def addAnnotationObject(obj, annotation, name=None, size=0.1, namespace=None):
"""Add a new annotation object with the specified annotations to the object.
The annotation object will receive 'annotation_object' as its default name, unless a name is
provided. Naming is done using :func:`phobos.utils.naming.safelyName`.
The annotation object will be scaled according to the **size** parameter.
If ``namespace`` is provided, the annotations will be saved with this string prepended.
This is done using :func:`addAnnotation`.
Args:
obj(bpy.types.Object): object to add annotation object to
annotation(dict): annotations that will be added
name(str, optional): name for the new annotation object (Default value = None)
size(int/float, optional): size of the new annotation object (Default value = 0.1)
namespace(str, optional): namespace that will be prepended to the annotations (Default value = None)
Returns:
: bpy.types.Object - the new annotation object
"""
loc = obj.matrix_world.to_translation()
if not name:
name = obj.name + '_annotation_object'
annot_obj = bUtils.createPrimitive(
name,
'box',
[1, 1, 1],
defs.layerTypes['annotation'],
plocation=loc,
phobostype='annotation',
)
annot_obj.scale = (size, ) * 3
resource = ioUtils.getResource(['annotation', namespace.split('/')[-1]])
if resource:
annot_obj.data = resource.data
else:
annot_obj.data = ioUtils.getResource(['annotation', 'default']).data
# make sure all layers are enabled for parenting
originallayers = {}
for name, coll in bpy.context.window.view_layer.layer_collection.children.items(
):
originallayers[name] = coll.exclude
coll.exclude = False
# parent annotation object
parentObjectsTo(annot_obj, obj)
# Restore original layers
for key, value in originallayers.items():
bpy.context.window.view_layer.layer_collection.children[
key].exclude = value
addAnnotation(annot_obj, annotation, namespace=namespace)
return annot_obj
def addAnnotationObject(obj, annotation, name=None, size=0.1, namespace=None):
"""Add a new annotation object with the specified annotations to the object.
The annotation object will receive 'annotation_object' as its default name, unless a name is
provided. Naming is done using :func:`phobos.utils.naming.safelyName`.
The annotation object will be scaled according to the **size** parameter.
If ``namespace`` is provided, the annotations will be saved with this string prepended.
This is done using :func:`addAnnotation`.
Args:
obj(bpy.types.Object): object to add annotation object to
annotation(dict): annotations that will be added
name(str, optional): name for the new annotation object (Default value = None)
size(int/float, optional): size of the new annotation object (Default value = 0.1)
namespace(str, optional): namespace that will be prepended to the annotations (Default value = None)
Returns:
: bpy.types.Object - the new annotation object
"""
loc = obj.matrix_world.to_translation()
if not name:
name = obj.name + '_annotation_object'
annot_obj = bUtils.createPrimitive(
name,
'box',
[1, 1, 1],
defs.layerTypes['annotation'],
plocation=loc,
phobostype='annotation',
)
annot_obj.scale = (size,) * 3
resource = ioUtils.getResource(['annotation', namespace.split('/')[-1]])
if resource:
annot_obj.data = resource.data
else:
annot_obj.data = ioUtils.getResource(['annotation', 'default']).data
# make sure all layers are enabled for parenting
originallayers = list(bpy.context.scene.layers)
bpy.context.scene.layers = [True for i in range(20)]
# parent annotation object
parentObjectsTo(annot_obj, obj)
bpy.context.scene.layers = originallayers
addAnnotation(annot_obj, annotation, namespace=namespace)
return annot_obj
def validateJointType(link, adjust=False):
"""Validate the joint type of the specified link.
If adjust is `True`, the validation errors are fixed on the fly.
Args:
link(bpy.types.Object): link representing the joint to validate
adjust(bool, optional): if True, the validation errors are fixed on the fly. (Default value = False)
Returns:
: list(ValidateMessage) -- validation errors
"""
import phobos.model.joints as jointmodel
import phobos.utils.io as ioUtils
errors = []
if 'joint/type' not in link:
errors.append(
ValidateMessage("No joint type specified!", 'WARNING', link,
"phobos.define_joint_constraints", {}))
# make sure we get no KeyErrors from this
if adjust:
link['joint/type'] = 'undefined'
joint_type, crot = jointmodel.getJointType(link)
# warn user if the constraints do not match the specified joint type
if 'joint/type' in link and joint_type != link['joint/type']:
if not adjust:
errors.append(
ValidateMessage(
"The specified joint type does not match the constraints:",
'WARNING',
link,
None,
{
'log_info':
str("'" + link['joint/type'] + "' should be set to '" +
joint_type + "' instead.")
},
))
else:
# fix joint type and assign new resource object
link['joint/type'] = joint_type
resource_obj = ioUtils.getResource(('joint', joint_type))
if resource_obj:
log("Assigned resource to {}.".format(link.name), 'DEBUG')
link.pose.bones[0].custom_shape = resource_obj
errors.append(
ValidateMessage("Adjusted joint type to '" + joint_type + "'.",
'INFO', link, None, {}))
return errors
def createInterface(ifdict, parent=None):
"""Create an interface object and optionally parent to existing object.
