def exportSMURFScene(entities, path):
"""Exports an arranged scene into SMURFS. It will export only entities
with a valid entity/name, and entity/type property.
Args:
selected_only(bool): If True only selected entities get exported.
subfolder(bool): If True the models are exported into separate subfolders
entities:
path:
Returns:
"""
log("Exporting scene to " + path + '.smurfs', "INFO")
with open(path + '.smurfs', 'w') as outputfile:
sceneinfo = (
"# SMURF scene created at "
+ path
+ " "
+ datetime.now().strftime("%Y%m%d_%H:%M")
+ "\n"
)
log(sceneinfo, "INFO")
sceneinfo += "# created with Phobos " + version + " - " + repository + "\n\n"
ioUtils.securepath(path)
outputfile.write(sceneinfo)
entitiesdict = roundFloatsInDict(
{'entities': entities}, ioUtils.getExpSettings().decimalPlaces
)
outputfile.write(yaml.dump(entitiesdict))
def exportSMURFScene(entities, path):
"""Exports an arranged scene into SMURFS. It will export only entities
with a valid entity/name, and entity/type property.
Args:
selected_only(bool): If True only selected entities get exported.
subfolder(bool): If True the models are exported into separate subfolders
entities:
path:
Returns:
"""
log("Exporting scene to " + path + '.smurfs', "INFO")
with open(path + '.smurfs', 'w') as outputfile:
sceneinfo = ("# SMURF scene created at " + path + " " +
datetime.now().strftime("%Y%m%d_%H:%M") + "\n")
log(sceneinfo, "INFO")
sceneinfo += "# created with Phobos " + version + " - " + repository + "\n\n"
ioUtils.securepath(path)
outputfile.write(sceneinfo)
entitiesdict = roundFloatsInDict(
{'entities': entities},
ioUtils.getExpSettings().decimalPlaces)
outputfile.write(yaml.dump(entitiesdict))
def storePose(root, posename):
"""Stores the current pose of all of a model's selected joints.
Existing poses of the same name will be overwritten.
Args:
root(bpy_types.Object): root of the model the pose belongs to
posename(str): name the pose will be stored under
Returns:
: Nothing.
"""
if root:
filename = nUtils.getModelName(root) + '::poses'
posedict = json.loads(bUtils.readTextFile(filename))
if not posedict:
posedict = {posename: {'name': posename, 'joints': {}}}
else:
posedict[posename] = {'name': posename, 'joints': {}}
links = sUtils.getChildren(root, ('link', ), True, False)
sUtils.selectObjects([root] + links, clear=True, active=0)
bpy.ops.object.mode_set(mode='POSE')
for link in (link for link in links if 'joint/type' in link
and link['joint/type'] not in ['fixed', 'floating']):
link.pose.bones['Bone'].rotation_mode = 'XYZ'
posedict[posename]['joints'][nUtils.getObjectName(
link, 'joint')] = link.pose.bones['Bone'].rotation_euler.y
bpy.ops.object.mode_set(mode='OBJECT')
posedict = gUtils.roundFloatsInDict(
posedict,
ioUtils.getExpSettings().decimalPlaces)
bUtils.updateTextFile(filename, json.dumps(posedict))
else:
log("No model root provided to store the pose for", "ERROR")
def storePose(root, posename):
"""Stores the current pose of all of a model's selected joints.
Existing poses of the same name will be overwritten.
Args:
root(bpy_types.Object): root of the model the pose belongs to
posename(str): name the pose will be stored under
Returns:
: Nothing.
