def execute(self, context):
"""
Args:
context:
Returns:
"""
if self.bakeObj == "None":
return {"FINISHED"}
with open(os.path.join(os.path.dirname(defs.__file__), "RobotLib.yml"),
"r") as f:
robot_lib = json.loads(f.read())
root = links.createLink(1.0, name=self.robName + "::" + self.bakeObj)
root["model/name"] = self.bakeObj
root["entity/name"] = self.robName
root["isInstance"] = True
bpy.ops.import_mesh.stl(
filepath=os.path.join(robot_lib[self.bakeObj], "bake.stl"))
bpy.ops.view3d.snap_selected_to_cursor(use_offset=False)
obj = context.active_object
obj.name = self.robName + "::visual"
obj.phobostype = "visual"
eUtils.parentObjectsTo(obj, root)
return {"FINISHED"}
def deriveLinkfromObject(obj, scale=0.2, parent_link=True, parent_objects=False, nameformat=''):
"""Derives a link from an object using its name, transformation and parenting.
Args:
obj(bpy_types.Object): object to derive a link from
scale(float, optional): scale factor for bone size (Default value = 0.2)
parent_link(bool, optional): whether to automate the parenting of the new link or not. (Default value = True)
parent_objects(bool, optional): whether to parent all the objects to the new link or not (Default value = False)
nameformat(str, optional): re-formatting template for obj names (Default value = '')
Returns:
: newly created link
"""
log('Deriving link from ' + nUtils.getObjectName(obj), level="INFO")
try:
nameparts = [p for p in re.split('[^a-zA-Z]', nUtils.getObjectName(obj)) if p != '']
linkname = nameformat.format(*nameparts)
except IndexError:
log('Invalid name format (indices) for naming: ' + nUtils.getObjectName(obj), 'WARNING')
linkname = 'link_' + nUtils.getObjectName(obj)
link = createLink({'scale': scale, 'name': linkname, 'matrix': obj.matrix_world})
# parent link to object's parent
if parent_link:
if obj.parent:
eUtils.parentObjectsTo(link, obj.parent)
# parent children of object to link
if parent_objects:
children = [obj] + sUtils.getImmediateChildren(obj)
eUtils.parentObjectsTo(children, link, clear=True)
return link
def addLight(light_dict):
"""
Args:
light_dict:
Returns:
"""
# DOCU add some docstring
if light_dict['type'] == 'spotlight':
light_type = 'SPOT'
elif light_dict['type'] == 'omnilight':
light_type = 'POINT'
position = light_dict['pose']['translation']
rotation = light_dict['pose']['rotation_euler']
bpy.ops.object.lamp_add(type=light_type, location=position, rotation=rotation)
light = bpy.context.active_object
if 'parent' in light_dict:
eUtils.parentObjectsTo(light, bpy.data.objects[light_dict['parent']])
light_data = light.data
light.name = light_dict['name']
colour_vals = ['r', 'g', 'b']
colour_data = light_dict['color']['diffuse']
light_data.color = [colour_data[v] for v in colour_vals]
for v in colour_vals:
if light_dict['color']['specular'][v] > 0:
light_data.use_specular = True
break
if type == 'SPOT':
light_data.spot_size = light_dict['angle']
# TODO delete me?
# if light_dict['attenuation']['constant'] > 0:
light_data.energy = light_dict['attenuation']['constant']
falloff = 'CONSTANT'
if light_dict['attenuation']['linear'] > 0:
light_data.linear_attenuation = light_dict['attenuation']['linear']
falloff = 'INVERSE_LINEAR'
if light_dict['attenuation']['quadratic'] > 0:
light_data.quadratic_attenuation = light_dict['attenuation']['quadratic']
if falloff == 'INVERSE_LINEAR':
falloff = 'LINEAR_QUADRATIC_WEIGHTED'
else:
falloff = 'INVERSE_SQUARE'
light_data.falloff_type = falloff
light.phobostype = 'light'
light['light/exponent'] = light_dict['exponent']
light.phobostype = 'light'
light['light/directional'] = light_dict['directional']
return light
def createInertial(inertialdict,
obj,
size=0.03,
errors=None,
adjust=False,
logging=False):
"""Creates the Blender representation of a given inertial provided a dictionary.
