def exportSMURFScene(entities, path):
"""Exports an arranged scene into SMURFS. It will export only entities
with a valid entity/name, and entity/type property.
:param selected_only: If True only selected entities get exported.
:type selected_only: bool
:param subfolder: If True the models are exported into separate subfolders
:type subfolder: bool
"""
# TODO path consistency (Windows)
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 + " - https://github.com/rock-simulation/phobos\n\n"
securepath(path)
log("Exporting scene to " + path + '.smurfs', "INFO")
outputfile.write(sceneinfo)
epsilon = 10**(-bpy.data.worlds[0].phobosexportsettings.decimalPlaces
) # TODO: implement this separately
entitiesdict = epsilonToZero(
{'entities': entities}, epsilon,
bpy.data.worlds[0].phobosexportsettings.decimalPlaces)
outputfile.write(yaml.dump(entitiesdict))
def exportSMURFsScene(entities, path, selected_only=True, subfolder=True):
"""Exports an arranged scene into SMURFS. It will export only entities
with a valid entity/name, and entity/type property.
:param selected_only: If True only selected entities get exported.
:type selected_only: bool
:param subfolder: If True the models are exported into separate subfolders
:type subfolder: bool
"""
outputlist = []
# identify all entities in the scene
entities = [
e for e in [obj for obj in bpy.context.scene.objects if isEntity(obj)]
if ((selected_only and e.select) or not selected_only)
]
if len(entities) == 0:
log("There are no entities to export!", "WARNING",
__name__ + ".exportSMURFsScene")
return
log("Exporting scene to " + path, "INFO", "exportSMURFsScene")
for entity in entities:
log("Exporting " + str(entity["entity/name"]) + " to SMURFS", "INFO")
if entity["entity/type"] in entity_types:
if hasattr(entity_types[entity["entity/type"]], 'deriveEntity'):
entry = entity_types[entity["entity/type"]].deriveEntity(
entity, path, subfolder) # known entity export
else:
log("Required method "
"deriveEntity"
" not implemented", "ERROR")
else: # generic entity export
entry = deriveGenericEntity(entity)
outputlist.append(entry)
with open(
os.path.join(path, bpy.data.worlds['World'].sceneName + '.smurfs'),
'w') as outputfile:
sceneinfo = "# SMURF scene " + bpy.data.worlds[
'World'].sceneName + "; created " + datetime.now().strftime(
"%Y%m%d_%H:%M") + "\n"
sceneinfo += "# created with Phobos " + version + " - https://github.com/rock-simulation/phobos\n\n"
outputfile.write(sceneinfo)
epsilon = 10**(-bpy.data.worlds[0].phobosexportsettings.decimalPlaces
) # TODO: implement this separately
entitiesdict = epsilonToZero(
{'entities': outputlist}, epsilon,
bpy.data.worlds[0].phobosexportsettings.decimalPlaces)
outputfile.write(yaml.dump(entitiesdict))
def buildModelDictionary(root):
"""Builds a python dictionary representation of a Phobos model.
:param root: bpy.types.objects
:return: dict
"""
# TODO remove this comment
# os.system('clear')
model = {
'links': {},
'joints': {},
'sensors': {},
'motors': {},
'controllers': {},
'materials': {},
'meshes': {},
'lights': {},
'groups': {},
'chains': {}
}
# timestamp of model
model["date"] = datetime.now().strftime("%Y%m%d_%H:%M")
if root.phobostype not in ['link', 'submodel']:
log("Found no 'link' or 'submodel' object as root of the robot model.",
"ERROR")
raise Exception(root.name + " is no valid root link.")
else:
if 'modelname' in root:
model['name'] = root["modelname"]
else:
log("No name for the model defines, setting to 'unnamed_model'",
"WARNING")
model['name'] = 'unnamed_model'
log(
"Creating dictionary for robot " + model['name'] + " from object " +
root.name, "INFO")
# create tuples of objects belonging to model
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))), "INFO")
for link in linklist:
# parse link and extract joint and motor information
linkdict, jointdict, motordict = deriveKinematics(link)
model['links'][linkdict['name']] = linkdict
# joint will be None if link is a root
if jointdict:
model['joints'][jointdict['name']] = jointdict
# motor will be None if no motor is attached or link is a root
if motordict:
