def deriveController(obj):
"""
Args:
obj:
Returns:
"""
import phobos.model.models as models
props = models.initObjectProperties(obj, phobostype='controller')
# return None if no controller is found (there will always be at least a name in the props)
if len(props) < 2:
return None
if not obj.parent or obj.parent.phobostype not in defs.controllabletypes:
log(
(
"Can not derive controller from {}. "
+ "Insufficient requirements from parent object!"
).format(obj.name),
'ERROR',
)
return None
props['target'] = nUtils.getObjectName(obj.parent)
log(
" Derived controller '{}' for target '{}'.".format(props['name'], props['target']), 'DEBUG'
)
return props
def deriveEntity(root, outpath):
"""Derives the dictionary for a SMURF entity from the phobos model dictionary.
# TODO savetosubfolder is not a parameter
Args:
root(bpy.types.Object): The smurf root object.
outpath(str): The path to export the smurf to.
savetosubfolder(bool): If True the export path has a subfolder for this smurf entity.
Returns:
: dict - An entry for the scenes entitiesList
"""
entitypose = models.deriveObjectPose(root)
entity = models.initObjectProperties(root, 'entity',
['link', 'joint', 'motor'])
if 'parent' not in entity and 'joint/type' in root and root[
'joint/type'] == 'fixed':
entity['parent'] = 'world'
entity["position"] = entitypose["translation"]
entity["rotation"] = entitypose["rotation_quaternion"]
# check model data if entity is a reference
# FIXME: this part is broken but not used at the moment anyways
if "isReference" in entity:
entity.pop("isReference")
bpy.ops.scene.reload_models_and_poses_operator()
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
for robot_model in modelsPosesColl:
if (root["model/name"]
== robot_model.robot_name) and (root["entity/pose"]
== robot_model.label):
pass
entity['file'] = os.path.join(
os.path.relpath(robot_model.path, outpath),
root["name"] + ".smurf")
"""
with open(os.path.join(os.path.dirname(defs.__file__), "RobotLib.yml"), "r") as f:
robots = yaml.load(f.read())
sourcepath = robots[smurf["model/name"]]
for filename in os.listdir(sourcepath):
fullpath = os.path.join(sourcepath, filename)
if os.path.isfile(fullpath):
shutil.copy2(fullpath, os.path.join(smurf_outpath, filename))
else:
# remove old folders to prevent errors in copytree
shutil.rmtree(os.path.join(smurf_outpath, filename), True)
shutil.copytree(fullpath, os.path.join(smurf_outpath, filename))
"""
else:
modelpath = os.path.join(outpath, root['model/name'], 'smurf')
# TODO why the spacing between the paths?
log("Scene paths: " + outpath + ' ' + modelpath, "DEBUG")
entity['file'] = os.path.join(
os.path.relpath(modelpath, os.path.dirname(outpath)),
root['model/name'] + ".smurf")
return entity
def deriveEntity(root, outpath):
"""Derives the dictionary for a SMURF entity from the phobos model dictionary.
# TODO savetosubfolder is not a parameter
Args:
root(bpy.types.Object): The smurf root object.
outpath(str): The path to export the smurf to.
savetosubfolder(bool): If True the export path has a subfolder for this smurf entity.
Returns:
: dict - An entry for the scenes entitiesList
"""
entitypose = models.deriveObjectPose(root)
entity = models.initObjectProperties(root, 'entity', ['link', 'joint', 'motor'])
if 'parent' not in entity and 'joint/type' in root and root['joint/type'] == 'fixed':
entity['parent'] = 'world'
entity["position"] = entitypose["translation"]
entity["rotation"] = entitypose["rotation_quaternion"]
# check model data if entity is a reference
# FIXME: this part is broken but not used at the moment anyways
if "isReference" in entity:
entity.pop("isReference")
bpy.ops.scene.reload_models_and_poses_operator()
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
for robot_model in modelsPosesColl:
if (root["model/name"] == robot_model.robot_name) and (
root["entity/pose"] == robot_model.label
):
pass
entity['file'] = os.path.join(
os.path.relpath(robot_model.path, outpath), root["name"] + ".smurf"
)
"""
with open(os.path.join(os.path.dirname(defs.__file__), "RobotLib.yml"), "r") as f:
robots = yaml.load(f.read())
sourcepath = robots[smurf["model/name"]]
for filename in os.listdir(sourcepath):
fullpath = os.path.join(sourcepath, filename)
if os.path.isfile(fullpath):
shutil.copy2(fullpath, os.path.join(smurf_outpath, filename))
else:
# remove old folders to prevent errors in copytree
shutil.rmtree(os.path.join(smurf_outpath, filename), True)
shutil.copytree(fullpath, os.path.join(smurf_outpath, filename))
"""
else:
modelpath = os.path.join(outpath, root['model/name'], 'smurf')