Args:
inertialdict(dict): intertial data
obj:
size: (Default value = 0.03)
errors: (Default value = None)
adjust: (Default value = False)
logging: (Default value = False)
Returns:
: bpy_types.Object -- newly created blender inertial object
"""
if errors and not adjust:
log('Can not create inertial object.', 'ERROR')
try:
origin = mathutils.Vector(inertialdict['pose']['translation'])
except KeyError:
origin = mathutils.Vector()
# create new inertial object
name = nUtils.getUniqueName('inertial_' + nUtils.getObjectName(obj),
bpy.data.objects)
inertialobject = bUtils.createPrimitive(
name,
'box',
(size, ) * 3,
defs.layerTypes["inertial"],
pmaterial='phobos_inertial',
phobostype='inertial',
)
sUtils.selectObjects((inertialobject, ), clear=True, active=0)
bpy.ops.object.transform_apply(scale=True)
# set position according to the parent link
inertialobject.matrix_world = obj.matrix_world
parent = obj
if parent.phobostype != 'link':
parent = sUtils.getEffectiveParent(obj, ignore_selection=True)
eUtils.parentObjectsTo(inertialobject, parent)
# position and parent the inertial object relative to the link
# inertialobject.matrix_local = mathutils.Matrix.Translation(origin)
sUtils.selectObjects((inertialobject, ), clear=True, active=0)
# bpy.ops.object.transform_apply(scale=True)
# add properties to the object
for prop in ('mass', 'inertia'):
inertialobject['inertial/' + prop] = inertialdict[prop]
return inertialobject
def createInertial(inertialdict, obj, size=0.03, errors=None, adjust=False, logging=False):
"""Creates the Blender representation of a given inertial provided a dictionary.
Args:
inertialdict(dict): intertial data
obj:
size: (Default value = 0.03)
errors: (Default value = None)
adjust: (Default value = False)
logging: (Default value = False)
Returns:
: bpy_types.Object -- newly created blender inertial object
"""
if errors and not adjust:
log('Can not create inertial object.', 'ERROR')
try:
origin = mathutils.Vector(inertialdict['pose']['translation'])
except KeyError:
origin = mathutils.Vector()
# create new inertial object
name = nUtils.getUniqueName('inertial_' + nUtils.getObjectName(obj), bpy.data.objects)
inertialobject = bUtils.createPrimitive(
name,
'box',
(size,) * 3,
defs.layerTypes["inertial"],
pmaterial='phobos_inertial',
phobostype='inertial',
)
sUtils.selectObjects((inertialobject,), clear=True, active=0)
bpy.ops.object.transform_apply(scale=True)
# set position according to the parent link
inertialobject.matrix_world = obj.matrix_world
parent = obj
if parent.phobostype != 'link':
parent = sUtils.getEffectiveParent(obj, ignore_selection=True)
eUtils.parentObjectsTo(inertialobject, parent)
# position and parent the inertial object relative to the link
# inertialobject.matrix_local = mathutils.Matrix.Translation(origin)
sUtils.selectObjects((inertialobject,), clear=True, active=0)
# bpy.ops.object.transform_apply(scale=True)
# add properties to the object
for prop in ('mass', 'inertia'):
inertialobject['inertial/' + prop] = inertialdict[prop]
return inertialobject
def execute(self, context):
"""
Args:
context:
Returns:
"""
if self.bakeObj == "None":
return {"FINISHED"}
with open(os.path.join(os.path.dirname(defs.__file__), "RobotLib.yml"), "r") as f:
