate3</div>
<div style="background-color:rgba(65,15,1,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">chocolate4</div>
<div style="background-color:rgba(255,54,20,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">coral</div>
<div style="background-color:rgba(255,42,23,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">coral1</div>
<div style="background-color:rgba(218,36,20,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">coral2</div>
<div style="background-color:rgba(155,26,15,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">coral3</div>
<div style="background-color:rgba(65,12,7,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">coral4</div>
<div style="background-color:rgba(32,76,215,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">cornflowerblue</div>
<div style="background-color:rgba(255,239,182,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">cornsilk1</div>
<div style="background-color:rgba(218,205,155,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">cornsilk2</div>
<div style="background-color:rgba(155,147,112,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">cornsilk3</div>
<div style="background-color:rgba(65,62,47,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">cornsilk4</div>
<div style="background-color:rgba(0,255,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">cyan</div>
<div style="background-color:rgba(0,255,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">cyan1</div>
<div style="background-color:rgba(0,218,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">cyan2</div>
<div style="background-color:rgba(0,155,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">cyan3</div>
<div style="background-color:rgba(0,65,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">cyan4</div>
<div style="background-color:rgba(122,60,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkgoldenrod</div>
<div style="background-color:rgba(255,123,1,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkgoldenrod1</div>
<div style="background-color:rgba(218,106,1,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkgoldenrod2</div>
<div style="background-color:rgba(155,76,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkgoldenrod3</div>
<div style="background-color:rgba(65,33,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkgoldenrod4</div>
<div style="background-color:rgba(0,32,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkgreen</div>
<div style="background-color:rgba(129,120,37,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkkhaki</div>
<div style="background-color:rgba(23,37,7,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkolivegreen</div>
<div style="background-color:rgba(150,255,41,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">darkolivegreen1</div>
<div style="background-color:rgba(128,218,35,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkolivegreen2</div>
<div style="background-color:rgba(92,155,26,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkolivegreen3</div>
<div style="background-color:rgba(39,65,11,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkolivegreen4</div>
<div style="background-color:rgba(255,66,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkorange</div>
<div style="background-color:rgba(255,54,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkorange1</div>
<div style="background-color:rgba(218,46,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkorange2</div>
<div style="background-color:rgba(155,33,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkorange3</div>
<div style="background-color:rgba(65,15,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkorange4</div>
<div style="background-color:rgba(81,8,153,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkorchid</div>
<div style="background-color:rgba(132,12,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">darkorchid1</div>
<div style="background-color:rgba(113,10,218,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkorchid2</div>
<div style="background-color:rgba(82,8,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkorchid3</div>
<div style="background-color:rgba(35,4,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkorchid4</div>
<div style="background-color:rgba(207,77,49,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darksalmon</div>
<div style="background-color:rgba(70,128,70,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkseagreen</div>
<div style="background-color:rgba(135,255,135,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">darkseagreen1</div>
<div style="background-color:rgba(116,218,116,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">darkseagreen2</div>
<div style="background-color:rgba(83,155,83,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkseagreen3</div>
<div style="background-color:rgba(36,65,36,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkseagreen4</div>
<div style="background-color:rgba(16,11,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkslateblue</div>
<div style="background-color:rgba(7,19,19,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkslategray</div>
<div style="background-color:rgba(78,255,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">darkslategray1</div>
<div style="background-color:rgba(67,218,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">darkslategray2</div>
<div style="background-color:rgba(48,155,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkslategray3</div>
<div style="background-color:rgba(21,65,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkslategray4</div>
<div style="background-color:rgba(0,157,162,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkturquoise</div>
<div style="background-color:rgba(75,0,166,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">darkviolet</div>
<div style="background-color:rgba(255,1,74,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">deeppink</div>
<div style="background-color:rgba(218,1,63,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">deeppink2</div>
<div style="background-color:rgba(155,1,46,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">deeppink3</div>
<div style="background-color:rgba(65,0,20,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">deeppink4</div>
<div style="background-color:rgba(0,132,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">deepskyblue1</div>