model['motors'][motordict['name']] = motordict
# add inertial information to link
# if this link-inertial object is no present, we ignore the inertia!
try:
inertial = bpy.context.scene.objects['inertial_' +
linkdict['name']]
props = deriveDictEntry(inertial)
if props is not None:
model['links'][linkdict['name']]['inertial'] = props
except KeyError:
log("No inertia for link " + linkdict['name'], "WARNING")
# combine inertia if certain objects are left out, and overwrite it
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)
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
mv, cv, iv = inertiamodel.fuseInertiaData(inertials)
iv = inertiamodel.inertiaMatrixToList(iv)
if mv is not None and cv is not None and iv is not None:
model['links'][linkname]['inertial'] = {
'mass': mv,
'inertia': iv,
'pose': {
'translation': list(cv),
'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:
# try:
if obj.phobostype in ['visual', 'collision']:
props = deriveDictEntry(obj)
parentname = nUtils.getObjectName(sUtils.getEffectiveParent(obj))
model['links'][parentname][obj.phobostype][nUtils.getObjectName(
obj)] = props
elif obj.phobostype == 'approxsphere':
props = deriveDictEntry(obj)
parentname = nUtils.getObjectName(sUtils.getEffectiveParent(obj))
model['links'][parentname]['approxcollision'].append(props)
# TODO delete me?
# except KeyError:
# try:
# log(parentname + " not found", "ERROR")
# except TypeError:
# log("No parent found for " + obj.name, "ERROR")
# 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))
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.keys():
#for key in [key for key in link.keys() if key.startswith('submechanism/')]:
# submechanisms.append({key.replace('submechanism/', ''): value
# for key, value in link.items()})
submech = {
'name':
link['submechanism/category'],
'type':
link['submechanism/type'],
'contextual_name':
link['submechanism/name'],
'jointnames_independent':
[j.name for j in link['submechanism/independent']],
'jointnames_spanningtree':
[j.name for j in link['submechanism/spanningtree']],
'jointnames_active':
[j.name for j in link['submechanism/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
epsilon = 10**(-ioUtils.getExpSettings().decimalPlaces)
return epsilonToZero(model, epsilon,
ioUtils.getExpSettings().decimalPlaces)
def buildModelDictionary(root):
"""Builds a python dictionary representation of a SMURF model for export and inspection.
:param root: bpy.types.objects
:return: dict
"""
#os.system('clear')
robot = {'links': {},
'joints': {},
'sensors': {},
'motors': {},
'controllers': {},
'materials': {},
'lights': {},
'groups': {},
'chains': {}
}
# timestamp of model
robot["date"] = datetime.now().strftime("%Y%m%d_%H:%M")
if root.phobostype != 'link':
log("Found no 'link' object as root of the robot model.", "ERROR", "buildModelDictionary")
raise Exception(root.name + " is no valid root link.")
else:
if 'modelname' in root:
robot['modelname'] = root["modelname"]
else:
log("No name for the model defines, setting to 'unnamed_model'", "WARNING", "buildModelDictionary")
robot['modelname'] = 'unnamed_model'
log("Creating dictionary for robot " + robot['modelname'] + " from object "
+ root.name, "INFO", "buildModelDictionary")
# create tuples of objects belonging to model
objectlist = sUtils.getChildren(root, selected_only=True, 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...", "INFO", "buildModelDictionary")
for link in linklist:
# parse link and extract joint and motor information
linkdict, jointdict, motordict = deriveKinematics(link)
robot['links'][linkdict['name']] = linkdict
if jointdict: # joint will be None if link is a root
robot['joints'][jointdict['name']] = jointdict
if motordict: # motor will be None if no motor is attached or link is a root
robot['motors'][motordict['name']] = motordict
# add inertial information to link
try: # if this link-inertial object is no present, we ignore the inertia!
