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):
"""
Args:
context:
Returns:
"""
root = sUtils.getObjectByProperty('model/name', self.robot_name)
poses.storePose(root, self.pose_name)
return {'FINISHED'}
def execute(self, context):
"""
Args:
context:
Returns:
"""
root = sUtils.getObjectByProperty('model/name', self.robot_name)
poses.storePose(root, self.pose_name)
return {'FINISHED'}