<div style="background-color:rgba(0,113,218,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">deepskyblue2</div>
<div style="background-color:rgba(0,82,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">deepskyblue3</div>
<div style="background-color:rgba(0,35,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">deepskyblue4</div>
<div style="background-color:rgba(3,71,255,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">dodgerblue1</div>
<div style="background-color:rgba(2,60,218,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">dodgerblue2</div>
<div style="background-color:rgba(2,44,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">dodgerblue3</div>
<div style="background-color:rgba(1,19,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">dodgerblue4</div>
<div style="background-color:rgba(113,4,4,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">firebrick</div>
<div style="background-color:rgba(255,7,7,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">firebrick1</div>
<div style="background-color:rgba(218,6,6,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">firebrick2</div>
<div style="background-color:rgba(155,4,4,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">firebrick3</div>
<div style="background-color:rgba(65,2,2,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">firebrick4</div>
<div style="background-color:rgba(255,243,222,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">floralwhite</div>
<div style="background-color:rgba(4,65,4,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">forestgreen</div>
<div style="background-color:rgba(182,182,182,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">gainsboro</div>
<div style="background-color:rgba(239,239,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">ghostwhite</div>
<div style="background-color:rgba(255,173,0,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">gold</div>
<div style="background-color:rgba(255,173,0,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">gold1</div>
<div style="background-color:rgba(218,148,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">gold2</div>
<div style="background-color:rgba(155,106,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">gold3</div>
<div style="background-color:rgba(65,45,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">gold4</div>
<div style="background-color:rgba(178,95,3,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">goldenrod</div>
<div style="background-color:rgba(255,135,4,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">goldenrod1</div>
<div style="background-color:rgba(218,116,4,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">goldenrod2</div>
<div style="background-color:rgba(155,83,3,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">goldenrod3</div>
<div style="background-color:rgba(65,36,1,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">goldenrod4</div>
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<div style="background-color:rgba(0,0,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">gray0</div>
<div style="background-color:rgba(0,0,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">gray1</div>
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<div style="background-color:rgba(226,226,226,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">gray95</div>
<div style="background-color:rgba(237,237,237,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">gray97</div>
<div style="background-color:rgba(243,243,243,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">gray98</div>
<div style="background-color:rgba(248,248,248,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">gray99</div>
<div style="background-color:rgba(0,255,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">green</div>
<div style="background-color:rgba(0,255,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">green1</div>
<div style="background-color:rgba(0,218,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">green2</div>
<div style="background-color:rgba(0,155,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">green3</div>
<div style="background-color:rgba(0,65,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">green4</div>
<div style="background-color:rgba(106,255,7,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">greenyellow</div>
<div style="background-color:rgba(222,255,222,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">honeydew</div>
<div style="background-color:rgba(190,218,190,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">honeydew2</div>
<div style="background-color:rgba(135,155,135,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">honeydew3</div>
<div style="background-color:rgba(57,65,57,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">honeydew4</div>
<div style="background-color:rgba(255,36,116,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">hotpink</div>
<div style="background-color:rgba(255,39,116,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">hotpink1</div>
<div style="background-color:rgba(218,36,98,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">hotpink2</div>
<div style="background-color:rgba(155,29,71,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">hotpink3</div>
<div style="background-color:rgba(65,10,31,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">hotpink4</div>
<div style="background-color:rgba(155,27,27,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">indianred</div>
<div style="background-color:rgba(255,36,36,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">indianred1</div>
<div style="background-color:rgba(218,31,31,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">indianred2</div>
<div style="background-color:rgba(155,23,23,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">indianred3</div>
<div style="background-color:rgba(65,10,10,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">indianred4</div>
<div style="background-color:rgba(255,255,222,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">ivory</div>
<div style="background-color:rgba(218,218,190,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">ivory2</div>
<div style="background-color:rgba(155,155,135,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">ivory3</div>