robot_lib = yaml.load(f.read())
root = links.createLink(1.0, name=self.robName + "::" + self.bakeObj)
root["model/name"] = self.bakeObj
root["entity/name"] = self.robName
root["isInstance"] = True
bpy.ops.import_mesh.stl(filepath=os.path.join(robot_lib[self.bakeObj], "bake.stl"))
bpy.ops.view3d.snap_selected_to_cursor(use_offset=False)
obj = context.active_object
obj.name = self.robName + "::visual"
obj.phobostype = "visual"
eUtils.parentObjectsTo(obj, root)
return {"FINISHED"}
# save list of all parent joints for all visuals
vparents = {}
lparents = {}
for v in visuals:
vparents[v.name] = v.parent.name
for l in links:
try:
lparents[l.name] = l.parent.name
except AttributeError:
pass # root link
select(visuals, clear=True, active=0)
bpy.ops.object.parent_clear(type='CLEAR_KEEP_TRANSFORM')
select(links, clear=True, active=links.index(root))
bpy.context.scene.objects.active = root
bpy.ops.object.join()
bpy.ops.object.mode_set(mode='EDIT')
for key, value in lparents.items():
root.data.edit_bones[key].parent = root.data.edit_bones[value]
bpy.ops.object.mode_set(mode='OBJECT')
for v in visuals:
select([root], clear=True, active=0)
bpy.ops.object.join()
bpy.ops.object.mode_set(mode='EDIT')
root.data.edit_bones.active = root.data.edit_bones[vparents[v.name]]
bpy.ops.object.mode_set(mode='OBJECT')
eUtils.parentObjectsTo(v, root, 1)
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
# save list of all parent joints for all visuals
vparents = {}
lparents = {}
for v in visuals:
vparents[v.name] = v.parent.name
for l in links:
try:
lparents[l.name] = l.parent.name
except AttributeError:
pass # root link
select(visuals, clear=True, active=0)
bpy.ops.object.parent_clear(type='CLEAR_KEEP_TRANSFORM')
select(links, clear=True, active=links.index(root))
bpy.context.scene.objects.active = root
bpy.ops.object.join()
bpy.ops.object.mode_set(mode='EDIT')
for key, value in lparents.items():
root.data.edit_bones[key].parent = root.data.edit_bones[value]
bpy.ops.object.mode_set(mode='OBJECT')
for v in visuals:
select([root], clear=True, active=0)
bpy.ops.object.join()
bpy.ops.object.mode_set(mode='EDIT')
root.data.edit_bones.active = root.data.edit_bones[vparents[v.name]]
bpy.ops.object.mode_set(mode='OBJECT')
eUtils.parentObjectsTo(v, root, 1)
def createGeometry(viscol, geomsrc, linkobj=None):
"""Creates Blender object for visual or collision objects.
If the creation fails, nothing is returned.
These entries in the dictionary are mandatory:
| **geometry**:
| **type**: type of geometry (mesh, box, cylinder, sphere)
Depending on the geometry type other values are required: `size`, `radius`, `length`
These entries are optional:
| **geometry**:
| **scale**: scale for the new geometry
| **material**: material name to assign to the visual
| **pose**: specifies the placement of the new object relative to the optional linkobj
| **translation**: position vector for the new object
| **rotation_euler**: rotation for the new object
Furthermore any generic properties, prepended by a ``$`` will be added as custom properties to
the visual/collision object. E.g. ``$test/etc`` would be put to visual/test/etc for a visual
object. However, these properties are extracted only in the first layer of hierarchy.
