def exportSubmechanisms(model, path):
"""This function exports the submechanisms contained in a robot model.
Args:
model(dict): The robot model to export
path(str): The filepath to export the submechanisms data to
Returns:
"""
log("Phobos Submechanisms export: Creating submechanisms data at " + path,
"INFO")
for submechanism in model['submechanisms']:
root = sUtils.getObjectByProperty('submechanism/name',
submechanism['contextual_name'])
linkobjs = [root] + root['submechanism/spanningtree']
if 'submechanism/freeloader' in root:
linkobjs += root['submechanism/freeloader']
objects = [
o for link in linkobjs for o in link.children
if o.phobostype in ['visual', 'collision', 'inertial']
] + linkobjs
model = deriveModelDictionary(root, root['submechanism/name'], objects)
jointname = nUtils.getObjectName(root, 'joint')
if jointname in model['joints']:
del model['joints'][jointname]
log('Removed joint which is not part of submodel: ' + jointname,
'DEBUG')
exportModel(model, path, ['urdf'])
def exportSubmechanisms(model, path):
"""This function exports the submechanisms contained in a robot model.
Args:
model(dict): The robot model to export
path(str): The filepath to export the submechanisms data to
Returns:
"""
log("Phobos Submechanisms export: Creating submechanisms data at " + path, "INFO")
for submechanism in model['submechanisms']:
root = sUtils.getObjectByProperty('submechanism/name', submechanism['contextual_name'])
linkobjs = [root] + root['submechanism/spanningtree']
if 'submechanism/freeloader' in root:
linkobjs += root['submechanism/freeloader']
objects = [
o
for link in linkobjs
for o in link.children
if o.phobostype in ['visual', 'collision', 'inertial']
] + linkobjs
model = deriveModelDictionary(root, root['submechanism/name'], objects)
jointname = nUtils.getObjectName(root, 'joint')
if jointname in model['joints']:
del model['joints'][jointname]
log('Removed joint which is not part of submodel: ' + jointname, 'DEBUG')
exportModel(model, path, ['urdf'])
def execute(self, context):
roots = ioUtils.getExportModels()
if not roots:
log("No properly defined models selected or present in scene.",
'ERROR')
return {'CANCELLED'}
elif not self.exportall:
roots = [
root for root in roots if root['modelname'] == self.modelname
]
if len(roots) > 1:
log(
"Ambiguous model definitions: " + self.modelname +
" exists " + str(len(roots)) + " times.", "ERROR")
return {'CANCELLED'}
for root in roots:
# setup paths
exportpath = ioUtils.getExportPath()
if not securepath(exportpath):
log("Could not secure path to export to.", "ERROR")
continue
log("Export path: " + exportpath, "DEBUG")
ioUtils.exportModel(models.deriveModelDictionary(root), exportpath)
# select all exported models after export is done
if ioUtils.getExpSettings().selectedOnly:
for root in roots:
objectlist = sUtils.getChildren(root,
selected_only=True,
include_hidden=False)
sUtils.selectObjects(objectlist, clear=False)
else:
bpy.ops.object.select_all(action='DESELECT')
for root in roots:
sUtils.selectObjects(list([root]), False)
bpy.ops.phobos.select_model()
# report success to user
log("Export successful.", "INFO")
return {'FINISHED'}
def exportSubmechanisms(model, path):
"""This function exports the submechanisms contained in a robot model.
Args:
model(dict): The robot model to export
path(str): The filepath to export the submechanisms data to
Returns:
"""
log("Phobos Submechanisms export: Creating submechanisms data at " + path,
"INFO")
for submechanism in model['submechanisms']:
root = sUtils.getObjectsByProperty('submechanism/name',
submechanism['contextual_name'])
linkobjs = [
root
] + root['submechanism/freeloader'] + root['submechanism/spanningtree']
objects = [
o for link in linkobjs for o in link.children
if o.phobostype in ['visual', 'collision', 'inertial']
] + linkobjs
model = deriveModelDictionary(root, root['submechanism/name'], objects)
exportModel(model, path, ['urdf'])
def execute(self, context):
"""
Args:
context:
Returns:
"""
roots = ioUtils.getExportModels()
if not roots:
log("No properly defined models selected or present in scene.",
'ERROR')
return {'CANCELLED'}
elif not self.exportall:
roots = [
root for root in roots
if nUtils.getModelName(root) == self.modelname
]
if len(roots) > 1:
log(
"Ambiguous model definitions: " + self.modelname +
" exists " + str(len(roots)) + " times.",
"ERROR",
)
return {'CANCELLED'}
for root in roots:
# setup paths
exportpath = ioUtils.getExportPath()
if not securepath(exportpath):
log("Could not secure path to export to.", "ERROR")
continue
log("Export path: " + exportpath, "DEBUG")