<div style="background-color:rgba(65,65,57,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">ivory4</div>
<div style="background-color:rgba(222,201,66,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">khaki</div>
<div style="background-color:rgba(255,235,70,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">khaki1</div>
<div style="background-color:rgba(218,201,59,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">khaki2</div>
<div style="background-color:rgba(155,144,43,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">khaki3</div>
<div style="background-color:rgba(65,60,19,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">khaki4</div>
<div style="background-color:rgba(201,201,243,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lavender</div>
<div style="background-color:rgba(255,222,232,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lavenderblush1</div>
<div style="background-color:rgba(218,190,199,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lavenderblush2</div>
<div style="background-color:rgba(155,135,142,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lavenderblush3</div>
<div style="background-color:rgba(65,57,60,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lavenderblush4</div>
<div style="background-color:rgba(51,248,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lawngreen</div>
<div style="background-color:rgba(255,243,155,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lemonchiffon1</div>
<div style="background-color:rgba(218,207,132,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lemonchiffon2</div>
<div style="background-color:rgba(155,148,95,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lemonchiffon3</div>
<div style="background-color:rgba(65,63,41,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lemonchiffon4</div>
<div style="background-color:rgba(106,175,201,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightblue</div>
<div style="background-color:rgba(132,220,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightblue1</div>
<div style="background-color:rgba(113,188,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightblue2</div>
<div style="background-color:rgba(82,134,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightblue3</div>
<div style="background-color:rgba(35,57,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightblue4</div>
<div style="background-color:rgba(222,55,55,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightcoral</div>
<div style="background-color:rgba(190,255,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightcyan</div>
<div style="background-color:rgba(190,255,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightcyan1</div>
<div style="background-color:rgba(162,218,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightcyan2</div>
<div style="background-color:rgba(116,155,155,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightcyan3</div>
<div style="background-color:rgba(49,65,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightcyan4</div>
<div style="background-color:rgba(218,184,56,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightgoldenrod</div>
<div style="background-color:rgba(255,213,65,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightgoldenrod1</div>
<div style="background-color:rgba(218,182,56,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightgoldenrod2</div>
<div style="background-color:rgba(155,131,41,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightgoldenrod3</div>
<div style="background-color:rgba(65,55,18,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightgoldenrod4</div>
<div style="background-color:rgba(243,243,164,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightgoldenrodyellow</div>
<div style="background-color:rgba(166,166,166,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightgray</div>
<div style="background-color:rgba(255,119,135,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightpink</div>
<div style="background-color:rgba(255,107,123,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightpink1</div>
<div style="background-color:rgba(218,92,106,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightpink2</div>
<div style="background-color:rgba(155,66,76,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightpink3</div>
<div style="background-color:rgba(65,29,33,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightpink4</div>
<div style="background-color:rgba(255,89,49,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightsalmon1</div>
<div style="background-color:rgba(218,76,42,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightsalmon2</div>
<div style="background-color:rgba(155,55,31,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightsalmon3</div>
<div style="background-color:rgba(65,24,13,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightsalmon4</div>
<div style="background-color:rgba(3,113,102,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightseagreen</div>
<div style="background-color:rgba(61,157,243,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightskyblue</div>
<div style="background-color:rgba(110,193,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightskyblue1</div>
<div style="background-color:rgba(94,166,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightskyblue2</div>
<div style="background-color:rgba(67,119,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightskyblue3</div>
<div style="background-color:rgba(29,50,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightskyblue4</div>
<div style="background-color:rgba(58,41,255,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightslateblue</div>
<div style="background-color:rgba(47,62,81,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightslategray</div>
<div style="background-color:rgba(110,140,186,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightsteelblue</div>
<div style="background-color:rgba(150,192,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightsteelblue1</div>
<div style="background-color:rgba(128,164,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightsteelblue2</div>
<div style="background-color:rgba(92,117,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightsteelblue3</div>
<div style="background-color:rgba(39,50,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightsteelblue4</div>