Args:
viscol(dict): visual/collision model dictionary representation
geomsrc(str): phobostype of the new object
linkobj(bpy.types.Object, optional): link object to attach the visual/collision object to
(Default value = None)
Returns:
bpy.types.Object or None: the new geometry object or nothing
"""
if 'geometry' not in viscol or viscol['geometry'] is {}:
log("Could not create {}. Geometry information not defined!".format(geomsrc), 'ERROR')
return None
bpy.ops.object.select_all(action='DESELECT')
geom = viscol['geometry']
# create the Blender object
if geom['type'] == 'mesh':
bpy.context.scene.layers = bUtils.defLayers(defs.layerTypes[geomsrc])
meshname = "".join(os.path.basename(geom["filename"]).split(".")[:-1])
if not os.path.isfile(geom['filename']):
log(
"This path "
+ geom['filename']
+ " is no file. Object "
+ viscol['name']
+ " will have empty mesh!",
'ERROR',
)
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.active_object
nUtils.safelyName(newgeom, viscol['name'], phobostype=geomsrc)
else:
if meshname in bpy.data.meshes:
log('Assigning copy of existing mesh ' + meshname + ' to ' + viscol['name'], 'INFO')
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.object
newgeom.data = bpy.data.meshes[meshname]
else:
log("Importing mesh for {0} element: '{1}".format(geomsrc, viscol['name']), 'INFO')
filetype = geom['filename'].split('.')[-1].lower()
newgeom = meshes.importMesh(geom['filename'], filetype)
# bpy.data.meshes[newgeom].name = meshname
if not newgeom:
log('Failed to import mesh file ' + geom['filename'], 'ERROR')
return
else:
if geom['type'] == 'box':
dimensions = geom['size']
elif geom['type'] == 'cylinder':
dimensions = (geom['radius'], geom['length'])
elif geom['type'] == 'sphere':
dimensions = geom['radius']
# TODO add support for heightmap, image, plane and polyline geometries (see sdf!)
else:
log(
"Unknown geometry type of "
+ geomsrc
+ viscol['name']
+ '. Placing empty coordinate system.',
"ERROR",
)
bpy.ops.object.empty_add(type='PLAIN_AXES', radius=0.2)
obj = bpy.context.object
obj.phobostype = geomsrc
nUtils.safelyName(bpy.context.active_object, viscol['name'], phobostype=geomsrc)
return None
log("Creating primtive for {0}: {1}".format(geomsrc, viscol['name']), 'INFO')
newgeom = bUtils.createPrimitive(
viscol['name'], geom['type'], dimensions, phobostype=geomsrc
)
newgeom.select = True
bpy.ops.object.transform_apply(scale=True)
# from here it's the same for both meshes and primitives
newgeom['geometry/type'] = geom['type']
if geomsrc == 'visual':
if 'material' in viscol:
assignMaterial(newgeom, viscol['material'])
else:
log('No material for visual {}.'.format(viscol['name']), 'WARNING')
# write generic custom properties
for prop in viscol:
if prop.startswith('$'):
for tag in viscol[prop]:
newgeom[prop[1:] + '/' + tag] = viscol[prop][tag]
nUtils.safelyName(newgeom, viscol['name'])
newgeom[geomsrc + '/name'] = viscol['name']
newgeom.phobostype = geomsrc
# place geometric object relative to its parent link
if linkobj:
if 'pose' in viscol:
log("Setting transformation of element: " + viscol['name'], 'DEBUG')
location = mathutils.Matrix.Translation(viscol['pose']['translation'])
rotation = (
mathutils.Euler(tuple(viscol['pose']['rotation_euler']), 'XYZ').to_matrix().to_4x4()
)
else:
log("No pose in element: " + viscol['name'], 'DEBUG')
location = mathutils.Matrix.Identity(4)
rotation = mathutils.Matrix.Identity(4)
eUtils.parentObjectsTo(newgeom, linkobj)
newgeom.matrix_local = location * rotation
# scale imported object
if 'scale' in geom:
newgeom.scale = geom['scale']
# make object smooth
eUtils.smoothen_surface(newgeom)
return newgeom
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 createGeometry(viscol, geomsrc, linkobj=None):
"""Creates Blender object for visual or collision objects.
If the creation fails, nothing is returned.
These entries in the dictionary are mandatory:
| **geometry**:
| **type**: type of geometry (mesh, box, cylinder, sphere)
Depending on the geometry type other values are required: `size`, `radius`, `length`
These entries are optional:
| **geometry**:
| **scale**: scale for the new geometry
| **material**: material name to assign to the visual
| **pose**: specifies the placement of the new object relative to the optional linkobj
| **translation**: position vector for the new object
| **rotation_euler**: rotation for the new object
Furthermore any generic properties, prepended by a ``$`` will be added as custom properties to
the visual/collision object. E.g. ``$test/etc`` would be put to visual/test/etc for a visual
object. However, these properties are extracted only in the first layer of hierarchy.