"""
if root:
filename = nUtils.getModelName(root) + '::poses'
posedict = yaml.load(bUtils.readTextFile(filename))
if not posedict:
posedict = {posename: {'name': posename, 'joints': {}}}
else:
posedict[posename] = {'name': posename, 'joints': {}}
links = sUtils.getChildren(root, ('link',), True, False)
sUtils.selectObjects([root] + links, clear=True, active=0)
bpy.ops.object.mode_set(mode='POSE')
for link in (
link
for link in links
if 'joint/type' in link and link['joint/type'] not in ['fixed', 'floating']
):
link.pose.bones['Bone'].rotation_mode = 'XYZ'
posedict[posename]['joints'][nUtils.getObjectName(link, 'joint')] = link.pose.bones[
'Bone'
].rotation_euler.y
bpy.ops.object.mode_set(mode='OBJECT')
posedict = gUtils.roundFloatsInDict(posedict, ioUtils.getExpSettings().decimalPlaces)
bUtils.updateTextFile(filename, yaml.dump(posedict, default_flow_style=False))
else:
log("No model root provided to store the pose for", "ERROR")
def deriveModelDictionary(root, name='', objectlist=[]):
"""Derives a dictionary representation of a Phobos model.
If name is not specified, it overrides the modelname in the root. If the modelname is not
defined at all, 'unnamed' will be used instead.
:param root: root object of the model
:type root: bpy.types.Object
:param name: name for the derived model
:type name: str
:param objectlist: objects to derive the model from
:type objectlist: list of bpy.types.Object
:return: representation of the model based on the root object
:rtype: dict
"""
if root.phobostype not in ['link', 'submodel']:
log(root.name + " is no valid 'link' or 'submodel' object.", "ERROR")
return None
# define model name
if name:
modelname = name
elif 'modelname' in root:
modelname = root['modelname']
else:
modelname = 'unnamed'
model = {
'links': {},
'joints': {},
'sensors': {},
'motors': {},
'controllers': {},
'materials': {},
'meshes': {},
'lights': {},
'groups': {},
'chains': {},
'date': datetime.now().strftime("%Y%m%d_%H:%M"),
'name': modelname
}
log(
"Creating dictionary for model " + modelname + " with root " +
root.name + ".", 'INFO')
# create tuples of objects belonging to model
if not objectlist:
objectlist = sUtils.getChildren(
root,
selected_only=ioUtils.getExpSettings().selectedOnly,
include_hidden=False)
linklist = [link for link in objectlist if link.phobostype == 'link']
# digest all the links to derive link and joint information
log(
"Parsing links, joints and motors... " + (str(len(linklist))) +
" total.", "INFO")
for link in linklist:
# parse link information (including inertia)
model['links'][nUtils.getObjectName(link, 'link')] = derive_link(link)
if sUtils.getEffectiveParent(link):
# joint may be None if link is a root
jointdict = deriveJoint(link)
model['joints'][jointdict['name']] = jointdict
motordict = deriveMotor(link, jointdict)
# motor may be None if no motor is attached
if motordict:
