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 execute(self, context):
if self.linktype == '3D cursor':
links.createLink({'name': self.name, 'scale': self.size})
else:
for obj in context.selected_objects:
tmpnamepartindices = [
int(p) for p in self.namepartindices.split()
]
links.deriveLinkfromObject(obj,
scale=self.size,
parenting=self.parenting,
parentobjects=self.parentobject,
namepartindices=tmpnamepartindices,
separator=self.separator,
prefix=self.prefix)
return {'FINISHED'}
def execute(self, context):
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["modelname"] = 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"
sUtils.selectObjects([root, obj], clear=True, active=0)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
return {"FINISHED"}
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"}
def buildModelFromDictionary(model):
"""Creates the Blender representation of the imported model, using a model dictionary.
"""
# DOCU add some more docstring
log("Creating Blender model...", 'INFO')
log("Creating links...", 'INFO')
for l in model['links']:
link = model['links'][l]
linkmodel.createLink(link)
log("Creating joints...", 'INFO')
for j in model['joints']:
joint = model['joints'][j]
jointmodel.createJoint(joint)
# build tree recursively and correct translation & rotation on the fly
log("Placing links...", 'INFO')
for l in model['links']:
if 'parent' not in model['links'][l]:
root = model['links'][l]
linkmodel.placeChildLinks(model, root)
log("Assigning model name...", 'INFO')
try:
rootlink = sUtils.getRoot(bpy.data.objects[root['name']])
rootlink['modelname'] = model['name']
rootlink.location = (0, 0, 0)
except KeyError:
log("Could not assign model name to root link.", "ERROR")
log("Placing visual and collision objects...", 'INFO')
for link in model['links']:
linkmodel.placeLinkSubelements(model['links'][link])
try:
log("Creating sensors...", 'INFO')
for s in model['sensors']:
sensormodel.createSensor(model['sensors'][s])
except KeyError:
log("No sensors in model " + model['name'], 'INFO')
try:
log("Creating motors...", 'INFO')
for m in model['motors']:
eUtils.addDictionaryToObj(
model['motors'][m],
model['joints'][model['motors'][m]['joint']],
category='motor')
except KeyError:
log("No motors in model " + model['name'], 'INFO')
try:
log("Creating controllers...", 'INFO')
for c in model['controllers']:
controllermodel.createController(model['controllers'][c])
except KeyError:
log("No controllers in model " + model['name'], 'INFO')
try:
log("Creating groups...", 'INFO')
for g in model['groups']:
createGroup(model['groups'][g])
except KeyError:
log("No kinematic groups in model " + model['name'], 'INFO')
try:
log("Creating chains...", 'INFO')
for ch in model['chains']:
createChain(model['chains'][ch])
except KeyError:
log("No kinematic chains in model " + model['name'], 'INFO')
try:
log("Creating lights...", 'INFO')
for l in model['lights']:
lightmodel.createLight(model['lights'][l])
except KeyError:
log("No lights in model " + model['name'], 'INFO')
# FIXME: this is a trick to force Blender to apply matrix_local
# AAAAAARGH: THIS DOES NOT WORK!
for obj in bpy.data.objects:
bUtils.setObjectLayersActive(obj)
bpy.ops.object.mode_set(mode='OBJECT')
bpy.ops.object.select_all(action='SELECT')
bpy.ops.transform.translate(value=(0, 0, 0))
def buildModelFromDictionary(model):
"""Creates the Blender representation of the imported model, using a model dictionary.
Args:
model:
Returns:
"""
# DOCU add some more docstring
log("Creating Blender model...", 'INFO')
log("Creating links...", 'INFO')
for l in model['links']:
link = model['links'][l]
model['links'][l]['object'] = linkmodel.createLink(link)
log("Setting parent-child relationships", 'INFO')
bUtils.toggleLayer(defs.layerTypes['link'], True)
for l in model['links']:
parent = model['links'][l]
for c in parent['children']:
child = model['links'][c]
child['object'].matrix_world = parent['object'].matrix_world
sUtils.selectObjects([child['object'], parent['object']], True, 1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
log("Creating joints...", 'INFO')
for j in model['joints']:
joint = model['joints'][j]
jointmodel.createJoint(joint)
log('...finished.', 'INFO')
# set transformations
log("Placing links...", 'INFO')
for l in model['links']:
if 'parent' not in model['links'][l]:
root = model['links'][l]
break
linkmodel.placeChildLinks(model, root)
log("Assigning model name...", 'INFO')
try:
rootlink = sUtils.getRoot(bpy.data.objects[root['name']])
rootlink['modelname'] = model['name']
rootlink.location = (0, 0, 0)
except (KeyError, NameError):
log("Could not assign model name to root link.", "ERROR")
try:
log("Creating sensors...", 'INFO')
for s in model['sensors']:
sensormodel.createSensor(model['sensors'][s])
except KeyError:
log("No sensors in model " + model['name'], 'INFO')
try:
log("Creating motors...", 'INFO')
for m in model['motors']:
eUtils.addDictionaryToObj(
model['motors'][m],
model['joints'][model['motors'][m]['joint']],
category='motor')
except KeyError:
log("No motors in model " + model['name'], 'INFO')
try:
log("Creating controllers...", 'INFO')
for c in model['controllers']:
controllermodel.createController(model['controllers'][c])
except KeyError:
log("No controllers in model " + model['name'], 'INFO')
try:
log("Creating groups...", 'INFO')
for g in model['groups']:
createGroup(model['groups'][g])
except KeyError:
log("No kinematic groups in model " + model['name'], 'INFO')
try:
log("Creating chains...", 'INFO')
for ch in model['chains']:
createChain(model['chains'][ch])
except KeyError:
log("No kinematic chains in model " + model['name'], 'INFO')
try:
log("Creating lights...", 'INFO')
for l in model['lights']:
lightmodel.createLight(model['lights'][l])
except KeyError:
log("No lights in model " + model['name'], 'INFO')
# display all objects after import
for obj in bpy.data.objects:
bUtils.setObjectLayersActive(obj)
bpy.ops.object.mode_set(mode='OBJECT')
bpy.ops.object.select_all(action='SELECT')
bpy.ops.view3d.view_selected()
# update transformations
bUtils.update()
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()