Args:
viscol(dict): visual/collision model dictionary representation
geomsrc(str): phobostype of the new object
linkobj(bpy.types.Object, optional): link object to attach the visual/collision object to
(Default value = None)
Returns:
bpy.types.Object or None: the new geometry object or nothing
"""
if 'geometry' not in viscol or viscol['geometry'] is {}:
log("Could not create {}. Geometry information not defined!".format(geomsrc), 'ERROR')
return None
bpy.ops.object.select_all(action='DESELECT')
geom = viscol['geometry']
# create the Blender object
if geom['type'] == 'mesh':
bpy.context.scene.layers = bUtils.defLayers(defs.layerTypes[geomsrc])
meshname = "".join(os.path.basename(geom["filename"]).split(".")[:-1])
if not os.path.isfile(geom['filename']):
log(
"This path "
+ geom['filename']
+ " is no file. Object "
+ viscol['name']
+ " will have empty mesh!",
'ERROR',
)
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.active_object
nUtils.safelyName(newgeom, viscol['name'], phobostype=geomsrc)
else:
if meshname in bpy.data.meshes:
log('Assigning copy of existing mesh ' + meshname + ' to ' + viscol['name'], 'INFO')
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.object
newgeom.data = bpy.data.meshes[meshname]
else:
log("Importing mesh for {0} element: '{1}".format(geomsrc, viscol['name']), 'INFO')
filetype = geom['filename'].split('.')[-1].lower()
newgeom = meshes.importMesh(geom['filename'], filetype)
# bpy.data.meshes[newgeom].name = meshname
if not newgeom:
log('Failed to import mesh file ' + geom['filename'], 'ERROR')
return
else:
if geom['type'] == 'box':
dimensions = geom['size']
elif geom['type'] == 'cylinder':
dimensions = (geom['radius'], geom['length'])
elif geom['type'] == 'sphere':
dimensions = geom['radius']
# TODO add support for heightmap, image, plane and polyline geometries (see sdf!)
else:
log(
"Unknown geometry type of "
+ geomsrc
+ viscol['name']
+ '. Placing empty coordinate system.',
"ERROR",
)
bpy.ops.object.empty_add(type='PLAIN_AXES', radius=0.2)
obj = bpy.context.object
obj.phobostype = geomsrc
nUtils.safelyName(bpy.context.active_object, viscol['name'], phobostype=geomsrc)
return None
log("Creating primtive for {0}: {1}".format(geomsrc, viscol['name']), 'INFO')
newgeom = bUtils.createPrimitive(
viscol['name'], geom['type'], dimensions, phobostype=geomsrc
)
newgeom.select = True
bpy.ops.object.transform_apply(scale=True)
# from here it's the same for both meshes and primitives
newgeom['geometry/type'] = geom['type']
if geomsrc == 'visual':
if 'material' in viscol:
assignMaterial(newgeom, viscol['material'])
else:
log('No material for visual {}.'.format(viscol['name']), 'WARNING')
# write generic custom properties
for prop in viscol:
if prop.startswith('$'):
for tag in viscol[prop]:
newgeom[prop[1:] + '/' + tag] = viscol[prop][tag]
nUtils.safelyName(newgeom, viscol['name'])
newgeom[geomsrc + '/name'] = viscol['name']
newgeom.phobostype = geomsrc
# place geometric object relative to its parent link
if linkobj:
if 'pose' in viscol:
log("Setting transformation of element: " + viscol['name'], 'DEBUG')
location = mathutils.Matrix.Translation(viscol['pose']['translation'])
rotation = (
mathutils.Euler(tuple(viscol['pose']['rotation_euler']), 'XYZ').to_matrix().to_4x4()
)
else:
log("No pose in element: " + viscol['name'], 'DEBUG')
location = mathutils.Matrix.Identity(4)
rotation = mathutils.Matrix.Identity(4)
eUtils.parentObjectsTo(newgeom, linkobj)
newgeom.matrix_local = location * rotation
# scale imported object
if 'scale' in geom:
newgeom.scale = geom['scale']
# make object smooth
eUtils.smoothen_surface(newgeom)
return newgeom
def buildModelFromDictionary(model):
"""Creates the Blender representation of the imported model, using a model dictionary.