inertial = bpy.context.scene.objects['inertial_' + linkdict['name']]
props = deriveDictEntry(inertial)
if props is not None:
robot['links'][linkdict['name']]['inertial'] = props
except KeyError:
log("No inertia for link " + linkdict['name'], "WARNING", "buildModelDictionary")
# we need to combine inertia if certain objects are left out, and overwrite it
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)
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
mv, cv, iv = inertia.fuseInertiaData(inertials)
iv = inertia.inertiaMatrixToList(iv)
if mv is not None and cv is not None and iv is not None:
robot['links'][linkname]['inertial'] = {'mass': mv,
'inertia': iv,
'pose': {'translation': list(cv),
'rotation_euler': [0, 0, 0]
}
}
# complete link information by parsing visuals and collision objects
log("Parsing visual and collision (approximation) objects...", "INFO", "buildModelDictionary")
for obj in objectlist:
try:
if obj.phobostype in ['visual', 'collision']:
props = deriveDictEntry(obj)
parentname = nUtils.getObjectName(sUtils.getEffectiveParent(obj))
robot['links'][parentname][obj.phobostype][nUtils.getObjectName(obj)] = props
elif obj.phobostype == 'approxsphere':
props = deriveDictEntry(obj)
parentname = nUtils.getObjectName(sUtils.getEffectiveParent(obj))
robot['links'][parentname]['approxcollision'].append(props)
except KeyError:
try:
log(parentname + " not found", "ERROR")
except TypeError:
log("No parent found for " + obj.name, "ERROR")
# combine collision information for links
for linkname in robot['links']:
link = robot['links'][linkname]
bitmask = 0
for collname in link['collision']:
try:
bitmask = bitmask | link['collision'][collname]['bitmask']
except KeyError:
pass
link['collision_bitmask'] = bitmask
# parse sensors and controllers
log("Parsing sensors and controllers...", "INFO", "buildModelDictionary")
for obj in objectlist:
if obj.phobostype in ['sensor', 'controller']:
props = deriveDictEntry(obj)
robot[obj.phobostype+'s'][nUtils.getObjectName(obj)] = props
# parse materials
log("Parsing materials...", "INFO", "buildModelDictionary")
robot['materials'] = collectMaterials(objectlist)
for obj in objectlist:
if obj.phobostype == 'visual' and len(obj.data.materials) > 0:
mat = obj.data.materials[0]
matname = nUtils.getObjectName(mat, 'material')
if matname not in robot['materials']:
robot['materials'][matname] = deriveMaterial(mat) # this should actually never happen
linkname = nUtils.getObjectName(sUtils.getEffectiveParent(obj))
robot['links'][linkname]['visual'][nUtils.getObjectName(obj)]['material'] = matname
# gather information on groups of objects
log("Parsing groups...", "INFO", "buildModelDictionary")
for group in bpy.data.groups: # TODO: get rid of the "data" part and check for relation to robot
if len(group.objects) > 0 and nUtils.getObjectName(group, 'group') != "RigidBodyWorld":
robot['groups'][nUtils.getObjectName(group, 'group')] = deriveGroupEntry(group)
# gather information on chains of objects
log("Parsing chains...", "INFO", "buildModelDictionary")
chains = []
for obj in objectlist:
if obj.phobostype == 'link' and 'endChain' in obj:
chains.extend(deriveChainEntry(obj))
for chain in chains:
robot['chains'][chain['name']] = chain
# gather information on lights
log("Parsing lights...", "INFO", "buildModelDictionary")
for obj in objectlist:
if obj.phobostype == 'light':
robot['lights'][nUtils.getObjectName(obj)] = deriveLight(obj)
# add additional data to model
robot.update(deriveTextData(robot['modelname']))
# shorten numbers in dictionary to n decimalPlaces and return it
log("Rounding numbers...", "INFO", "buildModelDictionary")
epsilon = 10**(-bpy.data.worlds[0].decimalPlaces) # TODO: implement this separately
return epsilonToZero(robot, epsilon, bpy.data.worlds[0].decimalPlaces), objectlist
def buildModelDictionary(root):
"""Builds a python dictionary representation of a SMURF model for export and inspection.
:param root: bpy.types.objects
:return: dict
"""
#os.system('clear')
robot = {
'links': {},
'joints': {},
'sensors': {},
'motors': {},
'controllers': {},
'materials': {},
'lights': {},
'groups': {},
'chains': {}
}
# timestamp of model
robot["date"] = datetime.now().strftime("%Y%m%d_%H:%M")
if root.phobostype != 'link':
log("Found no 'link' object as root of the robot model.", "ERROR",
"buildModelDictionary")
raise Exception(root.name + " is no valid root link.")