ifdict is expected as:
| **type**: str
| **direction**: str
| **model**: str
| **name**: str
| **parent**: bpy.types.Object (optional)
| **scale**: float (optional)
Args:
ifdict(dict): interface data
parent(bpy.types.Object, optional): designated parent object (Default value = None)
Returns:
bpy.data.Object: newly created interface object
"""
if not parent:
try:
parent = ifdict['parent']
assert isinstance(parent, bpy.types.Object)
except (AttributeError, AssertionError, KeyError):
parent = None
location = parent.matrix_world.translation if parent else mathutils.Vector(
)
rotation = parent.matrix_world.to_euler() if parent else mathutils.Euler()
model = ifdict['model'] if 'model' in ifdict else 'default'
templateobj = ioUtils.getResource(
('interface', model, ifdict['direction']))
scale = ifdict['scale'] if 'scale' in ifdict else 1.0
ifobj = bUtils.createPrimitive(
ifdict['name'],
'box',
(1.0, 1.0, 1.0),
defs.layerTypes['interface'],
plocation=location,
protation=rotation,
phobostype='interface',
)
nUtils.safelyName(ifobj, ifdict['name'], 'interface')
ifobj.data = templateobj.data
ifobj.scale = (scale, ) * 3
ifobj['interface/type'] = ifdict['type']
ifobj['interface/direction'] = ifdict['direction']
if parent is not None:
ifobj['interface/parent'] = parent.name
parentObjectsTo(ifobj, parent)
bpy.ops.object.make_single_user(object=True, obdata=True)
def createInterface(ifdict, parent=None):
"""Create an interface object and optionally parent to existing object.
ifdict is expected as:
| **type**: str
| **direction**: str
| **model**: str
| **name**: str
| **parent**: bpy.types.Object (optional)
| **scale**: float (optional)
Args:
ifdict(dict): interface data
parent(bpy.types.Object, optional): designated parent object (Default value = None)
Returns:
bpy.data.Object: newly created interface object
"""
if not parent:
try:
parent = ifdict['parent']
assert isinstance(parent, bpy.types.Object)
except (AttributeError, AssertionError, KeyError):
parent = None
location = parent.matrix_world.translation if parent else mathutils.Vector()
rotation = parent.matrix_world.to_euler() if parent else mathutils.Euler()
model = ifdict['model'] if 'model' in ifdict else 'default'
templateobj = ioUtils.getResource(('interface', model, ifdict['direction']))
scale = ifdict['scale'] if 'scale' in ifdict else 1.0
ifobj = bUtils.createPrimitive(
ifdict['name'],
'box',
(1.0, 1.0, 1.0),
defs.layerTypes['interface'],
plocation=location,
protation=rotation,
phobostype='interface',
)
nUtils.safelyName(ifobj, ifdict['name'], 'interface')
ifobj.data = templateobj.data
ifobj.scale = (scale,) * 3
ifobj['interface/type'] = ifdict['type']
ifobj['interface/direction'] = ifdict['direction']
bpy.ops.object.make_single_user(object=True, obdata=True)
def execute(self, context):
"""
Args:
context:
Returns:
"""
root = sUtils.getRoot(context.active_object)
if root:
root["model/name"] = self.modelname
# write model information to new root
root.pose.bones[0].custom_shape = ioUtils.getResource(('link', 'root'))
else:
log("Could not set modelname due to missing root link. No name was set.", "ERROR")
return {'FINISHED'}
def createSensor(sensor, reference, origin=mathutils.Matrix()):
"""This function creates a new sensor specified by its parameters.
The sensor dictionary has to contain these keys:
*name*: name of the new sensor
*type*: type specifier of the sensor
*shape*: a shape specifier for the sensor
*props*: custom properties to be written to the sensor object
Args:
sensor(dict): phobos representation of the new sensor
reference(bpy_types.Object): object to add a parent relationship to
origin(mathutils.Matrix, optional): new sensors origin (Default value = mathutils.Matrix())
Returns:
: The newly created sensor object
"""
layers = defs.layerTypes['sensor']
bUtils.toggleLayer(layers, value=True)
# create sensor object
if sensor['shape'].startswith('resource'):
newsensor = bUtils.createPrimitive(
sensor['name'],
'box',
[1, 1, 1],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=sensor['material'],
phobostype='sensor',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(
['sensor'] + sensor['shape'].split('://')[1].split('_'))
if resource_obj:
log("Assigned resource mesh and materials to new sensor object.",
'DEBUG')
newsensor.data = resource_obj.data
newsensor.scale = (sensor['size'], ) * 3
else:
log(
"Could not use resource mesh for sensor. Default cube used instead.",
'WARNING')
else:
newsensor = bUtils.createPrimitive(
sensor['name'],
sensor['shape'],
sensor['size'],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=sensor['material'],
phobostype='sensor',
)
# assign the parent if available
if reference is not None:
eUtils.parentObjectsTo(newsensor, reference)
