def exportSmurf(model, path):
"""This function exports a given model to a specific path as a smurf representation.
Args:
model(dict): The model you want to export.
path: The path you want to save the smurf file *without file name!*
Returns:
"""
collisiondata = deriveRefinedCollisionData(model)
lodsettings = gatherLevelOfDetailSettings(model)
exportdata = {
'state': False, # model['state'] != {}, # TODO: handle state
'materials': model['materials'] != {},
'sensors': model['sensors'] != {},
'motors': model['motors'] != {},
'controllers': model['controllers'] != {},
'collision': collisiondata != {},
'visuals': lodsettings != {},
'lights': model['lights'] != {},
'submechanisms': model['submechanisms'] != [],
}
# create all filenames
smurf_filename = model['name'] + ".smurf"
filenames = {
'state': model['name'] + "_state.yml",
'materials': model['name'] + "_materials.yml",
'sensors': model['name'] + "_sensors.yml",
'motors': model['name'] + "_motors.yml",
'controllers': model['name'] + "_controllers.yml",
'collision': model['name'] + "_collision.yml",
'visuals': model['name'] + "_visuals.yml",
'lights': model['name'] + "_lights.yml",
'submechanisms': model['name'] + "_submechanisms.yml",
}
fileorder = [
'collision',
'visuals',
'materials',
'motors',
'sensors',
'controllers',
'state',
'lights',
'submechanisms',
]
urdf_path = '../urdf/'
urdf_filename = model['name'] + '.urdf'
# gather annotations and data from text files
annotationdict = models.gatherAnnotations(model)
# $mars annotated properties overwrite custom properties of objects for smurf
if 'mars' in annotationdict:
for category in annotationdict['mars']:
for list_obj in annotationdict['mars'][category]:
model[category + 's'][list_obj['name']].update(list_obj)
del annotationdict['mars']
for category in annotationdict:
# TODO use os.path?
if category != 'sdf':
filenames[category] = model['name'] + '_' + category + '.yml'
fileorder.append(category)
exportdata[category] = True
customdatalist = []
for text in bpy.data.texts:
if text.name.startswith(model['name'] + '::'):
dataname = text.name.split('::')[-1]
customdatalist.append(dataname)
# TODO use os.path?
filenames[dataname] = model['name'] + '_' + dataname + '.yml'
fileorder.append(dataname)
exportdata[dataname] = True
infostring = ' definition SMURF file for "' + model[
'name'] + '", ' + model["date"] + "\n\n"
# write model information
log("Writing SMURF model to " + smurf_filename, "INFO")
# CHECK are these filepaths failsafe in Windows?
modeldata = {
"date":
model["date"],
"files": [urdf_path + urdf_filename] +
[filenames[f] for f in fileorder if exportdata[f]],
}
# append custom data
with open(os.path.join(path, smurf_filename), 'w') as op:
op.write('# main SMURF file of model "' + model['name'] + '"\n')
op.write('# created with Phobos ' + defs.version + ' - ' +
defs.repository + '\n\n')
op.write("SMURF version: " + defs.version + "\n")
op.write("modelname: " + model['name'] + "\n")
op.write(yaml.dump(modeldata, default_flow_style=False))
# TODO delete me?
# #write semantics (SRDF information in YML format)
# if export['semantics']:
# with open(path + filenames['semantics'], 'w') as op:
# op.write('#semantics'+infostring)
# op.write("modelname: "+model['name']+'\n')
# semantics = {}
# if model['groups'] != {}:
# semantics['groups'] = model['groups']
# if model['chains'] != {}:
# semantics['chains'] = model['chains']
# op.write(yaml.dump(semantics, default_flow_style=False))
# for smurf, we parse the controller parameters into the motors
for motor in model['motors']:
motordict = model['motors'][motor]
controllerparams = {}
if 'controller' in motordict and motordict['controller'] in model[
'controllers']:
controllerparams = {
key: value
for key, value in model['controllers'][
motordict['controller']].items()
if (key not in ['name', 'target'])
}
motordict.update(controllerparams)
del motordict['controller']
else:
log(
"No controller assigned to motor {}!".format(
motordict['name']), 'WARNING')
# PID controlled motors get their min and max values from the joint limits
if motordict['type'] == 'PID':
try:
joint = model['joints'][motordict['joint']]
if 'limits' in joint:
motordict['minValue'] = joint['limits']['lower']
motordict['maxValue'] = joint['limits']['upper']
except KeyError:
log(
"Missing data in motor {}! No limits given for type PID. Motor might be incomplete."