# TODO why the spacing between the paths?
log("Scene paths: " + outpath + ' ' + modelpath, "DEBUG")
entity['file'] = os.path.join(
os.path.relpath(modelpath, os.path.dirname(outpath)), root['model/name'] + ".smurf"
)
return entity
def deriveMotor(obj, jointdict=None):
"""Derives motor information from an object.
Args:
obj(bpy_types.Object): Blender object to derive the motor from
jointdict(dict, optional): phobos representation of the respective joint (Default value = None)
Returns:
: dict -- phobos representation of a motor
"""
import phobos.model.models as models
import phobos.model.controllers as controllermodel
props = models.initObjectProperties(obj, phobostype='motor')
# return None if no motor is attached (there will always be at least a name in the props)
if len(props) < 2:
return None
# make sure the parent is a joint
if not obj.parent or obj.parent.phobostype != 'link' or 'joint/type' not in obj.parent:
log(
"Can not derive motor from {}. Insufficient requirements from parent object!"
.format(obj.name),
'ERROR',
)
return None
props['joint'] = nUtils.getObjectName(obj.parent, phobostype='joint')
# try to derive the motor controller
controllerobjs = [
control for control in obj.children
if control.phobostype == 'controller'
]
if controllerobjs:
controller = controllermodel.deriveController(controllerobjs[0])
else:
controller = None
# assign the derived controller
if controller:
props['controller'] = controller['name']
else:
del props['controller']
return props
def deriveMotor(obj, jointdict=None):
"""Derives motor information from an object.
Args:
obj(bpy_types.Object): Blender object to derive the motor from
jointdict(dict, optional): phobos representation of the respective joint (Default value = None)
Returns:
: dict -- phobos representation of a motor
"""
import phobos.model.models as models
import phobos.model.controllers as controllermodel
props = models.initObjectProperties(obj, phobostype='motor')
# return None if no motor is attached (there will always be at least a name in the props)
if len(props) < 2:
return None
# make sure the parent is a joint
if not obj.parent or obj.parent.phobostype != 'link' or 'joint/type' not in obj.parent:
log(
"Can not derive motor from {}. Insufficient requirements from parent object!".format(
obj.name
),
'ERROR',
)
return None
props['joint'] = nUtils.getObjectName(obj.parent, phobostype='joint')
# try to derive the motor controller
controllerobjs = [control for control in obj.children if control.phobostype == 'controller']
if controllerobjs:
controller = controllermodel.deriveController(controllerobjs[0])
else:
controller = None
# assign the derived controller
if controller:
props['controller'] = controller['name']
else:
del props['controller']
return props
def deriveGenericEntity(entityobj, outpath=None):
"""This function handles an entity of unknown type by simply exporting its custom properties.
:param entityobj: The object representing the entity.
:type entityobj: bpy.types.Object
:param outpath: If True data will be exported into subfolders.
:type outpath: str
:return: dict - An entry for the scenes entitiesList
"""
log("Exporting " + nUtils.getObjectName(entityobj, 'entity') + " as entity of type 'generic", "INFO")
entity = models.initObjectProperties(entityobj, 'entity', ['geometry'])
return entity
# write urdf
urdf_path = "../urdf/" if structured else ''
urdf_filename = model['name'] + ".urdf"
exportModelToURDF(model, os.path.join(path, urdf_path, urdf_filename),
'../meshes/' if structured else '')
def deriveSensor(obj, names=False, objectlist=[], logging=False):
"""This function derives a sensor from a given blender object
Args:
obj(bpy_types.Object): The blender object to derive the sensor from.