# TODO we need to deal with other types of parameters for sensors
# TODO cameraRotLock() use or dispose?
# contact, force and torque sensors (or unknown sensors)
# else:
# newsensor = bUtils.createPrimitive(
# sensor['name'], 'ico', 0.05, layers, 'phobos_sensor',
# origin.to_translation(), protation=origin.to_euler())
# if sensor['name'] == 'Joint6DOF':
# # TODO delete me? handle this
# #newsensor['sensor/nodes'] = nUtils.getObjectName(reference)
# pass
# elif 'Node' in sensor['type']:
# newsensor['sensor/nodes'] = sorted([nUtils.getObjectName(ref) for ref in reference])
# elif 'Joint' in sensor['type'] or 'Motor' in sensor['type']:
# newsensor['sensor/joints'] = sorted([nUtils.getObjectName(ref) for ref in reference])
# elif sensor['type'] in ['Joint6DOF']:
# for obj in context.selected_objects:
# if obj.phobostype == 'link':
# sensor['name'] = "sensor_joint6dof_" + nUtils.getObjectName(obj, phobostype="joint")
# sensors.createSensor(sensor, obj, obj.matrix_world)
# elif 'Node' in sensor['type']:
# sensors.createSensor(sensor, [obj for obj in context.selected_objects if obj.phobostype == 'collision'],
# mathutils.Matrix.Translation(context.scene.cursor_location))
# elif 'Motor' in sensor['type'] or 'Joint' in sensor['type']:
# sensors.createSensor(sensor, [obj for obj in context.selected_objects if obj.phobostype == 'link'],
# mathutils.Matrix.Translation(context.scene.cursor_location))
# set sensor properties
newsensor.phobostype = 'sensor'
newsensor.name = sensor['name']
newsensor['sensor/name'] = sensor['name']
newsensor['sensor/type'] = sensor['type']
# write the custom properties to the sensor
eUtils.addAnnotation(newsensor, sensor['props'], namespace='sensor')
# throw warning if type is not known
# TODO we need to link this error to the sensor type specifications
if sensor['type'] not in [
key.lower() for key in defs.def_settings['sensors']
]:
log(
"Sensor " + sensor['name'] + " is of unknown/custom type: " +
sensor['type'] + ".",
'WARNING',
)
# select the new sensor
sUtils.selectObjects([newsensor], clear=True, active=0)
return newsensor
def createController(controller, reference, origin=mathutils.Matrix(), annotations=None):
"""This function creates a new controller specified by its parameters.
If an annotation category or the keyword 'all' is specified, the respective annotations for the
controller will be added as objects.
Args:
controller(dict): phobos representation of the new controller
reference(bpy_types.Object): object to add a parent relationship to
origin(mathutils.Matrix, optional): new controllers origin (Default value = mathutils.Matrix())
annotations(list(str, optional): list of annotation keys or 'all' to add to as annotation
objects (Default value = None)
Returns:
: bpy.types.Object -- new created controller object
"""
layers = defs.layerTypes['controller']
bUtils.toggleLayer(layers, value=True)
# create controller object
if controller['shape'].startswith('resource'):
newcontroller = bUtils.createPrimitive(
controller['name'],
'box',
[1, 1, 1],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=controller['material'],
phobostype='controller',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(
['controller'] + controller['shape'].split('://')[1].split('_')
)
if resource_obj:
log("Assigned resource mesh and materials to new controller object.", 'DEBUG')
newcontroller.data = resource_obj.data
newcontroller.scale = (controller['size'],) * 3
else:
log("Could not use resource mesh for controller. Default cube used instead.", 'WARNING')
else:
newcontroller = bUtils.createPrimitive(
controller['name'],
controller['shape'],
controller['size'],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=controller['material'],
phobostype='controller',
)
newcontroller.name = controller['name']
newcontroller['controller/type'] = controller['type']
# write the custom properties to the controller
eUtils.addAnnotation(newcontroller, controller['props'], namespace='controller')
if controller['annotations'] and annotations:
if annotations == 'all':
keys = controller['annotations'].keys()
elif isinstance(annotations, list):
keys = [key for key in annotations if key in controller['annotations']]
else:
keys = []
for key in keys:
eUtils.addAnnotationObject(
newcontroller, controller['annotations'][key], namespace='controller/' + key
)
# assign the parent if available
if reference is not None:
sUtils.selectObjects([newcontroller, reference], clear=True, active=1)
if reference.phobostype == 'link':
bpy.ops.object.parent_set(type='BONE_RELATIVE')
else:
bpy.ops.object.parent_set(type='OBJECT')
return newcontroller
def setJointConstraints(
joint,
jointtype,
lower=0.0,
upper=0.0,
spring=0.0,
damping=0.0,
maxeffort_approximation=None,
maxspeed_approximation=None,
):
"""Sets the constraints for a given joint and jointtype.
If the joint type is not recognized, the constraints will match a floating joint.
The approximation for maximum effort/speed requires a dictionary with two entries (*function*
*coefficients*).
Based on the joint type, the respective resource object is applied to the link.
Args:
joint(bpy_types.Object): link object containing the joint to be edited
jointtype(str): joint type (revolute, continuous, prismatic, fixed, floating, planar)
lower(float, optional): lower limit of the constraint (defaults to 0.)
upper(float, optional): upper limit of the constraint (defaults to 0.)
