def execute(self, context):
startLog(self)
messages = {}
dic = robotdictionary.buildRobotDictionary()
validator.check_dict(dic, defs.dictConstraints, messages)
defs.checkMessages = messages if len(list(messages.keys())) > 0 else {"NoObject": []}
for entry in messages:
log("Errors in object " + entry + ":", 'INFO')
for error in messages[entry]:
log(error, 'INFO')
endLog()
return {'FINISHED'}
def execute(self, context):
startLog(self)
messages = {}
dic = robotdictionary.buildRobotDictionary()
validator.check_dict(dic, defs.dictConstraints, messages)
defs.checkMessages = messages if len(list(messages.keys())) > 0 else {
"NoObject": []
}
for entry in messages:
log("Errors in object " + entry + ":", 'INFO')
for error in messages[entry]:
log(error, 'INFO')
endLog()
return {'FINISHED'}
def execute(self, context):
"""Executes the operator and unifies the selected objects meshes
:param context: The blender context to work with
:return: Blender result
"""
startLog(self)
messages = {}
dic = robotdictionary.buildRobotDictionary()
validator.check_dict(dic, defs.dictConstraints, messages)
defs.checkMessages = messages if len(list(messages.keys())) > 0 else {"NoObject": []}
for entry in messages:
log("Errors in object " + entry + ":", 'INFO')
for error in messages[entry]:
log(error, 'INFO')
endLog()
return {'FINISHED'}
def execute(self, context):
startLog(self)
objs = context.selected_objects
robot = robotdictionary.buildRobotDictionary()
selectionUtils.selectObjects(objs)
outpath = ""
if bpy.data.worlds[0].relativePath:
outpath = exporter.securepath(os.path.expanduser(os.path.join(bpy.path.abspath("//"), bpy.data.worlds[0].path)))
else:
outpath = exporter.securepath(os.path.expanduser(bpy.data.worlds[0].path))
#expPath = os.path.join(outpath, robot["modelname"] + "_bake")
#exporter.export(path=expPath, robotmodel=robot)
exporter.bakeModel(objs, outpath, robot["modelname"])
with open(os.path.join(outpath, "info.bake"), "w") as f:
f.write(yaml.dump({"name": robot["modelname"]}))
endLog()
return {'FINISHED'}
def execute(self, context):
startLog(self)
objs = context.selected_objects
robot = robotdictionary.buildRobotDictionary()
selectionUtils.selectObjects(objs)
outpath = ""
if bpy.data.worlds[0].relativePath:
outpath = exporter.securepath(
os.path.expanduser(
os.path.join(bpy.path.abspath("//"),
bpy.data.worlds[0].path)))
else:
outpath = exporter.securepath(
os.path.expanduser(bpy.data.worlds[0].path))
#expPath = os.path.join(outpath, robot["modelname"] + "_bake")
#exporter.export(path=expPath, robotmodel=robot)
exporter.bakeModel(objs, outpath, robot["modelname"])
with open(os.path.join(outpath, "info.bake"), "w") as f:
f.write(yaml.dump({"name": robot["modelname"]}))
endLog()
return {'FINISHED'}
def execute(self, context):
startLog(self)
objs = context.selected_objects
robot = robotdictionary.buildRobotDictionary()
selectionUtils.selectObjects(objs)
tmpdir = tempfile.gettempdir()
expPath = os.path.join(tmpdir, robot["modelname"] + "_bake")
exporter.export(path=expPath, robotmodel=robot)
exporter.bakeModel(objs, expPath, robot["modelname"])
zipfilename = os.path.join(tmpdir, robot["modelname"] + ".bake")
file = zipfile.ZipFile(zipfilename, mode="w")
for filename in os.listdir(expPath):
file.write(os.path.join(expPath, filename), arcname=filename)
file.close()
shutil.rmtree(expPath)
outpath = ""
if bpy.data.worlds[0].relativePath:
outpath = exporter.securepath(os.path.expanduser(os.path.join(bpy.path.abspath("//"), bpy.data.worlds[0].path)))
else:
outpath = exporter.securepath(os.path.expanduser(bpy.data.worlds[0].path))
shutil.copy(zipfilename, outpath)
endLog()
return {'FINISHED'}
def export(path='', robotmodel=None):
"""This function does the actual exporting of the robot model.
:return: Nothing.
"""
#TODO: check if all selected objects are on visible layers (option bpy.ops.object.select_all()?)
if path == '':
if bpy.data.worlds[0].relativePath:
outpath = securepath(os.path.expanduser(os.path.join(bpy.path.abspath("//"), bpy.data.worlds[0].path)))
else:
outpath = securepath(os.path.expanduser(bpy.data.worlds[0].path))
else:
outpath = path
if not outpath.endswith(os.path.sep):
outpath += os.path.sep
meshoutpath = securepath(os.path.join(outpath, bpy.data.worlds[0].meshpath))
yaml = bpy.data.worlds[0].exportYAML
urdf = bpy.data.worlds[0].exportURDF
srdf = bpy.data.worlds[0].exportSRDF
smurf = bpy.data.worlds[0].exportSMURF
mars = bpy.data.worlds[0].exportMARSscene
meshexp = bpy.data.worlds[0].exportMesh
objexp = bpy.data.worlds[0].useObj
bobjexp = bpy.data.worlds[0].useBobj
stlexp = bpy.data.worlds[0].useStl
daeexp = bpy.data.worlds[0].useDae
objectlist = bpy.context.selected_objects
robot = robotmodel if robotmodel else robotdictionary.buildRobotDictionary()
if yaml or urdf or smurf or mars:
if yaml:
exportModelToYAML(robot, outpath + robot["modelname"] + "_dict.yml")
if mars:
exportModelToMARS(robot, outpath + robot["modelname"] + "_mars.scene")
if srdf:
exportModelToSRDF(robot, outpath + robot["modelname"] + ".srdf")
if smurf:
if bpy.data.worlds[0].structureExport:
securepath(os.path.join(outpath, 'smurf'))
securepath(os.path.join(outpath, 'urdf'))
exportModelToSMURF(robot, os.path.join(outpath, 'smurf/'))
else:
exportModelToSMURF(robot, outpath)
elif urdf:
if bpy.data.worlds[0].structureExport:
securepath(os.path.join(outpath, 'urdf'))
exportModelToURDF(robot, os.path.join(outpath, 'urdf', robot["modelname"] + ".urdf"))
else:
exportModelToURDF(robot, outpath + robot["modelname"] + ".urdf")
if meshexp:
show_progress = bpy.app.version[0] * 100 + bpy.app.version[1] >= 269
if show_progress:
wm = bpy.context.window_manager
total = float(len(objectlist))
wm.progress_begin(0, total)
i = 1
print("Exporting meshes to " + meshoutpath + "...\n")
for obj in objectlist:
if ((obj.phobostype == 'visual' or obj.phobostype == 'collision')
and obj['geometry/type'] == 'mesh' and 'filename' not in obj and 'geometry/'+defs.reservedProperties['SHAREDMESH'] not in obj):
if objexp:
exportObj(meshoutpath, obj)
if bobjexp:
exportBobj(meshoutpath, obj)
if stlexp:
exportStl(meshoutpath, obj)
if daeexp:
exportDae(meshoutpath, obj)
if show_progress:
wm.progress_update(i)
i += 1
if show_progress:
wm.progress_end()