names(bool, optional): return the l object name instead of an object link. (Default value = False)
objectlist(list(bpy.types.Object, optional): objectlist to which possible parents are restricted (Default value = [])
logging(bool, optional): whether to write log messages or not (Default value = False)
Returns:
: dict -- phobos representation of the sensor
"""
from phobos.model.models import initObjectProperties
from phobos.model.poses import deriveObjectPose
if logging:
log(
"Deriving sensor from object " +
nUtils.getObjectName(obj, phobostype='sensor') + ".",
'DEBUG',
)
try:
props = initObjectProperties(obj,
phobostype='sensor',
ignoretypes=('pose'))
if names:
props['link'] = nUtils.getObjectName(sUtils.getEffectiveParent(
obj, objectlist=objectlist),
phobostype='link')
else:
props['link'] = sUtils.getEffectiveParent(obj,
objectlist=objectlist)
except KeyError:
if logging:
log("Missing data in sensor " + obj.name, "ERROR")
return None
props['pose'] = deriveObjectPose(obj)
return props
def deriveEntity(primitive, outpath):
"""This function handles a primitive entity in a scene to export it
# TODO is this even a heightmap?
Args:
smurf(bpy.types.Object): The heightmap root object.
outpath(str): The path to export to. Not used for primitives
savetosubfolder(bool): If True data will be exported into subfolders. Not used for primitives
primitive:
Returns:
: dict - An entry for the scenes entitiesList
"""
entity = models.initObjectProperties(primitive, 'entity', ['geometry'])
pose = deriveObjectPose(primitive)
entity['geometry'] = deriveGeometry(primitive)
entity['position'] = {
'x': pose['translation'][0],
'y': pose['translation'][1],
'z': pose['translation'][2],
}
entity['rotation'] = {
'w': pose['rotation_quaternion'][0],
'x': pose['rotation_quaternion'][1],
'y': pose['rotation_quaternion'][2],
'z': pose['rotation_quaternion'][3],
}
if 'radius' in entity['geometry']:
entity['radius'] = entity['geometry']['radius']
# entity['extend'] = {'x': entity['geometry']['size'][0],
# 'y': entity['geometry']['size'][1],
# 'z': entity['geometry']['size'][2]}
entity['extend'] = {
'x': primitive.dimensions[0],
'y': primitive.dimensions[1],
'z': primitive.dimensions[2],
}
return entity
def deriveEntity(primitive, outpath):
"""This function handles a primitive entity in a scene to export it
# TODO is this even a heightmap?
Args:
smurf(bpy.types.Object): The heightmap root object.
outpath(str): The path to export to. Not used for primitives
savetosubfolder(bool): If True data will be exported into subfolders. Not used for primitives
primitive:
Returns:
: dict - An entry for the scenes entitiesList
"""
entity = models.initObjectProperties(primitive, 'entity', ['geometry'])
pose = deriveObjectPose(primitive)
entity['geometry'] = deriveGeometry(primitive)
entity['position'] = {
'x': pose['translation'][0],
'y': pose['translation'][1],
'z': pose['translation'][2],
}
entity['rotation'] = {
'w': pose['rotation_quaternion'][0],
'x': pose['rotation_quaternion'][1],
'y': pose['rotation_quaternion'][2],
'z': pose['rotation_quaternion'][3],
}
if 'radius' in entity['geometry']:
entity['radius'] = entity['geometry']['radius']
# entity['extend'] = {'x': entity['geometry']['size'][0],
# 'y': entity['geometry']['size'][1],
# 'z': entity['geometry']['size'][2]}
entity['extend'] = {
'x': primitive.dimensions[0],
'y': primitive.dimensions[1],
'z': primitive.dimensions[2],
}
return entity
def deriveEntity(entity, outpath, savetosubfolder):
"""This function handles a primitive entity in a scene to export it
:param smurf: The heightmap root object.
:type smurf: bpy.types.Object
:param outpath: The path to export to. Not used for primitives
:type outpath: str
:param savetosubfolder: If True data will be exported into subfolders. Not used for primitives
:type savetosubfolder: bool
:return: dict - An entry for the scenes entitiesList
"""
primitive = entity
log(
"Exporting " + nUtils.getObjectName(primitive, 'entity') +
" as entity of type 'primitive", "INFO")
entity = models.initObjectProperties(primitive, 'entity', ['geometry'])
pose = deriveObjectPose(primitive)
entity['geometry'] = deriveGeometry(primitive)
entity['position'] = {
'x': pose['translation'][0],
'y': pose['translation'][1],
'z': pose['translation'][2]
}
entity['rotation'] = {
'w': pose['rotation_quaternion'][0],
'x': pose['rotation_quaternion'][1],
'y': pose['rotation_quaternion'][2],
'z': pose['rotation_quaternion'][3]
}
entity['extend'] = {
'x': entity['geometry']['size'][0],
'y': entity['geometry']['size'][1],
'z': entity['geometry']['size'][2]
}
return entity
def deriveEntity(primitive, outpath):
"""This function handles a primitive entity in a scene to export it
:param smurf: The heightmap root object.
