def export_inner(operation, useDart=False):
""" Continues the export process on the specified operation
"""
print("Beginnning Export")
joint_laminates = operation.bodies_generic
project_name = "exported" #We can figure out a better way later.
world_name = 'world'
robot_name = 'default_body'
global_root = etree.Element("sdf", version="1.5")
world_object = etree.Element("world", name=world_name)
global_root.append(world_object);
model_object = etree.Element("model", name=robot_name)
world_object.append(model_object)
etree.SubElement(model_object, "static").text = "false"
etree.SubElement(model_object, "pose").text = "0 0 0 0 0 0"
etree.SubElement(model_object, "plugin", name="Model_Vel",
filename="libmodel_vel.so")
#world_object.append(createFloor())
include_floor = etree.SubElement(world_object, "include")
etree.SubElement(include_floor, "uri").text = "model://ground_plane"
include_sun = etree.SubElement(world_object, "include")
etree.SubElement(include_sun, "uri").text = "model://sun"
#Sorts them in the correct order
#operation.connections.sort(key=lambda tup: tup[0], reverse=True)
ordered_connection = [reorder_pair(connection[1], operation.get_laminate_generations())
for connection in operation.connections]
tree = spawnTreefromList(ordered_connection, sort=True)
assert(len(tree.decendents) == len(operation.bodies_generic) - 1)
midpoints = [connect[0] for connect in operation.connections]
print(midpoints)
#This key function tells it to ignore the following special characters when sorting.
link_sort = lambda string: str(string).replace('|', '\x02').replace('*','\x01')
counter = 0
for joint_laminate in sorted(joint_laminates,key=link_sort):
model_object.append(createRobotPart(joint_laminate, counter, tree, buildMesh=True,
approxCollisions=(not useDart)))
counter+=1
joint_names = []
joints = []
for joint_connection in zip(midpoints, ordered_connection):
name = "hingejoint"
name += tree.getNode(joint_connection[1][0]).getID()
name += '|'
name += tree.getNode(joint_connection[1][1]).getID()
joints.append(craftJoint(operation, list(joint_connection), name, tree))
joint_names.append(name)
joint_sort = lambda joint: link_sort(joint.get('name'))
for joint in sorted(joints, key=joint_sort):
print(joints)
model_object.append(joint)
joint_names.sort(key=link_sort)
if useDart is True:
physics_engine = 'dart'
else:
physics_engine = 'simbody'
world_object.append(craftSimbodyPhysics())
#Saves the object
file_output = popupcad.exportdir + os.path.sep + project_name + ".world"
f = open(file_output,"wb")
f.write(etree.tostring(global_root, pretty_print=True))
f.close()
def stringify(s1): #For local use to generate default Python code
return "'{}'".format(s1)
#Experimental Python IDE and Control System
#TODO Sandbox this
from popupcad.widgets.userinput import UserInputIDE
mw = UserInputIDE()
mw.setWindowTitle('Internal Python IDE')
mw.appendText('#This code will control your robot during the simulation')
mw.appendText('from popupcad_gazebo.gazebo_controller import apply_joint_forces, apply_joint_pos')
mw.appendText('world_name=' + stringify(world_name))
mw.appendText('robot_name=' + stringify(robot_name))
mw.appendText('joint_names=' + str(joint_names))
mw.te.setReadOnly(False)
mw.exec_()
print("Starting gazebo")
user_input_code = compile(mw.te.toPlainText(), 'user_defined', 'exec')#Todo Sandbox this
#TODO replace with Subprocess to prevent pollution of STDOUT
#subprocess.Popen("killall -9 gazebo & killall -9 gzserver & killall -9 gzclient", shell=True)
subprocess.Popen(['killall', 'gzserver'])
gazebo = subprocess.Popen(["gazebo", "-e", physics_engine, file_output, '-u', '--verbose'])
print("Gazebo is now open")
#Even with wait net service we run into issues.
wait_net_service('localhost', 11345)
print("Gazebo is done waiting")
def exec_(arg): #This is done for Python 2 and 3 compatibility
exec(arg)
from multiprocessing import Process
code_process = Process(target=exec_, args=(user_input_code,))
time.sleep(5)
#follow_model(robot_name)
pause_simulation(world_name, pause=False)
code_process.start()
import PySide.QtGui as qg
import PySide
widget = qg.QMessageBox()
widget.setText("Press Okay to Stop the Simulation and Close Gazebo")
widget.setWindowModality(PySide.QtCore.Qt.NonModal)
widget.exec_()
code_process.terminate()
gazebo.terminate()
def export_inner(operation, useDart=False):
""" Continues the export process on the specified operation
"""
print("Beginnning Export")
joint_laminates = operation.bodies_generic
project_name = "exported" #We can figure out a better way later.
