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 deriveDictEntry(obj,
names=False,
objectlist=[],
logging=True,
adjust=True):
"""Derives a phobos dictionary entry from the provided object.
Args:
obj(bpy_types.Object): The object to derive the dict entry (phobos data structure) from.
names(bool, optional): use object names as dict entries instead of object links. (Default value = False)
logging(bool, optional): whether to log messages or not (Default value = True)
objectlist: (Default value = [])
adjust: (Default value = True)
Returns:
: dict -- phobos representation of the object
"""
props = {}
try:
if obj.phobostype == 'inertial':
props = deriveInertial(obj, adjust=adjust, logging=logging)
elif obj.phobostype == 'visual':
props = deriveVisual(obj)
elif obj.phobostype == 'collision':
props = deriveCollision(obj)
elif obj.phobostype == 'approxsphere':
props = deriveApproxsphere(obj)
elif obj.phobostype == 'sensor':
props = sensormodel.deriveSensor(obj,
names=names,
objectlist=objectlist,
logging=logging)
elif obj.phobostype == 'controller':
props = controllermodel.deriveController(obj)
elif obj.phobostype == 'light':
props = deriveLight(obj)
elif obj.phobostype == 'motor':
props = motormodel.deriveMotor(obj)
elif obj.phobostype == 'annotation':
props = deriveAnnotation(obj)
except KeyError:
log("A KeyError occurred due to missing data in object" + obj.name,
"DEBUG")
return None, None
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')
# 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