spring(float, optional): spring stiffness for the joint (Default value = 0.0)
damping(float, optional): spring damping for the joint (Default value = 0.0)
maxeffort_approximation(dict, optional): function and coefficients for maximum effort (Default value = None)
maxspeed_approximation(dict, optional): function and coefficients for maximum speed (Default value = None)
Returns:
"""
if joint.phobostype != 'link':
log("Cannot set joint constraints. Not a link: {}".format(joint), 'ERROR')
return
log("Setting joint constraints at link {}.".format(joint.name), 'DEBUG')
bpy.ops.object.mode_set(mode='POSE')
# remove existing constraints from bone
for cons in joint.pose.bones[0].constraints:
joint.pose.bones[0].constraints.remove(cons)
# add spring & damping
if jointtype in ['revolute', 'prismatic'] and (spring or damping):
try:
bpy.ops.rigidbody.constraint_add(type='GENERIC_SPRING')
bpy.context.object.rigid_body_constraint.spring_stiffness_y = spring
bpy.context.object.rigid_body_constraint.spring_damping_y = damping
except RuntimeError:
log("No Blender Rigid Body World present, only adding custom properties.", 'ERROR')
# TODO we should make sure that the rigid body constraints gets changed
# if the values below are changed manually by the user
joint['joint/dynamics/springStiffness'] = spring
joint['joint/dynamics/springDamping'] = damping
joint['joint/dynamics/spring_const_constraint_axis1'] = spring # FIXME: this is a hack
joint[
'joint/dynamics/damping_const_constraint_axis1'
] = damping # FIXME: this is a hack, too
# set constraints accordingly
if jointtype == 'revolute':
set_revolute(joint, lower, upper)
elif jointtype == 'continuous':
set_continuous(joint)
elif jointtype == 'prismatic':
set_prismatic(joint, lower, upper)
elif jointtype == 'fixed':
set_fixed(joint)
elif jointtype == 'floating':
# 6DOF
pass
elif jointtype == 'planar':
set_planar(joint)
else:
log("Unknown joint type for joint " + joint.name + ". Behaviour like floating.", 'WARNING')
joint['joint/type'] = jointtype
bpy.ops.object.mode_set(mode='OBJECT')
# check for approximation functions of effort and speed
if jointtype in ['revolute', 'continuous', 'prismatic']:
if maxeffort_approximation:
if all(elem in ['function', 'coefficients'] for elem in maxeffort_approximation):
joint['joint/maxeffort_approximation'] = maxeffort_approximation['function']
joint['joint/maxeffort_coefficients'] = maxeffort_approximation['coefficients']
else:
log(
"Approximation for max effort ill-defined in joint object {}.".format(
joint.name
),
'ERROR',
)
if maxspeed_approximation:
if all(elem in ['function', 'coefficients'] for elem in maxspeed_approximation):
joint['joint/maxspeed_approximation'] = maxspeed_approximation['function']
joint['joint/maxspeed_coefficients'] = maxspeed_approximation['coefficients']
else:
log(
"Approximation for max speed ill-defined in joint object {}.".format(
joint.name
),
'ERROR',
)
# set link/joint visualization
resource_obj = ioUtils.getResource(('joint', jointtype))
if resource_obj:
log("Assigned resource to {}.".format(joint.name), 'DEBUG')
joint.pose.bones[0].custom_shape = resource_obj
def setJointConstraints(
joint,
jointtype,
lower=0.0,
upper=0.0,
spring=0.0,
damping=0.0,
maxeffort_approximation=None,
maxspeed_approximation=None,
):
"""Sets the constraints for a given joint and jointtype.
If the joint type is not recognized, the constraints will match a floating joint.
The approximation for maximum effort/speed requires a dictionary with two entries (*function*
*coefficients*).
Based on the joint type, the respective resource object is applied to the link.
Args:
joint(bpy_types.Object): link object containing the joint to be edited
jointtype(str): joint type (revolute, continuous, prismatic, fixed, floating, planar)
lower(float, optional): lower limit of the constraint (defaults to 0.)
upper(float, optional): upper limit of the constraint (defaults to 0.)
spring(float, optional): spring stiffness for the joint (Default value = 0.0)
damping(float, optional): spring damping for the joint (Default value = 0.0)
maxeffort_approximation(dict, optional): function and coefficients for maximum effort (Default value = None)
maxspeed_approximation(dict, optional): function and coefficients for maximum speed (Default value = None)
Returns:
"""
if joint.phobostype != 'link':
log("Cannot set joint constraints. Not a link: {}".format(joint),
'ERROR')
return
log("Setting joint constraints at link {}.".format(joint.name), 'DEBUG')
bpy.ops.object.mode_set(mode='POSE')
# remove existing constraints from bone
for cons in joint.pose.bones[0].constraints:
joint.pose.bones[0].constraints.remove(cons)
# add spring & damping
if jointtype in ['revolute', 'prismatic'] and (spring or damping):
try:
bpy.ops.rigidbody.constraint_add(type='GENERIC_SPRING')
bpy.context.object.rigid_body_constraint.spring_stiffness_y = spring
bpy.context.object.rigid_body_constraint.spring_damping_y = damping
except RuntimeError:
log(
"No Blender Rigid Body World present, only adding custom properties.",
'ERROR')
# TODO we should make sure that the rigid body constraints gets changed
# if the values below are changed manually by the user
joint['joint/dynamics/springStiffness'] = spring
joint['joint/dynamics/springDamping'] = damping
joint[
'joint/dynamics/spring_const_constraint_axis1'] = spring # FIXME: this is a hack
joint[
'joint/dynamics/damping_const_constraint_axis1'] = damping # FIXME: this is a hack, too
# set constraints accordingly
if jointtype == 'revolute':
set_revolute(joint, lower, upper)
elif jointtype == 'continuous':
set_continuous(joint)
elif jointtype == 'prismatic':
set_prismatic(joint, lower, upper)
elif jointtype == 'fixed':
set_fixed(joint)
elif jointtype == 'floating':
# 6DOF
pass
elif jointtype == 'planar':
set_planar(joint)
else:
log(
"Unknown joint type for joint " + joint.name +
". Behaviour like floating.", 'WARNING')
joint['joint/type'] = jointtype
bpy.ops.object.mode_set(mode='OBJECT')
# check for approximation functions of effort and speed
if jointtype in ['revolute', 'continuous', 'prismatic']:
if maxeffort_approximation:
if all(elem in ['function', 'coefficients']
for elem in maxeffort_approximation):
joint[
'joint/maxeffort_approximation'] = maxeffort_approximation[
'function']
joint[
'joint/maxeffort_coefficients'] = maxeffort_approximation[
'coefficients']
else:
log(
"Approximation for max effort ill-defined in joint object {}."
.format(joint.name),
'ERROR',
)
if maxspeed_approximation:
if all(elem in ['function', 'coefficients']
for elem in maxspeed_approximation):
joint['joint/maxspeed_approximation'] = maxspeed_approximation[
'function']
joint['joint/maxspeed_coefficients'] = maxspeed_approximation[
'coefficients']
else:
log(
"Approximation for max speed ill-defined in joint object {}."