ioUtils.exportModel(models.deriveModelDictionary(root), exportpath)
# select all exported models after export is done
if ioUtils.getExpSettings().selectedOnly:
for root in roots:
objectlist = sUtils.getChildren(root,
selected_only=True,
include_hidden=False)
sUtils.selectObjects(objectlist, clear=False)
else:
bpy.ops.object.select_all(action='DESELECT')
for root in roots:
sUtils.selectObjects(list([root]), False)
bpy.ops.phobos.select_model()
# TODO: Move mesh export to individual formats? This is practically SMURF
# export meshes in selected formats
# for meshtype in meshes.mesh_types:
# mesh_path = ioUtils.getOutputMeshpath(meshtype)
# try:
# typename = "export_mesh_" + meshtype
# if getattr(bpy.data.worlds[0], typename):
# securepath(mesh_path)
# for meshname in model['meshes']:
# meshes.mesh_types[meshtype]['export'](model['meshes'][meshname], mesh_path)
# except KeyError:
# log("No export function available for selected mesh function: " + meshtype,
# "ERROR", "ExportModelOperator")
# print(sys.exc_info()[0])
# TODO: Move texture export to individual formats? This is practically SMURF
# export textures
# if ioUtils.textureExportEnabled():
# texture_path = ''
# for materialname in model['materials']:
# mat = model['materials'][materialname]
# for texturetype in ['diffuseTexture', 'normalTexture', 'displacementTexture']:
# if texturetype in mat:
# texpath = os.path.join(os.path.expanduser(bpy.path.abspath('//')), mat[texturetype])
# if os.path.isfile(texpath):
# if texture_path == '':
# texture_path = securepath(os.path.join(export_path, 'textures'))
# log("Exporting textures to " + texture_path, "INFO", "ExportModelOperator")
# try:
# shutil.copy(texpath, os.path.join(texture_path, os.path.basename(mat[texturetype])))
# except shutil.SameFileError:
# log("{} already in place".format(texturetype), "INFO", "ExportModelOperator")
# report success to user
log("Export successful.", "INFO", end="\n\n")
return {'FINISHED'}
def execute(self, context):
"""
Args:
context:
Returns:
"""
roots = ioUtils.getExportModels()
if not roots:
log("No properly defined models selected or present in scene.", 'ERROR')
return {'CANCELLED'}
elif not self.exportall:
roots = [root for root in roots if nUtils.getModelName(root) == self.modelname]
if len(roots) > 1:
log(
"Ambiguous model definitions: "
+ self.modelname
+ " exists "
+ str(len(roots))
+ " times.",
"ERROR",
)
return {'CANCELLED'}
for root in roots:
# setup paths
exportpath = ioUtils.getExportPath()
if not securepath(exportpath):
log("Could not secure path to export to.", "ERROR")
continue
log("Export path: " + exportpath, "DEBUG")
ioUtils.exportModel(models.deriveModelDictionary(root), exportpath)
# select all exported models after export is done
if ioUtils.getExpSettings().selectedOnly:
for root in roots:
objectlist = sUtils.getChildren(root, selected_only=True, include_hidden=False)
sUtils.selectObjects(objectlist, clear=False)
else:
bpy.ops.object.select_all(action='DESELECT')
for root in roots:
sUtils.selectObjects(list([root]), False)
bpy.ops.phobos.select_model()
# TODO: Move mesh export to individual formats? This is practically SMURF
# export meshes in selected formats
# for meshtype in meshes.mesh_types:
# mesh_path = ioUtils.getOutputMeshpath(meshtype)
# try:
# typename = "export_mesh_" + meshtype
# if getattr(bpy.data.worlds[0], typename):
# securepath(mesh_path)
# for meshname in model['meshes']:
# meshes.mesh_types[meshtype]['export'](model['meshes'][meshname], mesh_path)
# except KeyError:
# log("No export function available for selected mesh function: " + meshtype,
# "ERROR", "ExportModelOperator")
# print(sys.exc_info()[0])
# TODO: Move texture export to individual formats? This is practically SMURF
# export textures
# if ioUtils.textureExportEnabled():
# texture_path = ''
# for materialname in model['materials']:
# mat = model['materials'][materialname]
# for texturetype in ['diffuseTexture', 'normalTexture', 'displacementTexture']:
# if texturetype in mat:
# texpath = os.path.join(os.path.expanduser(bpy.path.abspath('//')), mat[texturetype])
# if os.path.isfile(texpath):
# if texture_path == '':
# texture_path = securepath(os.path.join(export_path, 'textures'))
# log("Exporting textures to " + texture_path, "INFO", "ExportModelOperator")
# try:
# shutil.copy(texpath, os.path.join(texture_path, os.path.basename(mat[texturetype])))
# except shutil.SameFileError:
# log("{} already in place".format(texturetype), "INFO", "ExportModelOperator")
# report success to user
log("Export successful.", "INFO", end="\n\n")
return {'FINISHED'}