else:
if 'modelname' in root:
robot['modelname'] = root["modelname"]
else:
log("No name for the model defines, setting to 'unnamed_model'",
"WARNING", "buildModelDictionary")
robot['modelname'] = 'unnamed_model'
log(
"Creating dictionary for robot " + robot['modelname'] +
" from object " + root.name, "INFO", "buildModelDictionary")
# create tuples of objects belonging to model
objectlist = sUtils.getChildren(root,
selected_only=True,
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...", "INFO", "buildModelDictionary")
for link in linklist:
# parse link and extract joint and motor information
linkdict, jointdict, motordict = deriveKinematics(link)
robot['links'][linkdict['name']] = linkdict
if jointdict: # joint will be None if link is a root
robot['joints'][jointdict['name']] = jointdict
if motordict: # motor will be None if no motor is attached or link is a root
robot['motors'][motordict['name']] = motordict
# add inertial information to link
try: # if this link-inertial object is no present, we ignore the inertia!
inertial = bpy.context.scene.objects['inertial_' +
linkdict['name']]
props = deriveDictEntry(inertial)
if props is not None:
robot['links'][linkdict['name']]['inertial'] = props
except KeyError:
log("No inertia for link " + linkdict['name'], "WARNING",
"buildModelDictionary")
# we need to combine inertia if certain objects are left out, and overwrite it
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)
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
mv, cv, iv = inertia.fuseInertiaData(inertials)
iv = inertia.inertiaMatrixToList(iv)
if mv is not None and cv is not None and iv is not None:
robot['links'][linkname]['inertial'] = {
'mass': mv,
'inertia': iv,
'pose': {
'translation': list(cv),
'rotation_euler': [0, 0, 0]
}
}
# complete link information by parsing visuals and collision objects
log("Parsing visual and collision (approximation) objects...", "INFO",
"buildModelDictionary")
for obj in objectlist:
try:
if obj.phobostype in ['visual', 'collision']:
props = deriveDictEntry(obj)
parentname = nUtils.getObjectName(
sUtils.getEffectiveParent(obj))
robot['links'][parentname][obj.phobostype][
nUtils.getObjectName(obj)] = props
elif obj.phobostype == 'approxsphere':
props = deriveDictEntry(obj)
parentname = nUtils.getObjectName(
sUtils.getEffectiveParent(obj))
robot['links'][parentname]['approxcollision'].append(props)
except KeyError:
try:
log(parentname + " not found", "ERROR")
except TypeError:
log("No parent found for " + obj.name, "ERROR")
# combine collision information for links
for linkname in robot['links']:
link = robot['links'][linkname]
bitmask = 0
for collname in link['collision']:
try:
bitmask = bitmask | link['collision'][collname]['bitmask']
except KeyError:
pass
link['collision_bitmask'] = bitmask
# parse sensors and controllers
log("Parsing sensors and controllers...", "INFO", "buildModelDictionary")
for obj in objectlist:
if obj.phobostype in ['sensor', 'controller']:
props = deriveDictEntry(obj)
robot[obj.phobostype + 's'][nUtils.getObjectName(obj)] = props
# parse materials
log("Parsing materials...", "INFO", "buildModelDictionary")
robot['materials'] = collectMaterials(objectlist)
for obj in objectlist:
if obj.phobostype == 'visual' and len(obj.data.materials) > 0:
mat = obj.data.materials[0]
matname = nUtils.getObjectName(mat, 'material')
if matname not in robot['materials']:
robot['materials'][matname] = deriveMaterial(
mat) # this should actually never happen
linkname = nUtils.getObjectName(sUtils.getEffectiveParent(obj))
robot['links'][linkname]['visual'][nUtils.getObjectName(
obj)]['material'] = matname
# gather information on groups of objects
log("Parsing groups...", "INFO", "buildModelDictionary")
for group in bpy.data.groups: # TODO: get rid of the "data" part and check for relation to robot
if len(group.objects) > 0 and nUtils.getObjectName(
group, 'group') != "RigidBodyWorld":
robot['groups'][nUtils.getObjectName(
group, 'group')] = deriveGroupEntry(group)
# gather information on chains of objects
log("Parsing chains...", "INFO", "buildModelDictionary")
chains = []
for obj in objectlist:
if obj.phobostype == 'link' and 'endChain' in obj:
chains.extend(deriveChainEntry(obj))
for chain in chains:
robot['chains'][chain['name']] = chain
# gather information on lights
log("Parsing lights...", "INFO", "buildModelDictionary")
for obj in objectlist:
if obj.phobostype == 'light':
robot['lights'][nUtils.getObjectName(obj)] = deriveLight(obj)
# add additional data to model
robot.update(deriveTextData(robot['modelname']))
# shorten numbers in dictionary to n decimalPlaces and return it
log("Rounding numbers...", "INFO", "buildModelDictionary")
epsilon = 10**(-bpy.data.worlds[0].decimalPlaces
) # TODO: implement this separately
return epsilonToZero(robot, epsilon,
bpy.data.worlds[0].decimalPlaces), objectlist
def buildRobotDictionary():
"""Builds a python dictionary representation of a Blender robot model for export and inspection."""