.format(motordict['name']),
"WARNING",
)
# direct controllers are called generic_dc in mars
elif motordict['type'] == 'direct':
motordict['type'] = 'generic_dc'
try:
motordict['minValue'] = -motordict["maxSpeed"]
motordict['maxValue'] = motordict["maxSpeed"]
except KeyError:
log(
"Missing data in motor {}! No maxSpeed given for motor type direct. Motor might be incomplete."
.format(motordict['name']),
"WARNING",
)
# TODO: implement everything but joints
# write state (state information of all joints, sensor & motor activity etc.)
if exportdata['state']:
states = []
# gather all states
for jointname in model['joints']:
joint = model['joints'][jointname]
# this should always be the case, but testing doesn't hurt
if 'state' in joint:
tmpstate = joint['state'].copy()
tmpstate['name'] = jointname
states.append(joint['state'])
with open(os.path.join(path, filenames['state']), 'w') as op:
op.write('#state' + infostring)
op.write("modelname: " + model['name'] + '\n')
# TODO am I still needed?
op.write(yaml.dump(states)) # , default_flow_style=False))
# write materials, sensors, motors & controllers
for data in ['materials', 'motors', 'sensors', 'controllers', 'lights']:
if exportdata[data]:
log("Writing {} to smurf file.".format(data), 'DEBUG')
with open(os.path.join(path, filenames[data]), 'w') as op:
op.write('#' + data + infostring)
op.write(
yaml.dump(
sort_for_yaml_dump({data: list(model[data].values())},
data),
default_flow_style=False,
))
# write additional collision information
if exportdata['collision']:
with open(os.path.join(path, filenames['collision']), 'w') as op:
op.write('#collision data' + infostring)
# TODO delete me?
# op.write(yaml.dump({'collision': list(bitmasks.values())}, default_flow_style=False))
op.write(
yaml.dump(
{
'collision': [
collisiondata[key]
for key in sorted(collisiondata.keys())
]
},
default_flow_style=False,
))
# write visual information (level of detail, ...)
if exportdata['visuals']:
with open(os.path.join(path, filenames['visuals']), 'w') as op:
op.write('#visual data' + infostring)
op.write(
yaml.dump({'visuals': list(lodsettings.values())},
default_flow_style=False))
# write additional information
for category in annotationdict.keys():
if category != 'sdf':
if exportdata[category]:
outstring = '#' + category + infostring
for elementtype in annotationdict[category]:
outstring += elementtype + ':\n'
outstring += (
yaml.dump(annotationdict[category][elementtype],
default_flow_style=False) + "\n")
with open(os.path.join(path, filenames[category]), 'w') as op:
op.write(outstring)
# write custom data from textfiles
for data in customdatalist:
if exportdata[data]:
with open(os.path.join(path, filenames[data]), 'w') as op:
op.write('#' + data + infostring)
op.write(
yaml.dump({data: list(model[data].values())},
default_flow_style=False))
# write submechanisms
if model['submechanisms']:
with open(os.path.join(path, filenames['submechanisms']), 'w') as op:
op.write('#submechanisms' + infostring)
op.write(yaml.dump({'submechanisms': model['submechanisms']
})) # , default_flow_style=False))
def exportSmurf(model, path):
"""This function exports a given model to a specific path as a smurf representation.