world_name = 'world'
robot_name = 'default_body'
global_root = etree.Element("sdf", version="1.5")
world_object = etree.Element("world", name=world_name)
global_root.append(world_object)
model_object = etree.Element("model", name=robot_name)
world_object.append(model_object)
etree.SubElement(model_object, "static").text = "false"
etree.SubElement(model_object, "pose").text = "0 0 0 0 0 0"
etree.SubElement(model_object,
"plugin",
name="Model_Vel",
filename="libmodel_vel.so")
#world_object.append(createFloor())
include_floor = etree.SubElement(world_object, "include")
etree.SubElement(include_floor, "uri").text = "model://ground_plane"
include_sun = etree.SubElement(world_object, "include")
etree.SubElement(include_sun, "uri").text = "model://sun"
#Sorts them in the correct order
#operation.connections.sort(key=lambda tup: tup[0], reverse=True)
ordered_connection = [
reorder_pair(connection[1], operation.get_laminate_generations())
for connection in operation.connections
]
tree = tree_node.spawnTreefromList(ordered_connection, sort=True)
assert (len(tree.decendents) == len(operation.bodies_generic) - 1)
midpoints = [connect[0] for connect in operation.connections]
print(midpoints)
#This key function tells it to ignore the following special characters when sorting.
link_sort = lambda string: str(string).replace('|', '\x02').replace(
'*', '\x01')
counter = 0
for joint_laminate in sorted(joint_laminates, key=link_sort):
model_object.append(
createRobotPart(joint_laminate,
counter,
tree,
buildMesh=True,
approxCollisions=(not useDart)))
counter += 1
joint_names = []
joints = []
for joint_connection in zip(midpoints, ordered_connection):
name = "hingejoint"
name += tree.getNode(joint_connection[1][0]).getID()
name += '|'
name += tree.getNode(joint_connection[1][1]).getID()
joints.append(craftJoint(operation, list(joint_connection), name,
tree))
joint_names.append(name)
joint_sort = lambda joint: link_sort(joint.get('name'))
for joint in sorted(joints, key=joint_sort):
print(joints)
model_object.append(joint)
joint_names.sort(key=link_sort)
if useDart is True:
physics_engine = 'dart'
else:
physics_engine = 'simbody'
world_object.append(craftSimbodyPhysics())
#Saves the object
file_output = popupcad.exportdir + os.path.sep + project_name + ".world"
f = open(file_output, "wb")
f.write(etree.tostring(global_root, pretty_print=True))
f.close()
def stringify(s1): #For local use to generate default Python code
return "'{}'".format(s1)
#Experimental Python IDE and Control System
#TODO Sandbox this
from popupcad.widgets.userinput import UserInputIDE
mw = UserInputIDE()
mw.setWindowTitle('Internal Python IDE')
mw.appendText('#This code will control your robot during the simulation')
mw.appendText(
'from popupcad_gazebo.gazebo_controller import apply_joint_forces, apply_joint_pos'
)
mw.appendText('world_name=' + stringify(world_name))
mw.appendText('robot_name=' + stringify(robot_name))
mw.appendText('joint_names=' + str(joint_names))
mw.te.setReadOnly(False)
mw.exec_()
print("Starting gazebo")
user_input_code = compile(mw.te.toPlainText(), 'user_defined',
'exec') #Todo Sandbox this
#TODO replace with Subprocess to prevent pollution of STDOUT
#subprocess.Popen("killall -9 gazebo & killall -9 gzserver & killall -9 gzclient", shell=True)
subprocess.Popen(['killall', 'gzserver'])
gazebo = subprocess.Popen(
["gazebo", "-e", physics_engine, file_output, '-u', '--verbose'])
print("Gazebo is now open")
#Even with wait net service we run into issues.
wait_net_service('localhost', 11345)
print("Gazebo is done waiting")
def exec_(arg): #This is done for Python 2 and 3 compatibility
exec(arg)
from multiprocessing import Process
code_process = Process(target=exec_, args=(user_input_code, ))
time.sleep(5)
#follow_model(robot_name)
pause_simulation(world_name, pause=False)
code_process.start()
import qt.QtCore as qc
import qt.QtGui as qg
widget = qg.QMessageBox()
widget.setText("Press Okay to Stop the Simulation and Close Gazebo")
widget.setWindowModality(qc.Qt.NonModal)
widget.exec_()
code_process.terminate()
gazebo.terminate()
def buildeditdialog(self, design):
mw = UserInputIDE()
mw.setWindowTitle('Internal Python IDE')
mw.te.setReadOnly(False)
mw.te.setPlainText(self.code)
return mw
def buildnewdialog(cls, design, currentop):
mw = UserInputIDE()
mw.setWindowTitle('Internal Python IDE')
mw.te.setReadOnly(False)
return mw
def buildeditdialog(self, design):
mw = UserInputIDE()
mw.setWindowTitle('Internal Python IDE')
mw.te.setReadOnly(False)
mw.te.setPlainText(self.code)
return mw
def buildnewdialog(cls, design, currentop):
mw = UserInputIDE()
mw.setWindowTitle('Internal Python IDE')
mw.te.setReadOnly(False)
return mw