<div style="background-color:rgba(255,255,190,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightyellow</div>
<div style="background-color:rgba(218,218,162,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightyellow2</div>
<div style="background-color:rgba(155,155,116,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">lightyellow3</div>
<div style="background-color:rgba(65,65,49,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">lightyellow4</div>
<div style="background-color:rgba(8,155,8,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">limegreen</div>
<div style="background-color:rgba(243,222,201,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">linen</div>
<div style="background-color:rgba(255,0,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">magenta</div>
<div style="background-color:rgba(255,0,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">magenta1</div>
<div style="background-color:rgba(218,0,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">magenta2</div>
<div style="background-color:rgba(155,0,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">magenta3</div>
<div style="background-color:rgba(65,0,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">magenta4</div>
<div style="background-color:rgba(110,7,29,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">maroon</div>
<div style="background-color:rgba(255,8,114,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">maroon1</div>
<div style="background-color:rgba(218,7,98,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">maroon2</div>
<div style="background-color:rgba(155,5,71,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">maroon3</div>
<div style="background-color:rgba(65,2,31,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">maroon4</div>
<div style="background-color:rgba(0,0,133,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">matrablue</div>
<div style="background-color:rgba(81,81,81,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">matragray</div>
<div style="background-color:rgba(33,155,102,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">mediumaquamarine</div>
<div style="background-color:rgba(125,23,166,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">mediumorchid</div>
<div style="background-color:rgba(190,33,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">mediumorchid1</div>
<div style="background-color:rgba(162,29,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">mediumorchid2</div>
<div style="background-color:rgba(116,21,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">mediumorchid3</div>
<div style="background-color:rgba(49,9,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">mediumorchid4</div>
<div style="background-color:rgba(74,41,180,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">mediumpurple</div>
<div style="background-color:rgba(103,56,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">mediumpurple1</div>
<div style="background-color:rgba(88,48,218,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">mediumpurple2</div>
<div style="background-color:rgba(63,35,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">mediumpurple3</div>
<div style="background-color:rgba(27,16,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">mediumpurple4</div>
<div style="background-color:rgba(11,114,42,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">mediumseagreen</div>
<div style="background-color:rgba(50,35,218,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">mediumslateblue</div>
<div style="background-color:rgba(0,243,82,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">mediumspringgreen</div>
<div style="background-color:rgba(16,162,153,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">mediumturquoise</div>
<div style="background-color:rgba(145,1,59,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">mediumvioletred</div>
<div style="background-color:rgba(2,2,41,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">midnightblue</div>
<div style="background-color:rgba(232,255,243,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">mintcream</div>
<div style="background-color:rgba(255,197,192,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">mistyrose</div>
<div style="background-color:rgba(218,169,164,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">mistyrose2</div>
<div style="background-color:rgba(155,120,117,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">mistyrose3</div>
<div style="background-color:rgba(65,52,50,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">mistyrose4</div>
<div style="background-color:rgba(255,197,117,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">moccasin</div>
<div style="background-color:rgba(255,186,106,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">navajowhite1</div>
<div style="background-color:rgba(218,159,90,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">navajowhite2</div>
<div style="background-color:rgba(155,114,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">navajowhite3</div>
<div style="background-color:rgba(65,48,28,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">navajowhite4</div>
<div style="background-color:rgba(0,0,55,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">navyblue</div>
<div style="background-color:rgba(250,232,201,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">oldlace</div>
<div style="background-color:rgba(37,68,4,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">olivedrab</div>
<div style="background-color:rgba(134,255,12,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">olivedrab1</div>
<div style="background-color:rgba(114,218,10,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">olivedrab2</div>
<div style="background-color:rgba(82,155,8,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">olivedrab3</div>
<div style="background-color:rgba(36,65,4,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">olivedrab4</div>
<div style="background-color:rgba(255,95,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">orange</div>
<div style="background-color:rgba(255,95,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">orange1</div>
<div style="background-color:rgba(218,82,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">orange2</div>
<div style="background-color:rgba(155,59,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">orange3</div>