model['motors'][motordict['name']] = motordict
# TODO what was this supposed to do?
# as it is only ever used by deriveSubmechanism we might want to move it...?
# combine inertia if certain objects are left out, and overwrite it
# inertials = (i for i in objectlist if i.phobostype == 'inertial' and 'inertia' in i)
# editlinks = {}
# for i in inertials:
# if i.parent not in linklist:
# realparent = sUtils.getEffectiveParent(i, ignore_selection=bool(objectlist))
# if realparent:
# parentname = nUtils.getObjectName(realparent)
# if parentname in editlinks:
# editlinks[parentname].append(i)
# else:
# editlinks[parentname] = [i]
# for linkname in editlinks:
# inertials = editlinks[linkname]
# try:
# inertials.append(bpy.context.scene.objects['inertial_' + linkname])
# except KeyError:
# pass
# # get inertia data
# mass, com, inertia = inertiamodel.fuse_inertia_data(inertials)
# if not any(mass, com, inertia):
# continue
# # add inertia to model
# inertia = inertiamodel.inertiaMatrixToList(inertia)
# model['links'][linkname]['inertial'] = {
# 'mass': mass, 'inertia': inertia,
# 'pose': {'translation': list(com),
# 'rotation_euler': [0, 0, 0]}
# }
# complete link information by parsing visuals and collision objects
log("Parsing visual and collision (approximation) objects...", 'INFO')
for obj in objectlist:
if obj.phobostype in ['visual', 'collision']:
props = deriveDictEntry(obj)
parentname = nUtils.getObjectName(
sUtils.getEffectiveParent(obj,
ignore_selection=bool(objectlist)))
model['links'][parentname][obj.phobostype][nUtils.getObjectName(
obj)] = props
elif obj.phobostype == 'approxsphere':
props = deriveDictEntry(obj)
parentname = nUtils.getObjectName(
sUtils.getEffectiveParent(obj,
ignore_selection=bool(objectlist)))
model['links'][parentname]['approxcollision'].append(props)
# combine collision information for links
for linkname in model['links']:
link = model['links'][linkname]
bitmask = 0
for collname in link['collision']:
try:
# bitwise OR to add all collision layers
bitmask = bitmask | link['collision'][collname]['bitmask']
except KeyError:
pass
link['collision_bitmask'] = bitmask
# parse sensors and controllers
log("Parsing sensors and controllers...", 'INFO')
for obj in objectlist:
if obj.phobostype in ['sensor', 'controller']:
props = deriveDictEntry(obj)
model[obj.phobostype + 's'][nUtils.getObjectName(obj)] = props
# parse materials
log("Parsing materials...", 'INFO')
model['materials'] = collectMaterials(objectlist)
for obj in objectlist:
if obj.phobostype == 'visual':
mat = obj.active_material
try:
if mat.name not in model['materials']:
# this should actually never happen
model['materials'][mat.name] = deriveMaterial(mat)
linkname = nUtils.getObjectName(
sUtils.getEffectiveParent(
obj, ignore_selection=bool(objectlist)))
model['links'][linkname]['visual'][nUtils.getObjectName(
obj)]['material'] = mat.name
except AttributeError:
log("Could not parse material for object " + obj.name, "ERROR")
# identify unique meshes
log("Parsing meshes...", "INFO")
for obj in objectlist:
try:
if ((obj.phobostype == 'visual' or obj.phobostype == 'collision')
and (obj['geometry/type'] == 'mesh')
and (obj.data.name not in model['meshes'])):
model['meshes'][obj.data.name] = obj
for lod in obj.lod_levels:
if lod.object.data.name not in model['meshes']:
model['meshes'][lod.object.data.name] = lod.object
except KeyError:
log("Undefined geometry type in object " + obj.name, "ERROR")
# gather information on groups of objects
log("Parsing groups...", 'INFO')
# TODO: get rid of the "data" part and check for relation to robot
for group in bpy.data.groups:
# skip empty groups
if not group.objects:
continue
# handle submodel groups separately from other groups
if 'submodeltype' in group.keys():
continue
# TODO create code to derive Submodels
# model['submodels'] = deriveSubmodel(group)
elif nUtils.getObjectName(group, 'group') != "RigidBodyWorld":
model['groups'][nUtils.getObjectName(
group, 'group')] = deriveGroupEntry(group)
# gather information on chains of objects
log("Parsing chains...", "INFO")
chains = []
for obj in objectlist:
if obj.phobostype == 'link' and 'endChain' in obj:
chains.extend(deriveChainEntry(obj))
for chain in chains:
model['chains'][chain['name']] = chain
# gather information on lights
log("Parsing lights...", "INFO")
for obj in objectlist:
if obj.phobostype == 'light':
model['lights'][nUtils.getObjectName(obj)] = deriveLight(obj)
# gather submechanism information from links
log("Parsing submechanisms...", "INFO")
submechanisms = []
for link in linklist:
if 'submechanism/name' in link:
indep = [
nUtils.getObjectName(j, 'joint')
for j in link['submechanism/independent']
]
spann = [
nUtils.getObjectName(j, 'joint')
for j in link['submechanism/spanningtree']
]
active = [
nUtils.getObjectName(j, 'joint')
for j in link['submechanism/active']
]
submech = {
'type': link['submechanism/type'],
'contextual_name': link['submechanism/name'],
'jointnames_independent': indep,
'jointnames_spanningtree': spann,
'jointnames_active': active
}
submechanisms.append(submech)
model['submechanisms'] = submechanisms
# add additional data to model
model.update(deriveTextData(model['name']))
# shorten numbers in dictionary to n decimalPlaces and return it
log("Rounding numbers...", "INFO")
# TODO: implement this separately
return roundFloatsInDict(model, ioUtils.getExpSettings().decimalPlaces)
def deriveModelDictionary(root, name='', objectlist=[]):
"""Returns a dictionary representation of a Phobos model.