.format(joint.name),
'ERROR',
)
# set link/joint visualization
resource_obj = ioUtils.getResource(('joint', jointtype))
if resource_obj:
log("Assigned resource to {}.".format(joint.name), 'DEBUG')
joint.pose.bones[0].custom_shape = resource_obj
def createMotor(motor, parentobj, origin=mathutils.Matrix(), addcontrollers=False):
"""This function creates a new motor specified by its parameters.
If *addcontrollers* is set, a controller object will be created from the controller definition
which is specified in the motor dictionary (key *controller*).
Args:
motor(dict): phobos representation of the new motor.
parentobj(bpy_types.Object): object to parent new motor to
origin(mathutils.Matrix, optional): new motors origin (Default value = mathutils.Matrix())
addcontrollers(bool, optional): whether to add the defined controller as object (Default value = False)
Returns:
bpy.types.Object: new motor object or a list of the new motor_object and the new controller object
"""
layers = defs.layerTypes['motor']
bUtils.toggleLayer(layers, value=True)
# create motor object
if motor['shape'].startswith('resource'):
newmotor = bUtils.createPrimitive(
motor['name'],
'box',
[1, 1, 1],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=motor['material'],
phobostype='motor',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(['motor'] + motor['shape'].split('://')[1].split('_'))
if resource_obj:
log("Assigned resource mesh and materials to new motor object.", 'DEBUG')
newmotor.data = resource_obj.data
newmotor.scale = (motor['size'],) * 3
else:
log("Could not use resource mesh for motor. Default cube used instead.", 'WARNING')
else:
newmotor = bUtils.createPrimitive(
motor['name'],
motor['shape'],
motor['size'],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=motor['material'],
phobostype='motor',
)
# assign the parent if available
if parentobj is not None:
sUtils.selectObjects([newmotor, parentobj], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
# set motor properties
newmotor.phobostype = 'motor'
newmotor.name = motor['name']
defname = motor['defname']
# write the custom properties to the motor
eUtils.addAnnotation(newmotor, motor['props'], namespace='motor', ignore=['defname'])
if 'controller' in defs.definitions['motors'][defname] and addcontrollers:
import phobos.model.controllers as controllermodel
motorcontroller = defs.definitions['motors'][defname]['controller']
controllerdefs = ioUtils.getDictFromYamlDefs(
'controller', motorcontroller, newmotor.name + '_controller'
)
newcontroller = controllermodel.createController(
controllerdefs, newmotor, origin=newmotor.matrix_world, annotations='all'
)
else:
newcontroller = None
# select the new motor
sUtils.selectObjects(
[newmotor] if not newcontroller else [newmotor, newcontroller], clear=True, active=0
)
return newmotor if not newcontroller else [newmotor, newcontroller]
def createController(controller,
reference,
origin=mathutils.Matrix(),
annotations=None):
"""This function creates a new controller specified by its parameters.
If an annotation category or the keyword 'all' is specified, the respective annotations for the
controller will be added as objects.
Args:
controller(dict): phobos representation of the new controller
reference(bpy_types.Object): object to add a parent relationship to
origin(mathutils.Matrix, optional): new controllers origin (Default value = mathutils.Matrix())
annotations(list(str, optional): list of annotation keys or 'all' to add to as annotation
objects (Default value = None)
Returns:
: bpy.types.Object -- new created controller object
"""
bUtils.toggleLayer('controller', value=True)
# create controller object
if controller['shape'].startswith('resource'):
newcontroller = bUtils.createPrimitive(
controller['name'],
'box',
[1, 1, 1],
[],
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=controller['material'],
phobostype='controller',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(
['controller'] + controller['shape'].split('://')[1].split('_'))
if resource_obj:
log(
"Assigned resource mesh and materials to new controller object.",
'DEBUG')
newcontroller.data = resource_obj.data
newcontroller.scale = (controller['size'], ) * 3
else:
log(
"Could not use resource mesh for controller. Default cube used instead.",
'WARNING')
else:
newcontroller = bUtils.createPrimitive(
controller['name'],
controller['shape'],
controller['size'],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=controller['material'],
phobostype='controller',
)
newcontroller.name = controller['name']
newcontroller['controller/type'] = controller['type']
# write the custom properties to the controller
eUtils.addAnnotation(newcontroller,
controller['props'],
namespace='controller')
if controller['annotations'] and annotations:
if annotations == 'all':
keys = controller['annotations'].keys()
elif isinstance(annotations, list):
keys = [
key for key in annotations if key in controller['annotations']
]
else:
keys = []
for key in keys:
eUtils.addAnnotationObject(newcontroller,
controller['annotations'][key],
namespace='controller/' + key)
# assign the parent if available
if reference is not None:
sUtils.selectObjects([newcontroller, reference], clear=True, active=1)
if reference.phobostype == 'link':
bpy.ops.object.parent_set(type='BONE_RELATIVE')
else:
bpy.ops.object.parent_set(type='OBJECT')
return newcontroller
def createSensor(sensor, reference, origin=mathutils.Matrix()):
"""This function creates a new sensor specified by its parameters.