<div style="background-color:rgba(65,26,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">orange4</div>
<div style="background-color:rgba(255,15,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">orangered</div>
<div style="background-color:rgba(255,15,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">orangered1</div>
<div style="background-color:rgba(218,13,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">orangered2</div>
<div style="background-color:rgba(155,9,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">orangered3</div>
<div style="background-color:rgba(65,4,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">orangered4</div>
<div style="background-color:rgba(178,41,171,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">orchid</div>
<div style="background-color:rgba(255,57,243,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">orchid1</div>
<div style="background-color:rgba(218,49,207,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">orchid2</div>
<div style="background-color:rgba(155,36,148,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">orchid3</div>
<div style="background-color:rgba(65,16,63,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">orchid4</div>
<div style="background-color:rgba(218,205,102,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">palegoldenrod</div>
<div style="background-color:rgba(80,245,80,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">palegreen</div>
<div style="background-color:rgba(82,255,82,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">palegreen1</div>
<div style="background-color:rgba(71,218,71,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">palegreen2</div>
<div style="background-color:rgba(51,155,51,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">palegreen3</div>
<div style="background-color:rgba(22,65,22,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">palegreen4</div>
<div style="background-color:rgba(109,218,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">paleturquoise</div>
<div style="background-color:rgba(126,255,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">paleturquoise1</div>
<div style="background-color:rgba(107,218,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">paleturquoise2</div>
<div style="background-color:rgba(77,155,155,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">paleturquoise3</div>
<div style="background-color:rgba(33,65,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">paleturquoise4</div>
<div style="background-color:rgba(180,41,74,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">palevioletred</div>
<div style="background-color:rgba(255,56,103,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">palevioletred1</div>
<div style="background-color:rgba(218,48,88,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">palevioletred2</div>
<div style="background-color:rgba(155,35,63,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">palevioletred3</div>
<div style="background-color:rgba(65,16,27,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">palevioletred4</div>
<div style="background-color:rgba(255,220,169,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">papayawhip</div>
<div style="background-color:rgba(255,178,123,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">peachpuff</div>
<div style="background-color:rgba(218,152,106,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">peachpuff2</div>
<div style="background-color:rgba(155,109,76,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">peachpuff3</div>
<div style="background-color:rgba(65,47,33,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">peachpuff4</div>
<div style="background-color:rgba(155,59,12,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">peru</div>
<div style="background-color:rgba(255,134,152,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">pink</div>
<div style="background-color:rgba(255,117,142,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">pink1</div>
<div style="background-color:rgba(218,101,122,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">pink2</div>
<div style="background-color:rgba(155,72,87,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">pink3</div>
<div style="background-color:rgba(65,31,38,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">pink4</div>
<div style="background-color:rgba(184,89,184,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">plum</div>
<div style="background-color:rgba(255,126,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">plum1</div>
<div style="background-color:rgba(218,107,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">plum2</div>
<div style="background-color:rgba(155,77,155,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">plum3</div>
<div style="background-color:rgba(65,33,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">plum4</div>
<div style="background-color:rgba(110,190,201,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">powderblue</div>
<div style="background-color:rgba(89,3,222,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">purple</div>
<div style="background-color:rgba(83,7,255,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">purple1</div>
<div style="background-color:rgba(72,6,218,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">purple2</div>
<div style="background-color:rgba(52,4,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">purple3</div>
<div style="background-color:rgba(23,2,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">purple4</div>
<div style="background-color:rgba(255,0,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">red</div>
<div style="background-color:rgba(255,0,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">red1</div>
<div style="background-color:rgba(218,0,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">red2</div>
<div style="background-color:rgba(155,0,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">red3</div>
<div style="background-color:rgba(65,0,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">red4</div>
<div style="background-color:rgba(128,70,70,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">rosybrown</div>
<div style="background-color:rgba(255,135,135,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">rosybrown1</div>