If name is not specified, it overrides the modelname in the root. If the modelname is not
defined at all, 'unnamed' will be used instead.
Args:
root(bpy_types.Object): root object of the model
name(str, optional): name for the derived model (Default value = '')
objectlist(list: bpy_types.Object): objects to derive the model from
objectlist: (Default value = [])
Returns:
"""
if root.phobostype not in ['link', 'submodel']:
log(root.name + " is no valid 'link' or 'submodel' object.", "ERROR")
return None
# define model name
if name:
modelname = name
elif 'model/name' in root:
modelname = root['model/name']
else:
modelname = 'unnamed'
# define model version
if 'model/version' in root:
modelversion = root['model/version']
else:
modelversion = 'undefined'
modeldescription = bUtils.readTextFile('README.md')
model = {
'links': {},
'joints': {},
'sensors': {},
'motors': {},
'controllers': {},
'materials': {},
'meshes': {},
'lights': {},
'groups': {},
'chains': {},
'date': datetime.now().strftime("%Y%m%d_%H:%M"),
'name': modelname,
'version': modelversion,
'description': modeldescription,
}
log(
"Creating dictionary for model '" + modelname + "' with root '" + root.name + "'.",
'INFO',
prefix="\n",
)
# create tuples of objects belonging to model
if not objectlist:
objectlist = sUtils.getChildren(
root, selected_only=ioUtils.getExpSettings().selectedOnly, include_hidden=False
)
linklist = [link for link in objectlist if link.phobostype == 'link']
# digest all the links to derive link and joint information
log("Parsing links, joints and motors... " + (str(len(linklist))) + " total.", "INFO")
for link in linklist:
# parse link information (including inertia)
model['links'][nUtils.getObjectName(link, 'link')] = deriveLink(
link, logging=True, objectlist=objectlist
)
# parse joint and motor information
if sUtils.getEffectiveParent(link):
# joint may be None if link is a root
# to prevent confusion links are always defining also joints
jointdict = deriveJoint(link, logging=True, adjust=True)
log(" Setting joint type '{}' for link.".format(jointdict['type']), 'DEBUG')
# first check if we have motor information in the joint properties
# if so they can be extended/overwritten by motor objects later on
if '$motor' in jointdict:
motordict = jointdict['$motor']
# at least we need a type property
if 'type' in motordict:
# if no name is given derive it from the joint
if not 'name' in motordict:
motordict["name"] = jointdict['name']
model['motors'][motordict['name']] = motordict
# link the joint by name:
motordict['joint'] = jointdict['name']
del jointdict['$motor']
model['joints'][jointdict['name']] = jointdict
for mot in [child for child in link.children if child.phobostype == 'motor']:
motordict = motormodel.deriveMotor(mot, jointdict)
# motor may be None if no motor is attached
if motordict:
log(" Added motor {} to link.".format(motordict['name']), 'DEBUG')
if motordict['name'] in model["motors"]:
model['motors'][motordict['name']].update(motordict)
else:
model['motors'][motordict['name']] = motordict
# parse sensors and controllers
sencons = [obj for obj in objectlist if obj.phobostype in ['sensor', 'controller']]
log("Parsing sensors and controllers... {} total.".format(len(sencons)), 'INFO')
for obj in sencons:
props = deriveDictEntry(obj, names=True, objectlist=objectlist)
model[obj.phobostype + 's'][nUtils.getObjectName(obj)] = props
# parse materials
log("Parsing materials...", 'INFO')
model['materials'] = collectMaterials(objectlist)