:type smurf: bpy.types.Object
:param outpath: The path to export to. Not used for primitives
:type outpath: str
:param savetosubfolder: If True data will be exported into subfolders. Not used for primitives
:type savetosubfolder: bool
:return: dict - An entry for the scenes entitiesList
"""
entity = models.initObjectProperties(primitive, 'entity', ['geometry'])
pose = deriveObjectPose(primitive)
entity['geometry'] = deriveGeometry(primitive)
entity['position'] = {
'x': pose['translation'][0],
'y': pose['translation'][1],
'z': pose['translation'][2]
}
entity['rotation'] = {
'w': pose['rotation_quaternion'][0],
'x': pose['rotation_quaternion'][1],
'y': pose['rotation_quaternion'][2],
'z': pose['rotation_quaternion'][3]
}
if 'radius' in entity['geometry']:
entity['radius'] = entity['geometry']['radius']
#entity['extend'] = {'x': entity['geometry']['size'][0],
# 'y': entity['geometry']['size'][1],
# 'z': entity['geometry']['size'][2]}
entity['extend'] = {
'x': primitive.dimensions[0],
'y': primitive.dimensions[1],
'z': primitive.dimensions[2]
}
return entity
def deriveSensor(obj, names=False, objectlist=[], logging=False):
"""This function derives a sensor from a given blender object
Args:
obj(bpy_types.Object): The blender object to derive the sensor from.
names(bool, optional): return the l object name instead of an object link. (Default value = False)
objectlist(list(bpy.types.Object, optional): objectlist to which possible parents are restricted (Default value = [])
logging(bool, optional): whether to write log messages or not (Default value = False)
Returns:
: dict -- phobos representation of the sensor
"""
from phobos.model.models import initObjectProperties
from phobos.model.poses import deriveObjectPose
if logging:
log(
"Deriving sensor from object " + nUtils.getObjectName(obj, phobostype='sensor') + ".",
'DEBUG',
)
try:
props = initObjectProperties(obj, phobostype='sensor', ignoretypes=('pose'))
if names:
props['link'] = nUtils.getObjectName(
sUtils.getEffectiveParent(obj, objectlist=objectlist), phobostype='link'
)
else:
props['link'] = sUtils.getEffectiveParent(obj, objectlist=objectlist)
except KeyError:
if logging:
log("Missing data in sensor " + obj.name, "ERROR")
return None
props['pose'] = deriveObjectPose(obj)
return props
def deriveGenericEntity(entityobj, outpath=None):
"""This function handles an entity of unknown type by simply exporting its custom properties.
Args:
entityobj(bpy.types.Object): The object representing the entity.
outpath(str, optional): If True data will be exported into subfolders. (Default value = None)
Returns:
: dict - An entry for the scenes entitiesList
"""
log(
"Exporting " + nUtils.getObjectName(entityobj, 'entity') + " as entity of type 'generic",
"INFO",
)
entity = models.initObjectProperties(entityobj, 'entity', ['geometry'])
return entity
# write urdf
urdf_path = "../urdf/" if structured else ''
urdf_filename = model['name'] + ".urdf"
exportModelToURDF(
model, os.path.join(path, urdf_path, urdf_filename), '../meshes/' if structured else ''
)
def deriveMotor(obj, jointdict=None):
"""Derives motor information from an object.
Args:
obj(bpy_types.Object): Blender object to derive the motor from
jointdict(dict, optional): phobos representation of the respective joint (Default value = None)
Returns:
: dict -- phobos representation of a motor
"""
import phobos.model.models as models
import phobos.model.controllers as controllermodel
props = models.initObjectProperties(obj, phobostype='motor')
# return None if no motor is attached (there will always be at least a name in the props)
if len(props) < 2:
return None
# make sure the parent is a joint
if not obj.parent or obj.parent.phobostype != 'link' or 'joint/type' not in obj.parent:
log(
"Can not derive motor from {}. Insufficient requirements from parent object!"