The sensor dictionary has to contain these keys:
*name*: name of the new sensor
*type*: type specifier of the sensor
*shape*: a shape specifier for the sensor
*props*: custom properties to be written to the sensor object
Args:
sensor(dict): phobos representation of the new sensor
reference(bpy_types.Object): object to add a parent relationship to
origin(mathutils.Matrix, optional): new sensors origin (Default value = mathutils.Matrix())
Returns:
: The newly created sensor object
"""
layers = defs.layerTypes['sensor']
bUtils.toggleLayer(layers, value=True)
# create sensor object
if sensor['shape'].startswith('resource'):
newsensor = bUtils.createPrimitive(
sensor['name'],
'box',
[1, 1, 1],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=sensor['material'],
phobostype='sensor',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(['sensor'] + sensor['shape'].split('://')[1].split('_'))
if resource_obj:
log("Assigned resource mesh and materials to new sensor object.", 'DEBUG')
newsensor.data = resource_obj.data
newsensor.scale = (sensor['size'],) * 3
else:
log("Could not use resource mesh for sensor. Default cube used instead.", 'WARNING')
else:
newsensor = bUtils.createPrimitive(
sensor['name'],
sensor['shape'],
sensor['size'],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=sensor['material'],
phobostype='sensor',
)
# assign the parent if available
if reference is not None:
eUtils.parentObjectsTo(newsensor, reference)
# TODO we need to deal with other types of parameters for sensors
# TODO cameraRotLock() use or dispose?
# contact, force and torque sensors (or unknown sensors)
# else:
# newsensor = bUtils.createPrimitive(
# sensor['name'], 'ico', 0.05, layers, 'phobos_sensor',
# origin.to_translation(), protation=origin.to_euler())
# if sensor['name'] == 'Joint6DOF':
# # TODO delete me? handle this
# #newsensor['sensor/nodes'] = nUtils.getObjectName(reference)
# pass
# elif 'Node' in sensor['type']:
# newsensor['sensor/nodes'] = sorted([nUtils.getObjectName(ref) for ref in reference])
# elif 'Joint' in sensor['type'] or 'Motor' in sensor['type']:
# newsensor['sensor/joints'] = sorted([nUtils.getObjectName(ref) for ref in reference])
# elif sensor['type'] in ['Joint6DOF']:
# for obj in context.selected_objects:
# if obj.phobostype == 'link':
# sensor['name'] = "sensor_joint6dof_" + nUtils.getObjectName(obj, phobostype="joint")
# sensors.createSensor(sensor, obj, obj.matrix_world)
# elif 'Node' in sensor['type']:
# sensors.createSensor(sensor, [obj for obj in context.selected_objects if obj.phobostype == 'collision'],
# mathutils.Matrix.Translation(context.scene.cursor_location))
# elif 'Motor' in sensor['type'] or 'Joint' in sensor['type']:
# sensors.createSensor(sensor, [obj for obj in context.selected_objects if obj.phobostype == 'link'],
# mathutils.Matrix.Translation(context.scene.cursor_location))
# set sensor properties
newsensor.phobostype = 'sensor'
newsensor.name = sensor['name']
newsensor['sensor/name'] = sensor['name']
newsensor['sensor/type'] = sensor['type']
# write the custom properties to the sensor
eUtils.addAnnotation(newsensor, sensor['props'], namespace='sensor')
# throw warning if type is not known
# TODO we need to link this error to the sensor type specifications
if sensor['type'] not in [key.lower() for key in defs.def_settings['sensors']]:
log(
"Sensor " + sensor['name'] + " is of unknown/custom type: " + sensor['type'] + ".",
'WARNING',
)
# select the new sensor
sUtils.selectObjects([newsensor], clear=True, active=0)
return newsensor
def createMotor(motor,
parentobj,
origin=mathutils.Matrix(),
addcontrollers=False):
"""This function creates a new motor specified by its parameters.
If *addcontrollers* is set, a controller object will be created from the controller definition
which is specified in the motor dictionary (key *controller*).
Args:
motor(dict): phobos representation of the new motor.
parentobj(bpy_types.Object): object to parent new motor to
origin(mathutils.Matrix, optional): new motors origin (Default value = mathutils.Matrix())
addcontrollers(bool, optional): whether to add the defined controller as object (Default value = False)
Returns:
bpy.types.Object: new motor object or a list of the new motor_object and the new controller object
"""
bUtils.toggleLayer('motor', value=True)
primitive_name = ''
# create name if not given by motor dict
if not 'name' in motor or len(motor['name']) == 0:
motor['name'] = parentobj.name
primitive_name = "motor_" + motor['name']
else:
primitive_name = motor['name']
primitive_name = ''
# create name if not given by motor dict
if not 'name' in motor or len(motor['name']) == 0:
motor['name'] = parentobj.name
primitive_name = "motor_" + motor['name']
else:
primitive_name = motor['name']
# create motor object
if motor['shape'].startswith('resource'):
newmotor = bUtils.createPrimitive(
primitive_name,
'box',
[1, 1, 1],
[],
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=motor['material'],
phobostype='motor',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(
['motor'] + motor['shape'].split('://')[1].split('_'))
if resource_obj:
log("Assigned resource mesh and materials to new motor object.",
'DEBUG')
newmotor.data = resource_obj.data
newmotor.scale = (motor['size'], ) * 3
else:
log(
"Could not use resource mesh for motor. Default cube used instead.",
'WARNING')
else:
newmotor = bUtils.createPrimitive(
primitive_name,
motor['shape'],
motor['size'],
[],
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=motor['material'],
phobostype='motor',
)
# assign the parent if available
if parentobj is not None:
sUtils.selectObjects([newmotor, parentobj], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
# set motor properties
newmotor.phobostype = 'motor'
# should not be nessaccary: newmotor.name = motor['name']
defname = motor['defname']
# write the custom properties to the motor
eUtils.addAnnotation(newmotor,
motor['props'],
namespace='motor',
ignore=['defname'])
# fix motor name since it can differe from object name
newmotor['motor/name'] = motor['name']
if 'controller' in defs.definitions['motors'][defname] and addcontrollers:
import phobos.model.controllers as controllermodel
motorcontroller = defs.definitions['motors'][defname]['controller']
controllerdefs = ioUtils.getDictFromYamlDefs(
'controller', motorcontroller, newmotor.name + '_controller')
newcontroller = controllermodel.createController(
controllerdefs,
newmotor,
origin=newmotor.matrix_world,
annotations='all')
else:
newcontroller = None
# select the new motor
sUtils.selectObjects(
[newmotor] if not newcontroller else [newmotor, newcontroller],
clear=True,
active=0)
return newmotor if not newcontroller else [newmotor, newcontroller]
def validateJointType(link, adjust=False):
"""Validate the joint type of the specified link.