for obj in objectlist:
if obj.phobostype == 'visual':
mat = obj.active_material
if mat:
if mat.name not in model['materials']:
model['materials'][mat.name] = deriveMaterial(mat)
linkname = nUtils.getObjectName(
sUtils.getEffectiveParent(obj, ignore_selection=bool(objectlist))
)
model['links'][linkname]['visual'][nUtils.getObjectName(obj)][
'material'
] = mat.name
# identify unique meshes
log("Parsing meshes...", "INFO")
for obj in objectlist:
try:
if (
(obj.phobostype == 'visual' or obj.phobostype == 'collision')
and (obj['geometry/type'] == 'mesh')
and (obj.data.name not in model['meshes'])
):
model['meshes'][obj.data.name] = obj
#todo2.9: for lod in obj.lod_levels:
# if lod.object.data.name not in model['meshes']:
# model['meshes'][lod.object.data.name] = lod.object
except KeyError:
log("Undefined geometry type in object " + obj.name, "ERROR")
# gather information on groups of objects
log("Parsing groups...", 'INFO')
#todo2.9: TODO: get rid of the "data" part and check for relation to robot
# for group in bpy.data.groups:
# # skip empty groups
# if not group.objects:
# continue
# # handle submodel groups separately from other groups
# if 'submodeltype' in group.keys():
# continue
# # TODO create code to derive Submodels
# # model['submodels'] = deriveSubmodel(group)
# elif nUtils.getObjectName(group, 'group') != "RigidBodyWorld":
# model['groups'][nUtils.getObjectName(group, 'group')] = deriveGroupEntry(group)
# gather information on chains of objects
log("Parsing chains...", "INFO")
chains = []
for obj in objectlist:
if obj.phobostype == 'link' and 'endChain' in obj:
chains.extend(deriveChainEntry(obj))
for chain in chains:
model['chains'][chain['name']] = chain
# gather information on lights
log("Parsing lights...", "INFO")
for obj in objectlist:
if obj.phobostype == 'light':
model['lights'][nUtils.getObjectName(obj)] = deriveLight(obj)
# gather submechanism information from links
log("Parsing submechanisms...", "INFO")
def getSubmechanisms(link):
"""
Args:
link:
Returns:
"""
if 'submechanism/name' in link.keys():
submech = {
'type': link['submechanism/type'],
'contextual_name': link['submechanism/name'],
'name': link['submechanism/subtype']
if 'submechanism/subtype' in link
else link['submechanism/type'],
'jointnames_independent': [
nUtils.getObjectName(j, 'joint') for j in link['submechanism/independent']
],
'jointnames_spanningtree': [
nUtils.getObjectName(j, 'joint') for j in link['submechanism/spanningtree']
],
'jointnames_active': [
nUtils.getObjectName(j, 'joint') for j in link['submechanism/active']
],
# TODO: this should work in almost all cases, still a bit of a hack:
'file_path': '../submechanisms/urdf/' + link['submechanism/name'] + '.urdf',
}
log(' ' + submech['contextual_name'], 'DEBUG')
else:
submech = None
mechanisms = [submech] if submech else []
for c in link.children:
if c.phobostype in ['link', 'interface'] and c in objectlist:
mechanisms.extend(getSubmechanisms(c))
return mechanisms
model['submechanisms'] = getSubmechanisms(root)
# add additional data to model
model.update(deriveTextData(model['name']))
# shorten numbers in dictionary to n decimalPlaces and return it
log("Rounding numbers to {} digits.".format(ioUtils.getExpSettings().decimalPlaces), 'INFO')
model = roundFloatsInDict(model, ioUtils.getExpSettings().decimalPlaces)
log("Sorting objects.", 'DEBUG')
model = sortListsInDict(model)
return model
def deriveModelDictionary(root, name='', objectlist=[]):
"""Returns a dictionary representation of a Phobos model.
