def writeURDFGeometry(output, element, filepath):
"""This functions writes the URDF geometry for a given element at the end of a given String.
:param output: The String to append the URDF output string on.
:type output: str
:param element: A certain element to parse into URDF.
:type element: dict
:return: str -- The extended String
"""
geometry = element['geometry']
try:
output.append(indent * 4 + '<geometry>\n')
if geometry['type'] == 'box':
output.append(
xmlline(5, 'box', ['size'], [l2str(geometry['size'])]))
elif geometry['type'] == "cylinder":
output.append(
xmlline(5, 'cylinder', ['radius', 'length'],
[geometry['radius'], geometry['length']]))
elif geometry['type'] == "sphere":
output.append(
xmlline(5, 'sphere', ['radius'], [geometry['radius']]))
elif geometry['type'] == 'mesh':
# FIXME: the following will crash if unstructured export is used
log(
"writeURDFGeometry: " + filepath + ' ' +
ioUtils.getOutputMeshpath(path.dirname(filepath)), "DEBUG")
meshpath = ioUtils.getOutputMeshpath(path.dirname(filepath))
output.append(
xmlline(5, 'mesh', ['filename', 'scale'], [
path.join(
path.relpath(meshpath,
filepath), geometry['filename'] + '.' +
ioUtils.getOutputMeshtype()),
l2str(geometry['scale'])
]))
elif geometry['type'] == 'capsule':
# FIXME: real capsules here!
output.append(
xmlline(5, 'cylinder', ['radius', 'length'],
[geometry['radius'], geometry['length']]))
else:
raise TypeError("Unknown geometry type")
output.append(indent * 4 + '</geometry>\n')
except (KeyError, TypeError) as err:
log(
"Misdefined geometry in element " + element['name'] + " " +
str(err), "ERROR")
def writeURDFGeometry(output, element, filepath):
"""This functions writes the URDF geometry for a given element at the end of a given String.
Args:
output(str): The String to append the URDF output string on.
element(dict): A certain element to parse into URDF.
filepath:
Returns:
: str -- The extended String
"""
geometry = element['geometry']
try:
output.append(indent * 4 + '<geometry>\n')
if geometry['type'] == 'box':
output.append(
xmlline(5, 'box', ['size'], [l2str(geometry['size'])]))
elif geometry['type'] == "cylinder":
output.append(
xmlline(5, 'cylinder', ['radius', 'length'],
[geometry['radius'], geometry['length']]))
elif geometry['type'] == "sphere":
output.append(
xmlline(5, 'sphere', ['radius'], [geometry['radius']]))
elif geometry['type'] == 'mesh':
meshpath = ioUtils.getOutputMeshpath(
path.dirname(filepath), None, None
) + geometry['filename'] + '.' + ioUtils.getOutputMeshtype()
if not "package://" in meshpath:
meshpath = path.relpath(meshpath, filepath)
output.append(
xmlline(
5,
'mesh',
['filename', 'scale'],
[
meshpath,
l2str(geometry['scale']),
],
))
else:
raise TypeError("Unknown geometry type")
output.append(indent * 4 + '</geometry>\n')
except (KeyError, TypeError) as err:
log(
"Misdefined geometry in element " + element['name'] + " " +
str(err), "ERROR")
def writeURDFGeometry(output, element, filepath):
"""This functions writes the URDF geometry for a given element at the end of a given String.
Args:
output(str): The String to append the URDF output string on.
element(dict): A certain element to parse into URDF.
filepath:
Returns:
: str -- The extended String
"""
geometry = element['geometry']
try:
output.append(indent * 4 + '<geometry>\n')
if geometry['type'] == 'box':
output.append(xmlline(5, 'box', ['size'], [l2str(geometry['size'])]))
elif geometry['type'] == "cylinder":
output.append(
xmlline(
5, 'cylinder', ['radius', 'length'], [geometry['radius'], geometry['length']]
)
)
elif geometry['type'] == "sphere":
output.append(xmlline(5, 'sphere', ['radius'], [geometry['radius']]))
elif geometry['type'] == 'mesh':
meshpath = ioUtils.getOutputMeshpath(path.dirname(filepath))
output.append(
xmlline(
5,
'mesh',
['filename', 'scale'],
[
path.join(
path.relpath(meshpath, filepath),
geometry['filename'] + '.' + ioUtils.getOutputMeshtype(),
),
l2str(geometry['scale']),
],
)
)
else:
raise TypeError("Unknown geometry type")
output.append(indent * 4 + '</geometry>\n')
except (KeyError, TypeError) as err:
log("Misdefined geometry in element " + element['name'] + " " + str(err), "ERROR")
def exportModel(root, export_path, entitytypes=None, model=None):
# derive model
model = models.buildModelDictionary(root)
if not model:
model = models.buildModelDictionary(root)
# export model in selected formats
if entitytypes is None:
entitytypes = entities.entity_types
for entitytype in entitytypes:
typename = "export_entity_" + entitytype
# check if format exists and should be exported
if not getattr(bpy.data.worlds[0], typename, False):
continue
# format exists and is exported:
if ioUtils.getExpSettings().structureExport:
model_path = os.path.join(export_path, entitytype)
else:
model_path = export_path
securepath(model_path)
try:
entities.entity_types[entitytype]['export'](model, model_path)
log(
"Export model: " + model['name'] + ' as ' + entitytype +
" to " + model_path, "DEBUG")
except KeyError:
log(
"No export function available for selected model type: " +
entitytype, "ERROR")
continue
# TODO: Move mesh export to individual formats? This is practically SMURF
# export meshes in selected formats
i = 1
mt = len([
m for m in meshes.mesh_types
if getattr(bpy.data.worlds[0], "export_mesh_" + m)
])
mc = len(model['meshes'])
n = mt * mc
for meshtype in meshes.mesh_types:
mesh_path = ioUtils.getOutputMeshpath(export_path, meshtype)
try:
typename = "export_mesh_" + meshtype
if getattr(bpy.data.worlds[0], typename):
securepath(mesh_path)
for meshname in model['meshes']:
meshes.mesh_types[meshtype]['export'](
model['meshes'][meshname], mesh_path)
display.setProgress(
i / n,
'Exporting ' + meshname + '.' + meshtype + '...')
i += 1
except KeyError:
log(
"No export function available for selected mesh function: " +
meshtype, "ERROR")
print(sys.exc_info()[0])
display.setProgress(0)
# TODO: Move texture export to individual formats? This is practically SMURF
# TODO: Also, this does not properly take care of textures embedded in a .blend file
# export textures
if ioUtils.getExpSettings().exportTextures:
for materialname in model['materials']:
mat = model['materials'][materialname]
for texturetype in [
'diffuseTexture', 'normalTexture', 'displacementTexture'
]:
if texturetype in mat:
sourcepath = os.path.join(
os.path.expanduser(bpy.path.abspath('//')),
mat[texturetype])
if os.path.isfile(sourcepath):
texture_path = securepath(
os.path.join(export_path, 'textures'))
log("Exporting textures to " + texture_path, "INFO")
try:
shutil.copy(
sourcepath,
os.path.join(
texture_path,
os.path.basename(mat[texturetype])))
except shutil.SameFileError:
log("{} already in place".format(texturetype),
"INFO")