If adjust is `True`, the validation errors are fixed on the fly.
Args:
link(bpy.types.Object): link representing the joint to validate
adjust(bool, optional): if True, the validation errors are fixed on the fly. (Default value = False)
Returns:
: list(ValidateMessage) -- validation errors
"""
import phobos.model.joints as jointmodel
import phobos.utils.io as ioUtils
errors = []
if 'joint/type' not in link:
errors.append(
ValidateMessage(
"No joint type specified!", 'WARNING', link, "phobos.define_joint_constraints", {}
)
)
# make sure we get no KeyErrors from this
if adjust:
link['joint/type'] = 'undefined'
joint_type, crot = jointmodel.getJointType(link)
# warn user if the constraints do not match the specified joint type
if 'joint/type' in link and joint_type != link['joint/type']:
if not adjust:
errors.append(
ValidateMessage(
"The specified joint type does not match the constraints:",
'WARNING',
link,
None,
{
'log_info': str(
"'"
+ link['joint/type']
+ "' should be set to '"
+ joint_type
+ "' instead."
)
},
)
)
else:
# fix joint type and assign new resource object
link['joint/type'] = joint_type
resource_obj = ioUtils.getResource(('joint', joint_type))
if resource_obj:
log("Assigned resource to {}.".format(link.name), 'DEBUG')
link.pose.bones[0].custom_shape = resource_obj
errors.append(
ValidateMessage(
"Adjusted joint type to '" + joint_type + "'.", 'INFO', link, None, {}
)
)
return errors
def setJointConstraints(joint,
jointtype,
lower=0.0,
upper=0.0,
spring=0.0,
damping=0.0,
maxeffort_approximation=None,
maxspeed_approximation=None):
"""Sets the constraints for a given joint and jointtype.
Args:
joint(bpy_types.Object): the joint to be edited
jointtype(str): joint type
lower(float, optional): The constraints' lower limit. (Default value = 0.0)
upper(float, optional): The constraints' upper limit. (Default value = 0.0)
spring: (Default value = 0.0)
damping: (Default value = 0.0)
maxeffort_approximation: (Default value = None)
maxspeed_approximation: (Default value = None)
Returns:
"""
log(joint.name, 'INFO', end=' ')
bpy.ops.object.mode_set(mode='POSE')
for c in joint.pose.bones[0].constraints:
joint.pose.bones[0].constraints.remove(c)
if joint.phobostype == 'link':
# add spring & damping
if jointtype in ['revolute', 'prismatic'] and (spring or damping):
try:
bpy.ops.rigidbody.constraint_add(type='GENERIC_SPRING')
bpy.context.object.rigid_body_constraint.spring_stiffness_y = spring
bpy.context.object.rigid_body_constraint.spring_damping_y = damping
except RuntimeError:
log(
"No Blender Rigid Body World present, only adding custom properties.",
"ERROR")
# we should make sure that the rigid body constraints gets changed
# if the values below are changed manually by the user
joint['joint/dynamics/springStiffness'] = spring
joint['joint/dynamics/springDamping'] = damping
joint[
'joint/dynamics/spring_const_constraint_axis1'] = spring # FIXME: this is a hack
joint[
'joint/dynamics/damping_const_constraint_axis1'] = damping # FIXME: this is a hack, too
# add constraints
if jointtype == 'revolute':
# fix location
bpy.ops.pose.constraint_add(type='LIMIT_LOCATION')
cloc = getJointConstraint(joint, 'LIMIT_LOCATION')
cloc.use_min_x = True
cloc.use_min_y = True
cloc.use_min_z = True
cloc.use_max_x = True
cloc.use_max_y = True
cloc.use_max_z = True
cloc.owner_space = 'LOCAL'
# fix rotation x, z and limit y
bpy.ops.pose.constraint_add(type='LIMIT_ROTATION')
crot = getJointConstraint(joint, 'LIMIT_ROTATION')
crot.use_limit_x = True
crot.min_x = 0
crot.max_x = 0
crot.use_limit_y = True
crot.min_y = lower
crot.max_y = upper
crot.use_limit_z = True
crot.min_z = 0
crot.max_z = 0
crot.owner_space = 'LOCAL'
elif jointtype == 'continuous':
# fix location
bpy.ops.pose.constraint_add(type='LIMIT_LOCATION')
cloc = getJointConstraint(joint, 'LIMIT_LOCATION')
cloc.use_min_x = True
cloc.use_min_y = True
cloc.use_min_z = True
cloc.use_max_x = True
cloc.use_max_y = True
cloc.use_max_z = True
cloc.owner_space = 'LOCAL'
# fix rotation x, z
bpy.ops.pose.constraint_add(type='LIMIT_ROTATION')
crot = getJointConstraint(joint, 'LIMIT_ROTATION')
crot.use_limit_x = True
crot.min_x = 0
crot.max_x = 0
crot.use_limit_z = True
crot.min_z = 0
crot.max_z = 0
crot.owner_space = 'LOCAL'
elif jointtype == 'prismatic':
# fix location except for y axis
bpy.ops.pose.constraint_add(type='LIMIT_LOCATION')