If name is not specified, it overrides the modelname in the root. If the modelname is not
defined at all, 'unnamed' will be used instead.
Args:
root(bpy_types.Object): root object of the model
name(str): name for the derived model
objectlist(list: bpy_types.Object): objects to derive the model from
"""
if root.phobostype not in ['link', 'submodel']:
log(root.name + " is no valid 'link' or 'submodel' object.", "ERROR")
return None
# define model name
if name:
modelname = name
elif 'modelname' in root:
modelname = root['modelname']
else:
modelname = 'unnamed'
model = {
'links': {},
'joints': {},
'sensors': {},
'motors': {},
'controllers': {},
'materials': {},
'meshes': {},
'lights': {},
'groups': {},
'chains': {},
'date': datetime.now().strftime("%Y%m%d_%H:%M"),
'name': modelname
}
log(
"Creating dictionary for model '" + modelname + "' with root '" +
root.name + "'.", 'INFO')
# create tuples of objects belonging to model
if not objectlist:
objectlist = sUtils.getChildren(
root,
selected_only=ioUtils.getExpSettings().selectedOnly,
include_hidden=False)
linklist = [link for link in objectlist if link.phobostype == 'link']
# digest all the links to derive link and joint information
log(
"Parsing links, joints and motors... " + (str(len(linklist))) +
" total.", "INFO")
for link in linklist:
# parse link information (including inertia)
model['links'][nUtils.getObjectName(link, 'link')] = deriveLink(link)
if sUtils.getEffectiveParent(link):
# joint may be None if link is a root
jointdict = deriveJoint(link)
model['joints'][jointdict['name']] = jointdict
motordict = deriveMotor(link, jointdict)
# motor may be None if no motor is attached
if motordict:
model['motors'][motordict['name']] = motordict
# combine inertia for each link, taking into account inactive links
inertials = (i for i in objectlist
if i.phobostype == 'inertial' and 'inertial/inertia' in i)
editlinks = {}
for i in inertials:
if i.parent not in linklist:
realparent = sUtils.getEffectiveParent(
i, ignore_selection=bool(objectlist))
if realparent:
parentname = nUtils.getObjectName(realparent)
if parentname in editlinks:
editlinks[parentname].append(i)
else:
editlinks[parentname] = [i]
for linkname in editlinks:
inertials = editlinks[linkname]
try:
inertials.append(bpy.context.scene.objects['inertial_' + linkname])
except KeyError:
pass
# get inertia data
mass, com, inertia = inertiamodel.fuse_inertia_data(inertials)
if not any(mass, com, inertia):
continue
# add inertia to model
inertia = inertiamodel.inertiaMatrixToList(inertia)
model['links'][linkname]['inertial'] = {
'mass': mass,
'inertia': inertia,
'pose': {
'translation': list(com),
'rotation_euler': [0, 0, 0]
}
}
# complete link information by parsing visuals and collision objects
log("Parsing visual and collision (approximation) objects...", 'INFO')
for obj in objectlist:
if obj.phobostype in ['visual', 'collision']:
props = deriveDictEntry(obj)
parentname = nUtils.getObjectName(
sUtils.getEffectiveParent(obj,
ignore_selection=bool(objectlist)))
model['links'][parentname][obj.phobostype][nUtils.getObjectName(
obj)] = props
elif obj.phobostype == 'approxsphere':
props = deriveDictEntry(obj)
parentname = nUtils.getObjectName(
sUtils.getEffectiveParent(obj,
ignore_selection=bool(objectlist)))
model['links'][parentname]['approxcollision'].append(props)
# combine collision information for links
for linkname in model['links']:
link = model['links'][linkname]
bitmask = 0
for collname in link['collision']:
try:
# bitwise OR to add all collision layers
bitmask = bitmask | link['collision'][collname]['bitmask']