<div style="background-color:rgba(218,116,116,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">rosybrown2</div>
<div style="background-color:rgba(155,83,83,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">rosybrown3</div>
<div style="background-color:rgba(65,36,36,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">rosybrown4</div>
<div style="background-color:rgba(13,36,192,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">royalblue</div>
<div style="background-color:rgba(16,46,255,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">royalblue1</div>
<div style="background-color:rgba(14,39,218,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">royalblue2</div>
<div style="background-color:rgba(10,29,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">royalblue3</div>
<div style="background-color:rgba(5,13,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">royalblue4</div>
<div style="background-color:rgba(65,15,1,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">saddlebrown</div>
<div style="background-color:rgba(243,55,42,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">salmon</div>
<div style="background-color:rgba(255,66,36,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">salmon1</div>
<div style="background-color:rgba(218,56,31,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">salmon2</div>
<div style="background-color:rgba(155,41,22,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">salmon3</div>
<div style="background-color:rgba(65,18,10,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">salmon4</div>
<div style="background-color:rgba(230,94,29,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">sandybrown</div>
<div style="background-color:rgba(6,65,24,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">seagreen</div>
<div style="background-color:rgba(22,255,88,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">seagreen1</div>
<div style="background-color:rgba(19,218,75,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">seagreen2</div>
<div style="background-color:rgba(14,155,55,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">seagreen3</div>
<div style="background-color:rgba(6,65,24,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">seagreen4</div>
<div style="background-color:rgba(255,232,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">seashell</div>
<div style="background-color:rgba(218,199,186,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">seashell2</div>
<div style="background-color:rgba(155,142,132,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">seashell3</div>
<div style="background-color:rgba(65,60,56,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">seashell4</div>
<div style="background-color:rgba(89,21,6,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">sienna</div>
<div style="background-color:rgba(255,56,16,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">sienna1</div>
<div style="background-color:rgba(218,48,13,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">sienna2</div>
<div style="background-color:rgba(155,35,10,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">sienna3</div>
<div style="background-color:rgba(65,16,4,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">sienna4</div>
<div style="background-color:rgba(61,157,211,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">skyblue</div>
<div style="background-color:rgba(61,157,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">skyblue1</div>
<div style="background-color:rgba(53,134,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">skyblue2</div>
<div style="background-color:rgba(38,97,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">skyblue3</div>
<div style="background-color:rgba(17,41,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">skyblue4</div>
<div style="background-color:rgba(36,26,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">slateblue</div>
<div style="background-color:rgba(57,40,255,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">slateblue1</div>
<div style="background-color:rgba(49,34,218,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">slateblue2</div>
<div style="background-color:rgba(36,25,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">slateblue3</div>
<div style="background-color:rgba(16,11,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">slateblue4</div>
<div style="background-color:rgba(41,55,71,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">slategray</div>
<div style="background-color:rgba(144,193,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">slategray1</div>
<div style="background-color:rgba(123,166,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">slategray2</div>
<div style="background-color:rgba(88,119,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">slategray3</div>
<div style="background-color:rgba(38,50,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">slategray4</div>
<div style="background-color:rgba(255,243,243,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">snow</div>
<div style="background-color:rgba(218,207,207,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">snow2</div>
<div style="background-color:rgba(155,148,148,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">snow3</div>
<div style="background-color:rgba(65,63,63,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">snow4</div>
<div style="background-color:rgba(0,255,54,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">springgreen</div>
<div style="background-color:rgba(0,218,46,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">springgreen2</div>
<div style="background-color:rgba(0,155,33,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">springgreen3</div>
<div style="background-color:rgba(0,65,15,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">springgreen4</div>
<div style="background-color:rgba(15,56,116,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">steelblue</div>
<div style="background-color:rgba(31,122,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">steelblue1</div>
<div style="background-color:rgba(27,105,218,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">steelblue2</div>
<div style="background-color:rgba(19,75,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">steelblue3</div>
<div style="background-color:rgba(9,32,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">steelblue4</div>