objectlist = bpy.context.selected_objects
#notifications, faulty_objects = robotupdate.updateModel(bpy.context.selected_objects)
#print(notifications)
robot = {'links': {},
'joints': {},
'sensors': {},
'motors': {},
'controllers': {},
'materials': {},
'groups': {},
'chains': {},
'lights': {}
}
#save timestamped version of model
robot["date"] = datetime.now().strftime("%Y%m%d_%H:%M")
root = selectionUtils.getRoot(bpy.context.selected_objects[0])
if root.phobostype != 'link':
raise Exception("Found no 'link' object as root of the robot model.")
else:
if 'modelname' in root:
robot['modelname'] = root["modelname"]
else:
robot['modelname'] = 'unnamed_robot'
# digest all the links to derive link and joint information
print('\nParsing links, joints and motors...')
for obj in bpy.context.selected_objects:
if obj.phobostype == 'link':
link, joint, motor = deriveKinematics(obj)
robot['links'][namingUtils.getObjectName(obj, phobostype="link")] = link # it's important that this is really the object's name
if joint: # joint can be None if link is a root
robot['joints'][joint['name']] = joint
if motor:
robot['motors'][joint['name']] = motor
obj.select = False
# add inertial information to link
print('\n\nParsing inertials...')
for l in robot['links']:
#link = bpy.data.objects[l] NEW NAMING!
link = selectionUtils.getObjectByName(l)[0] if selectionUtils.getObjectByName(l) is not None else "ERROR!"
inertials = selectionUtils.getImmediateChildren(link, ['inertial'])
if len(inertials) == 1:
props, parent = deriveDictEntry(inertials[0])
if not (props is None or parent is None): # this may be the case if there is inertia information missing
robot['links'][namingUtils.getObjectName(parent)]['inertial'] = props
inertials[0].select = False
elif len(inertials) > 1:
for i in inertials:
if namingUtils.getObjectName(i, phobostype="inertial") == 'inertial_' + l:
props, parent = deriveDictEntry(i)
robot['links'][namingUtils.getObjectName(parent, phobostype="link")]['inertial'] = props
# FIXME: this has to be re-implemented
#if linkinertial == None:
# mass, com, inertia = inertia.fuseInertiaData(inertials)
# parent = inertials[0].parent
# matrix_local = mathutils.Matrix.Translation(mathutils.Vector(com))
# pose = {}
# pose['matrix'] = [list(vector) for vector in list(matrix_local)]
# pose['translation'] = list(matrix_local.to_translation())
# pose['rotation_euler'] = list(matrix_local.to_euler())
# pose['rotation_quaternion'] = list(matrix_local.to_quaternion())
# props = {'mass': mass, 'pose': pose, 'inertia': inertia}
# robot['links'][parent.name]['inertial'] = props
for i in inertials:
i.select = False
# complete link information by parsing visuals and collision objects
print('\n\nParsing visual and collision (approximation) objects...')
for obj in bpy.context.selected_objects:
print("Parsing object " + namingUtils.getObjectName(obj))
if obj.phobostype in ['visual', 'collision']:
props, parent = deriveDictEntry(obj)
robot['links'][namingUtils.getObjectName(parent, phobostype="link")][obj.phobostype][namingUtils.getObjectName(obj, phobostype=obj.phobostype)] = props
obj.select = False
elif obj.phobostype == 'approxsphere':
props, parent = deriveDictEntry(obj)
robot['links'][namingUtils.getObjectName(parent)]['approxcollision'].append(props)
obj.select = False
# combine collision information for links
for linkname in robot['links']:
link = robot['links'][linkname]
bitmask = 0
for collname in link['collision']:
try:
bitmask = bitmask | link['collision'][collname]['bitmask']
except KeyError:
pass
link['collision_bitmask'] = bitmask
# parse sensors and controllers
print('\n\nParsing sensors and controllers...')