except KeyError:
pass
link['collision_bitmask'] = bitmask
# parse sensors and controllers
log("Parsing sensors and controllers...", 'INFO')
for obj in objectlist:
if obj.phobostype in ['sensor', 'controller']:
props = deriveDictEntry(obj)
model[obj.phobostype + 's'][nUtils.getObjectName(obj)] = props
# parse materials
log("Parsing materials...", 'INFO')
model['materials'] = collectMaterials(objectlist)
for obj in objectlist:
if obj.phobostype == 'visual':
mat = obj.active_material
if mat:
if mat.name not in model['materials']:
model['materials'][mat.name] = deriveMaterial(mat)
linkname = nUtils.getObjectName(
sUtils.getEffectiveParent(
obj, ignore_selection=bool(objectlist)))
model['links'][linkname]['visual'][nUtils.getObjectName(
obj)]['material'] = mat.name
# identify unique meshes
log("Parsing meshes...", "INFO")
for obj in objectlist:
try:
if ((obj.phobostype == 'visual' or obj.phobostype == 'collision')
and (obj['geometry/type'] == 'mesh')
and (obj.data.name not in model['meshes'])):
model['meshes'][obj.data.name] = obj
for lod in obj.lod_levels:
if lod.object.data.name not in model['meshes']:
model['meshes'][lod.object.data.name] = lod.object
except KeyError:
log("Undefined geometry type in object " + obj.name, "ERROR")
# gather information on groups of objects
log("Parsing groups...", 'INFO')
# TODO: get rid of the "data" part and check for relation to robot
for group in bpy.data.groups:
# skip empty groups
if not group.objects:
continue
# handle submodel groups separately from other groups
if 'submodeltype' in group.keys():
continue
# TODO create code to derive Submodels
# model['submodels'] = deriveSubmodel(group)
elif nUtils.getObjectName(group, 'group') != "RigidBodyWorld":
model['groups'][nUtils.getObjectName(
group, 'group')] = deriveGroupEntry(group)
# gather information on chains of objects
log("Parsing chains...", "INFO")
chains = []
for obj in objectlist:
if obj.phobostype == 'link' and 'endChain' in obj:
chains.extend(deriveChainEntry(obj))
for chain in chains:
model['chains'][chain['name']] = chain
# gather information on lights
log("Parsing lights...", "INFO")
for obj in objectlist:
if obj.phobostype == 'light':
model['lights'][nUtils.getObjectName(obj)] = deriveLight(obj)
# gather submechanism information from links
log("Parsing submechanisms...", "INFO")
def getSubmechanisms(link):
if 'submechanism/name' in link.keys():
submech = {
'type':
link['submechanism/type'],
'contextual_name':
link['submechanism/name'],
'name':
link['submechanism/subtype'] if 'submechanism/subtype' in link
else link['submechanism/type'],
'jointnames_independent': [
nUtils.getObjectName(j, 'joint')
for j in link['submechanism/independent']
],
'jointnames_spanningtree': [
nUtils.getObjectName(j, 'joint')
for j in link['submechanism/spanningtree']
],
'jointnames_active': [
nUtils.getObjectName(j, 'joint')
for j in link['submechanism/active']
],
# TODO: this should work in almost all cases, still a bit of a hack:
'file_path':
'../submechanisms/urdf/' + link['submechanism/name'] + '.urdf'
}
log(' ' + submech['contextual_name'], 'DEBUG')
else:
submech = None
mechanisms = [submech] if submech else []
for c in link.children:
if c.phobostype in ['link', 'interface'] and c in objectlist:
mechanisms.extend(getSubmechanisms(c))
return mechanisms
model['submechanisms'] = getSubmechanisms(root)
# add additional data to model
model.update(deriveTextData(model['name']))
# shorten numbers in dictionary to n decimalPlaces and return it
log("Rounding numbers...", "INFO")
return roundFloatsInDict(model, ioUtils.getExpSettings().decimalPlaces)