Args:
model(dict): The model you want to export.
path: The path you want to save the smurf file *without file name!*
Returns:
"""
collisiondata = deriveRefinedCollisionData(model)
lodsettings = gatherLevelOfDetailSettings(model)
exportdata = {
'state': False, # model['state'] != {}, # TODO: handle state
'materials': model['materials'] != {},
'sensors': model['sensors'] != {},
'motors': model['motors'] != {},
'controllers': model['controllers'] != {},
'collision': collisiondata != {},
'visuals': lodsettings != {},
'lights': model['lights'] != {},
'submechanisms': model['submechanisms'] != [],
}
# create all filenames
smurf_filename = model['name'] + ".smurf"
filenames = {
'state': model['name'] + "_state.yml",
'materials': model['name'] + "_materials.yml",
'sensors': model['name'] + "_sensors.yml",
'motors': model['name'] + "_motors.yml",
'controllers': model['name'] + "_controllers.yml",
'collision': model['name'] + "_collision.yml",
'visuals': model['name'] + "_visuals.yml",
'lights': model['name'] + "_lights.yml",
'submechanisms': model['name'] + "_submechanisms.yml",
}
fileorder = [
'collision',
'visuals',
'materials',
'motors',
'sensors',
'controllers',
'state',
'lights',
'submechanisms',
]
urdf_path = '../urdf/'
urdf_filename = model['name'] + '.urdf'
# gather annotations and data from text files
annotationdict = models.gatherAnnotations(model)
# $mars annotated properties overwrite custom properties of objects for smurf
if 'mars' in annotationdict:
for category in annotationdict['mars']:
for list_obj in annotationdict['mars'][category]:
model[category + 's'][list_obj['name']].update(list_obj)
del annotationdict['mars']
for category in annotationdict:
# TODO use os.path?
if category != 'sdf':
filenames[category] = model['name'] + '_' + category + '.yml'
fileorder.append(category)
exportdata[category] = True
customdatalist = []
for text in bpy.data.texts:
if text.name.startswith(model['name'] + '::'):
dataname = text.name.split('::')[-1]
customdatalist.append(dataname)
# TODO use os.path?
filenames[dataname] = model['name'] + '_' + dataname + '.yml'
fileorder.append(dataname)
exportdata[dataname] = True
infostring = ' definition SMURF file for "' + model['name'] + '", ' + model["date"] + "\n\n"
# write model information
log("Writing SMURF model to " + smurf_filename, "INFO")
# CHECK are these filepaths failsafe in Windows?
modeldata = {
"date": model["date"],
"files": [urdf_path + urdf_filename] + [filenames[f] for f in fileorder if exportdata[f]],
}
# append custom data
with open(os.path.join(path, smurf_filename), 'w') as op:
op.write('# main SMURF file of model "' + model['name'] + '"\n')
op.write('# created with Phobos ' + defs.version + ' - ' + defs.repository + '\n\n')
op.write("SMURF version: " + defs.version + "\n")
op.write("modelname: " + model['name'] + "\n")
op.write(yaml.dump(modeldata, default_flow_style=False))
# TODO delete me?
# #write semantics (SRDF information in YML format)
# if export['semantics']:
# with open(path + filenames['semantics'], 'w') as op:
# op.write('#semantics'+infostring)
# op.write("modelname: "+model['name']+'\n')
# semantics = {}
# if model['groups'] != {}:
# semantics['groups'] = model['groups']
# if model['chains'] != {}:
# semantics['chains'] = model['chains']
# op.write(yaml.dump(semantics, default_flow_style=False))
# for smurf, we parse the controller parameters into the motors
for motor in model['motors']:
motordict = model['motors'][motor]
controllerparams = {}
if motordict['controller'] in model['controllers']:
controllerparams = {
key: value
for key, value in model['controllers'][motordict['controller']].items()
if (key not in ['name', 'target'])
}
motordict.update(controllerparams)
del motordict['controller']
else:
log("No controller assigned to motor {}!".format(motordict['name']), 'WARNING')
# PID controlled motors get their min and max values from the joint limits
if motordict['type'] == 'PID':
try:
joint = model['joints'][motordict['joint']]
if 'limits' in joint:
motordict['minValue'] = joint['limits']['lower']
motordict['maxValue'] = joint['limits']['upper']
except KeyError:
log(
"Missing data in motor {}! Motor might be incomplete.".format(
motordict['name']
),
"WARNING",
)
# direct controllers are called generic_dc in mars
elif motordict['type'] == 'direct':
motordict['type'] = 'generic_dc'
try:
motordict['minValue'] = -1. * motordict["maxSpeed"]
motordict['maxValue'] = motordict["maxSpeed"]
except KeyError:
log(
"Missing data in motor {}! Motor might be incomplete.".format(
motordict['name']
),
"WARNING",
)