for obj in bpy.context.selected_objects:
if obj.phobostype in ['sensor', 'controller']:
robot[obj.phobostype+'s'][namingUtils.getObjectName(obj)] = deriveDictEntry(obj)
obj.select = False
# parse materials
print('\n\nParsing materials...')
robot['materials'] = collectMaterials(objectlist)
for obj in objectlist:
if obj.phobostype == 'visual' and len(obj.data.materials) > 0:
mat = obj.data.materials[0]
if not namingUtils.getObjectName(mat) in robot['materials']:
robot['materials'][namingUtils.getObjectName(mat)] = deriveMaterial(mat) #this should actually never happen
robot['links'][namingUtils.getObjectName(obj.parent)]['visual'][namingUtils.getObjectName(obj, phobostype="visual")]['material'] = namingUtils.getObjectName(mat)
# gather information on groups of objects
print('\n\nParsing groups...')
for group in bpy.data.groups: # TODO: get rid of the "data" part
if len(group.objects) > 0 and namingUtils.getObjectName(group) != "RigidBodyWorld":
robot['groups'][namingUtils.getObjectName(group)] = deriveGroupEntry(group)
# gather information on chains of objects
print('\n\nParsing chains...')
chains = []
for obj in bpy.data.objects:
if obj.phobostype == 'link' and 'endChain' in obj:
chains.extend(deriveChainEntry(obj))
for chain in chains:
robot['chains'][chain['name']] = chain
# gather information on global lights
print('\n\nParsing lights...')
for obj in bpy.context.selected_objects:
if obj.phobostype == 'light':
robot['lights'][namingUtils.getObjectName(obj)] = deriveLight(obj)
robot['poses'] = deriveStoredPoses()
#shorten numbers in dictionary to n decimalPlaces and return it
print('\n\nRounding numbers...')
epsilon = 10**(-bpy.data.worlds[0].decimalPlaces) # TODO: implement this separately
return generalUtils.epsilonToZero(robot, epsilon, bpy.data.worlds[0].decimalPlaces)
def buildRobotDictionary():
"""Builds a python dictionary representation of a Blender robot model for export and inspection.
"""
objectlist = bpy.context.selected_objects
#notifications, faulty_objects = robotupdate.updateModel(bpy.context.selected_objects)
#print(notifications)
robot = {
'links': {},
'joints': {},
'sensors': {},
'motors': {},
'controllers': {},
'materials': {},
'groups': {},
'chains': {},
'lights': {}
}
#save timestamped version of model
robot["date"] = datetime.now().strftime("%Y%m%d_%H:%M")
root = selectionUtils.getRoot(bpy.context.selected_objects[0])
if root.phobostype != 'link':
raise Exception("Found no 'link' object as root of the robot model.")
else:
if 'modelname' in root:
robot['modelname'] = root["modelname"]
else:
robot['modelname'] = 'unnamed_robot'
# digest all the links to derive link and joint information
print('\nParsing links, joints and motors...')
for obj in bpy.context.selected_objects:
if obj.phobostype == 'link':
link, joint, motor = deriveKinematics(obj)
robot['links'][namingUtils.getObjectName(
obj, phobostype="link"
)] = link # it's important that this is really the object's name
if joint: # joint can be None if link is a root
robot['joints'][joint['name']] = joint
if motor:
robot['motors'][joint['name']] = motor
obj.select = False
# add inertial information to link
print('\n\nParsing inertials...')
for l in robot['links']:
#link = bpy.data.objects[l] NEW NAMING!
link = selectionUtils.getObjectByName(
l)[0] if selectionUtils.getObjectByName(
l) is not None else "ERROR!"