Args:
model(dict): model representation of the imported model
Returns:
"""
log("Creating Blender model...", 'INFO', prefix='\n' + '-' * 25 + '\n')
log(" Initializing materials... ({} total)".format(len(model['materials'])), 'INFO')
for mat in model['materials']:
matmodel.createMaterial(model['materials'][mat], logging=True, adjust=True)
# ['name'], tuple(mat['color'][0:3]), (1, 1, 1), mat['color'][-1])
newobjects = []
log(" Creating links... ({} total)".format(len(model['links'])), 'INFO')
for lnk in model['links']:
link = model['links'][lnk]
model['links'][lnk]['object'] = linkmodel.createLink(link)
newobjects.append(model['links'][lnk]['object'])
newobjects.extend(model['links'][lnk]['object'].children)
log("Setting parent-child relationships", 'INFO', prefix='\n')
bUtils.toggleLayer('link', True)
for lnk in model['links']:
parent = model['links'][lnk]
log("Children for link " + parent['name'] + ":\n" + '\n'.join(parent['children']), 'DEBUG')
for chi in parent['children']:
child = model['links'][chi]
child['object'].matrix_world = parent['object'].matrix_world
eUtils.parentObjectsTo(child['object'], parent['object'])
# set transformations
log("Transforming links... ({} total)".format(len(model['links'])), 'INFO', prefix='\n')
for lnk in model['links']:
if 'parent' not in model['links'][lnk]:
root = model['links'][lnk]
break
linkmodel.setLinkTransformations(model, root)
log("Creating joints... ({} total)".format(len(model['joints'])), 'INFO', prefix='\n')
for j in model['joints']:
joint = model['joints'][j]
jointmodel.createJoint(joint, links=model['links'])
log("Assigning model name: {}".format(model['name']), 'INFO')
rootlink = sUtils.getRoot(bpy.data.objects[root['object'].name])
if 'name' not in model:
log("Model name not specified in URDF. Make sure to define it thereafter.", 'WARNING')
else:
rootlink['model/name'] = model['name']
rootlink.location = (0, 0, 0)
# TODO make sure this works
log("Creating sensors...", 'INFO')
if 'sensors' in model and model['sensors']:
for sen in model['sensors']:
sensormodel.createSensor(model['sensors'][sen], model['sensors'][sen]['parent'])
else:
log(" No sensors in model.", 'INFO')
# TODO make sure this works
log("Creating motors...", 'INFO')
if 'motors' in model and model['motors']:
for motor in model['motors']:
eUtils.setProperties(
model['joints'][model['motors'][motor]['joint']],
model['motors'][motor],
category='motor',
)
else:
log(" No motors in model.", 'INFO')
# TODO make sure this works
log("Creating groups...", 'INFO')
if 'groups' in model and model['groups']:
for group in model['groups']:
createGroup(model['groups'][group])
else:
log(" No kinematic groups in model.", 'INFO')
# TODO make sure this works
log("Creating chains...", 'INFO')
if 'chains' in model and model['chains']:
for ch in model['chains']:
createChain(model['chains'][ch])
else:
log(" No kinematic chains in model.", 'INFO')
# TODO make sure this works
log("Creating lights...", 'INFO')
if 'lights' in model and model['lights']:
for light in model['lights']:
lightmodel.createLight(model['lights'][light])
else:
log(" No lights in model.", 'INFO')
# display new objects after import
sUtils.selectObjects(newobjects, clear=True, active=0)
eUtils.sortObjectsToLayers(newobjects)
for obj in newobjects:
bUtils.setObjectLayersActive(obj, extendlayers=True)
bpy.ops.object.mode_set(mode='OBJECT')
bpy.ops.view3d.view_selected()
# update the scene
bUtils.update()