<div style="background-color:rgba(164,116,66,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">tan</div>
<div style="background-color:rgba(255,95,19,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">tan1</div>
<div style="background-color:rgba(218,82,16,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">tan2</div>
<div style="background-color:rgba(155,59,12,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">tan3</div>
<div style="background-color:rgba(65,26,6,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">tan4</div>
<div style="background-color:rgba(10,68,68,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">teal</div>
<div style="background-color:rgba(175,132,175,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">thistle</div>
<div style="background-color:rgba(255,192,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">thistle1</div>
<div style="background-color:rgba(218,164,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">thistle2</div>
<div style="background-color:rgba(155,117,155,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">thistle3</div>
<div style="background-color:rgba(65,50,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">thistle4</div>
<div style="background-color:rgba(255,31,16,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">tomato</div>
<div style="background-color:rgba(255,31,16,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">tomato1</div>
<div style="background-color:rgba(218,27,13,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">tomato2</div>
<div style="background-color:rgba(155,19,10,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">tomato3</div>
<div style="background-color:rgba(65,9,4,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">tomato4</div>
<div style="background-color:rgba(13,190,160,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">turquoise</div>
<div style="background-color:rgba(0,232,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">turquoise1</div>
<div style="background-color:rgba(0,199,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">turquoise2</div>
<div style="background-color:rgba(0,142,155,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">turquoise3</div>
<div style="background-color:rgba(0,60,65,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">turquoise4</div>
<div style="background-color:rgba(218,56,218,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">violet</div>
<div style="background-color:rgba(160,3,71,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">violetred</div>
<div style="background-color:rgba(255,12,77,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">violetred1</div>
<div style="background-color:rgba(218,10,66,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">violetred2</div>
<div style="background-color:rgba(155,8,47,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">violetred3</div>
<div style="background-color:rgba(65,4,21,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">violetred4</div>
<div style="background-color:rgba(232,186,114,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">wheat</div>
<div style="background-color:rgba(255,203,125,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">wheat1</div>
<div style="background-color:rgba(218,175,107,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">wheat2</div>
<div style="background-color:rgba(155,125,77,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">wheat3</div>
<div style="background-color:rgba(65,53,33,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">wheat4</div>
<div style="background-color:rgba(255,255,255,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">white</div>
<div style="background-color:rgba(232,232,232,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">whitesmoke</div>
<div style="background-color:rgba(255,255,0,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">yellow</div>
<div style="background-color:rgba(255,255,0,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">yellow1</div>
<div style="background-color:rgba(218,218,0,1.0);padding:10px;border-radius:5px;color:rgba(0,0,0);">yellow2</div>
<div style="background-color:rgba(155,155,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">yellow3</div>
<div style="background-color:rgba(65,65,0,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">yellow4</div>
<div style="background-color:rgba(82,155,8,1.0);padding:10px;border-radius:5px;color:rgba(255,255,255);">yellowgreen</div>
</div>

1
doc/conf.py
View File

@ -44,6 +44,7 @@ extensions = [
"sphinx.ext.viewcode",
"sphinx.ext.autosummary",
"cadquery.cq_directive",
"sphinx.ext.mathjax",
]
always_document_param_types = True

74
doc/gen_colors.py Normal file
View File

@ -0,0 +1,74 @@
"""
A script to generate RST (HTML only) for displaying all the colours supported
by OCP. Used in the file assy.rst.
"""
from OCP import Quantity
import cadquery as cq
from typing import Dict
from itertools import chain
OCP_COLOR_LEADER, SEP = "Quantity_NOC", "_"
TEMPLATE = """\
<div style="background-color:rgba({background_color});padding:10px;border-radius:5px;color:rgba({text_color});">{color_name}</div>\
"""
def color_to_rgba_str(c: cq.Color) -> str:
""" Convert a Color object to a string for the HTML/CSS template.
"""
t = c.toTuple()
vals = [int(v * 255) for v in t[:3]]
return ",".join([str(v) for v in chain(vals, [t[3]])])
def calc_text_color(c: cq.Color) -> str:
""" Calculate required overlay text color from background color.
"""
val = sum(c.toTuple()[:3]) / 3
if val < 0.5:
rv = "255,255,255"
else:
rv = "0,0,0"
return rv
def get_colors() -> Dict[str, cq.Color]:
""" Scan OCP for colors and output to a dict.
"""
colors = {}
for name in dir(Quantity):
splitted = name.rsplit(SEP, 1)
if splitted[0] == OCP_COLOR_LEADER:
colors.update({splitted[1].lower(): cq.Color(splitted[1])})
return colors
def rst():
""" Produce the text for a Sphinx directive.
"""
lines = [
".. raw:: html",
"",
' <div class="color-grid" style="display:grid;grid-gap:10px;grid-template-columns:repeat(auto-fill, minmax(200px,1fr));">',
]
colors = get_colors()
for name, c in colors.items():
lines += [
TEMPLATE.format(
background_color=color_to_rgba_str(c),
text_color=calc_text_color(c),
color_name=name,
)
]
lines.append(" </div>")
return "\n".join(lines)
if __name__ == "__main__":
print(rst())