.format(obj.name),
'ERROR',
)
return None
props['joint'] = nUtils.getObjectName(obj.parent, phobostype='joint')
# todo: transfer joint limits to motor properties
# check for a mimic motor
for k in (obj.parent).keys():
# Check for mimic motor
if "mimic" in k:
# Find the name
mimic_driver = sUtils.getObjectByName(
(obj.parent)['joint/mimic_joint'], phobostypes=['link'])
c_motor = sUtils.getImmediateChildren(mimic_driver,
phobostypes=['motor'])
props['mimic_motor'] = nUtils.getObjectName(c_motor[0],
phobostype='motor')
props['mimic_multiplier'] = (obj.parent)['joint/mimic_multiplier']
props['mimic_offset'] = (obj.parent)['joint/mimic_offset']
break
# try to derive the motor controller
controllerobjs = [
control for control in obj.children
if control.phobostype == 'controller'
]
if controllerobjs:
controller = controllermodel.deriveController(controllerobjs[0])
else:
controller = None
# assign the derived controller
if controller:
props['controller'] = controller['name']
else:
del props['controller']
return props
def deriveEntity(entity, outpath, savetosubfolder):
"""Derives the dictionary for a SMURF entity from the phobos model dictionary.
:param entity: The smurf root object.
:type entity: bpy.types.Object
:param outpath: The path to export the smurf to.
:type outpath: str
:param savetosubfolder: If True the export path has a subfolder for this smurf entity.
:type savetosubfolder: bool
:return: dict - An entry for the scenes entitiesList
"""
smurf = entity
# determine outpath for the smurf export
# differentiate between full model and baked reference
if "entity/isReference" in smurf:
bpy.ops.scene.reload_models_and_poses_operator()
modelsPosesColl = bpy.context.user_preferences.addons[
"phobos"].preferences.models_poses
for robot_model in modelsPosesColl:
if (smurf["modelname"]
== robot_model.robot_name) and (smurf["entity/pose"]
== robot_model.label):
entitypose = models.deriveObjectPose(smurf)
entry = models.initObjectProperties(smurf, 'entity',
['link', 'joint', 'motor'])
entry.pop("isReference")
entry['file'] = os.path.join(
os.path.relpath(robot_model.path, outpath),
smurf["modelname"] + ".smurf")
if 'parent' not in entry and 'joint/type' in smurf and smurf[
'joint/type'] == 'fixed':
entry['parent'] = 'world'
entry["position"] = entitypose["translation"]
entry["rotation"] = entitypose["rotation_quaternion"]
'''
with open(os.path.join(os.path.dirname(defs.__file__), "RobotLib.yml"), "r") as f:
robots = yaml.load(f.read())
sourcepath = robots[smurf["modelname"]]
for filename in os.listdir(sourcepath):
fullpath = os.path.join(sourcepath, filename)
if os.path.isfile(fullpath):
shutil.copy2(fullpath, os.path.join(smurf_outpath, filename))
else:
# remove old folders to prevent errors in copytree
shutil.rmtree(os.path.join(smurf_outpath, filename), True)
shutil.copytree(fullpath, os.path.join(smurf_outpath, filename))
'''
else:
smurf_outpath = securepath(
os.path.join(outpath, entity["modelname"]
) if savetosubfolder else outpath)
log("smurf_outpath: " + outpath, "DEBUG", "exportSMURFsScene")
log(
"Exporting " + smurf["entity/name"] + " as a smurf entity to " +
smurf_outpath, "INFO", "deriveSMURFEntity", "\n\n")
subfolder = smurf["modelname"] if savetosubfolder else ""
sUtils.selectObjects(sUtils.getChildren(smurf),
clear=True) # re-select for mesh export
model, objectlist = models.buildModelDictionary(smurf)
export(
model, objectlist,
smurf_outpath) # FIXME: this is the export function from entities!
entitypose = models.deriveObjectPose(smurf)
entry = models.initObjectProperties(smurf, 'entity',
['link', 'joint', 'motor'])
entry['file'] = (os.path.join(subfolder, smurf["modelname"] + ".smurf")
if os.path.isfile(smurf_outpath) else os.path.join(
subfolder, "smurf", smurf["modelname"] +
".smurf"))
if 'parent' not in entry and 'joint/type' in smurf and smurf[
'joint/type'] == 'fixed':
entry['parent'] = 'world'
entry["position"] = entitypose["translation"]
entry["rotation"] = entitypose["rotation_quaternion"]
return entry