inertials = selectionUtils.getImmediateChildren(link, ['inertial'])
if len(inertials) == 1:
props, parent = deriveDictEntry(inertials[0])
if not (
props is None or parent is None
): # this may be the case if there is inertia information missing
robot['links'][namingUtils.getObjectName(
parent)]['inertial'] = props
inertials[0].select = False
elif len(inertials) > 1:
for i in inertials:
if i.name == 'inertial_' + l:
props, parent = deriveDictEntry(i)
robot['links'][namingUtils.getObjectName(
parent, phobostype="link")]['inertial'] = props
# FIXME: this has to be re-implemented
#if linkinertial == None:
# mass, com, inertia = inertia.fuseInertiaData(inertials)
# parent = inertials[0].parent
# matrix_local = mathutils.Matrix.Translation(mathutils.Vector(com))
# pose = {}
# pose['matrix'] = [list(vector) for vector in list(matrix_local)]
# pose['translation'] = list(matrix_local.to_translation())
# pose['rotation_euler'] = list(matrix_local.to_euler())
# pose['rotation_quaternion'] = list(matrix_local.to_quaternion())
# props = {'mass': mass, 'pose': pose, 'inertia': inertia}
# robot['links'][parent.name]['inertial'] = props
for i in inertials:
i.select = False
# complete link information by parsing visuals and collision objects
print('\n\nParsing visual and collision (approximation) objects...')
capsules_list = []
for obj in bpy.context.selected_objects:
print("Parsing object " + namingUtils.getObjectName(obj))
if obj.phobostype in ['visual', 'collision']:
props, parent = deriveDictEntry(obj)
if all([
key in props for key in ['cylinder', 'sphere1', 'sphere2']
]): # this is the case with simulated capsules
capsules_list.append({
'link':
parent.name,
'name':
props['cylinder']['name'][:-len('_cylinder')],
'radius':
props['cylinder']['geometry']['radius'],
'length':
props['cylinder']['geometry']['length'] +
2 * props['cylinder']['geometry']['radius'],
#'bitmask': props['cylinder']['bitmask']
})
for key in props:
robot['links'][namingUtils.getObjectName(
parent,
phobostype="link")][obj.phobostype][key] = props[key]
else:
robot['links'][namingUtils.getObjectName(
parent, phobostype="link")][obj.phobostype][
namingUtils.getObjectName(
obj, phobostype=obj.phobostype)] = props
obj.select = False
elif obj.phobostype == 'approxsphere':
props, parent = deriveDictEntry(obj)
robot['links'][namingUtils.getObjectName(
parent)]['approxcollision'].append(props)
obj.select = False
robot['capsules'] = capsules_list
# combine collision information for links
for linkname in robot['links']:
link = robot['links'][linkname]
bitmask = 0
for collname in link['collision']:
try:
bitmask = bitmask | link['collision'][collname]['bitmask']
except KeyError:
pass
link['collision_bitmask'] = bitmask
# parse sensors and controllers
print('\n\nParsing sensors and controllers...')
for obj in bpy.context.selected_objects:
if obj.phobostype in ['sensor', 'controller']:
robot[obj.phobostype +
's'][namingUtils.getObjectName(obj)] = deriveDictEntry(obj)
obj.select = False
# parse materials
print('\n\nParsing materials...')
robot['materials'] = collectMaterials(objectlist)
for obj in objectlist:
if obj.phobostype == 'visual' and len(obj.data.materials) > 0:
mat = obj.data.materials[0]
if not namingUtils.getObjectName(mat) in robot['materials']:
robot['materials'][namingUtils.getObjectName(
mat)] = deriveMaterial(
mat) #this should actually never happen
robot['links'][namingUtils.getObjectName(
obj.parent)]['visual'][namingUtils.getObjectName(
obj, phobostype="visual"
)]['material'] = namingUtils.getObjectName(mat)
# gather information on groups of objects
print('\n\nParsing groups...')
for group in bpy.data.groups: # TODO: get rid of the "data" part
if len(group.objects) > 0 and namingUtils.getObjectName(
group) != "RigidBodyWorld":
robot['groups'][namingUtils.getObjectName(
group)] = deriveGroupEntry(group)
# gather information on chains of objects
print('\n\nParsing chains...')
chains = []
for obj in bpy.data.objects:
if obj.phobostype == 'link' and 'endChain' in obj:
chains.extend(deriveChainEntry(obj))
for chain in chains:
robot['chains'][chain['name']] = chain
# gather information on global lights
print('\n\nParsing lights...')
for obj in bpy.context.selected_objects:
if obj.phobostype == 'light':
robot['lights'][namingUtils.getObjectName(obj)] = deriveLight(obj)
robot['poses'] = deriveStoredPoses()
#shorten numbers in dictionary to n decimalPlaces and return it
print('\n\nRounding numbers...')
epsilon = 10**(-bpy.data.worlds[0].decimalPlaces
) # TODO: implement this separately
return generalUtils.epsilonToZero(robot, epsilon,
bpy.data.worlds[0].decimalPlaces)