# TODO: implement everything but joints
# write state (state information of all joints, sensor & motor activity etc.)
if exportdata['state']:
states = []
# gather all states
for jointname in model['joints']:
joint = model['joints'][jointname]
# this should always be the case, but testing doesn't hurt
if 'state' in joint:
tmpstate = joint['state'].copy()
tmpstate['name'] = jointname
states.append(joint['state'])
with open(os.path.join(path, filenames['state']), 'w') as op:
op.write('#state' + infostring)
op.write("modelname: " + model['name'] + '\n')
# TODO am I still needed?
op.write(yaml.dump(states)) # , default_flow_style=False))
if 'sensors' in exportdata:
export_sensors = {}
for sensorname, sensordata in model['sensors'].items():
export_sensors[sensorname] = parseSmurfSensor(sensordata)
log("Writing {} to smurf file.".format('sensors'), 'DEBUG')
with open(os.path.join(path, filenames['sensors']), 'w') as op:
op.write('#' + 'sensors' + infostring)
op.write(
yaml.dump(
sort_for_yaml_dump({'sensors': list(export_sensors.values())}, 'sensors'),
default_flow_style=False,
)
)
# TODO WRITE EXPORT FOR MOTOR and stuff
# write materials, sensors, motors & controllers
for data in ['materials', 'motors', 'controllers', 'lights']:
if exportdata[data]:
log("Writing {} to smurf file.".format(data), 'DEBUG')
with open(os.path.join(path, filenames[data]), 'w') as op:
op.write('#' + data + infostring)
op.write(
yaml.dump(
sort_for_yaml_dump({data: list(model[data].values())}, data),
default_flow_style=False,
)
)
# write additional collision information
if exportdata['collision']:
with open(os.path.join(path, filenames['collision']), 'w') as op:
op.write('#collision data' + infostring)
# TODO delete me?
# op.write(yaml.dump({'collision': list(bitmasks.values())}, default_flow_style=False))
op.write(
yaml.dump(
{'collision': [collisiondata[key] for key in sorted(collisiondata.keys())]},
default_flow_style=False,
)
)
# write visual information (level of detail, ...)
if exportdata['visuals']:
with open(os.path.join(path, filenames['visuals']), 'w') as op:
op.write('#visual data' + infostring)
op.write(yaml.dump({'visuals': list(lodsettings.values())}, default_flow_style=False))
# write additional information
for category in annotationdict.keys():
if category != 'sdf':
if exportdata[category]:
outstring = '#' + category + infostring
for elementtype in annotationdict[category]:
outstring += elementtype + ':\n'
outstring += (
yaml.dump(annotationdict[category][elementtype], default_flow_style=False)
+ "\n"
)
with open(os.path.join(path, filenames[category]), 'w') as op:
op.write(outstring)
# write custom data from textfiles
for data in customdatalist:
if exportdata[data]:
with open(os.path.join(path, filenames[data]), 'w') as op:
op.write('#' + data + infostring)
op.write(yaml.dump({data: list(model[data].values())}, default_flow_style=False))
# write submechanisms
if model['submechanisms']:
with open(os.path.join(path, filenames['submechanisms']), 'w') as op:
op.write('#submechanisms' + infostring)
op.write(
yaml.dump({'submechanisms': model['submechanisms']})
) # , default_flow_style=False))