cloc = getJointConstraint(joint, 'LIMIT_LOCATION')
cloc.use_min_x = True
cloc.use_min_y = True
cloc.use_min_z = True
cloc.use_max_x = True
cloc.use_max_y = True
cloc.use_max_z = True
if lower == upper:
cloc.use_min_y = False
cloc.use_max_y = False
else:
cloc.min_y = lower
cloc.max_y = upper
cloc.owner_space = 'LOCAL'
# fix rotation
bpy.ops.pose.constraint_add(type='LIMIT_ROTATION')
crot = getJointConstraint(joint, 'LIMIT_ROTATION')
crot.use_limit_x = True
crot.min_x = 0
crot.max_x = 0
crot.use_limit_y = True
crot.min_y = 0
crot.max_y = 0
crot.use_limit_z = True
crot.min_z = 0
crot.max_z = 0
crot.owner_space = 'LOCAL'
elif jointtype == 'fixed':
# fix location
bpy.ops.pose.constraint_add(type='LIMIT_LOCATION')
cloc = getJointConstraint(joint, 'LIMIT_LOCATION')
cloc.use_min_x = True
cloc.use_min_y = True
cloc.use_min_z = True
cloc.use_max_x = True
cloc.use_max_y = True
cloc.use_max_z = True
cloc.owner_space = 'LOCAL'
# fix rotation
bpy.ops.pose.constraint_add(type='LIMIT_ROTATION')
crot = getJointConstraint(joint, 'LIMIT_ROTATION')
crot.use_limit_x = True
crot.min_x = 0
crot.max_x = 0
crot.use_limit_y = True
crot.min_y = 0
crot.max_y = 0
crot.use_limit_z = True
crot.min_z = 0
crot.max_z = 0
crot.owner_space = 'LOCAL'
elif jointtype == 'floating':
# 6DOF
pass
elif jointtype == 'planar':
# fix location
bpy.ops.pose.constraint_add(type='LIMIT_LOCATION')
cloc = getJointConstraint(joint, 'LIMIT_LOCATION')
cloc.use_min_y = True
cloc.use_max_y = True
cloc.owner_space = 'LOCAL'
# fix rotation
bpy.ops.pose.constraint_add(type='LIMIT_ROTATION')
crot = getJointConstraint(joint, 'LIMIT_ROTATION')
crot.use_limit_x = True
crot.min_x = 0
crot.max_x = 0
crot.use_limit_y = True
crot.min_y = 0
crot.max_y = 0
crot.use_limit_z = True
crot.min_z = 0
crot.max_z = 0
crot.owner_space = 'LOCAL'
else:
log("Unknown joint type for joint " + joint.name, "WARNING")
joint['joint/type'] = jointtype
bpy.ops.object.mode_set(mode='OBJECT')
# approximation functions for effort and speed
if jointtype in ['revolute', 'continuous', 'prismatic']:
try:
if maxeffort_approximation:
joint[
"joint/maxeffort_approximation"] = maxeffort_approximation[
"function"]
joint[
"joint/maxeffort_coefficients"] = maxeffort_approximation[
"coefficients"]
if maxspeed_approximation:
joint[
"joint/maxspeed_approximation"] = maxspeed_approximation[
"function"]
joint[
"joint/maxspeed_coefficients"] = maxspeed_approximation[
"coefficients"]
except KeyError:
log(
"Approximation for max effort and/or speed ill-defined in joint object "
+ joint.name, "ERROR")
# set link/joint visualization
joint.pose.bones[0].custom_shape = ioUtils.getResource(
('joint', jointtype))
# delete objects designated for deletion
sUtils.selectObjects(objects_to_be_deleted)
bpy.ops.object.delete(use_global=True)
# remove motor limits custom properties
for obj in objectlist:
if 'motor/limit' in obj:
del obj['motor/limit']
elif 'motor/limits' in obj:
del obj['motor/limits']
# move modelname to model/name and reassign root
for obj in objectlist:
if 'modelname' in obj:
obj['model/name'] = obj['modelname']
del obj['modelname']
if 'version' in obj:
obj['model/version'] = obj['version']
del obj['version']
if sUtils.isRoot(obj):
bpy.context.view_layer.objects.active = obj
bpy.ops.phobos.set_model_root()
# update joint shapes for whole model
joints = [obj for obj in objectlist if 'joint/type' in obj]
for joint in joints:
resource_obj = ioUtils.getResource(['joint', joint['joint/type']])
joint.pose.bones[0].custom_shape = resource_obj
# delete objects designated for deletion
sUtils.selectObjects(objects_to_be_deleted)
bpy.ops.object.delete(use_global=True)
# remove motor limits custom properties
for obj in objectlist:
if 'motor/limit' in obj:
del obj['motor/limit']
elif 'motor/limits' in obj:
del obj['motor/limits']
# move modelname to model/name and reassign root
for obj in objectlist:
if 'modelname' in obj:
obj['model/name'] = obj['modelname']
del obj['modelname']
if 'version' in obj:
obj['model/version'] = obj['version']
del obj['version']
if sUtils.isRoot(obj):
bpy.context.scene.objects.active = obj
bpy.ops.phobos.set_model_root()
# update joint shapes for whole model
joints = [obj for obj in objectlist if 'joint/type' in obj]
for joint in joints:
resource_obj = ioUtils.getResource(['joint', joint['joint/type']])
joint.pose.bones[0].custom_shape = resource_obj
