def execute(self, context):
"""
Args:
context:
Returns:
"""
if self.complete:
roots = set([sUtils.getRoot(obj) for obj in context.selected_objects]) - {None}
objects = set()
for root in roots:
objects = objects | set(sUtils.getChildren(root))
objlist = list(objects)
else:
objlist = [bpy.context.active_object]
for obj in objlist:
try:
entityname = sUtils.getRoot(obj)['entity/name']
except (KeyError, TypeError):
entityname = ''
log(nUtils.getObjectName(obj) + " is not part of a well-defined entity.", "WARNING")
namespace = self.namespace if self.namespace else entityname
nUtils.toggleNamespace(obj, namespace)
return {'FINISHED'}
def deriveStoredPoses():
"""
"""
poses_dict = {}
if len(bpy.data.actions) == 0:
return {}
pose_lib_name = bpy.data.actions.keys()[0]
some_obj = bpy.context.scene.objects.active
bpy.ops.object.mode_set(mode='OBJECT')
for pose_name, i in zip(bpy.data.actions[pose_lib_name].pose_markers.keys(), range(len(bpy.data.actions[pose_lib_name].pose_markers.keys()))):
selectionUtils.selectObjects([selectionUtils.getRoot(some_obj)], clear=True, active=0)
pose_dict = {}
bpy.ops.object.mode_set(mode='POSE')
bpy.ops.poselib.apply_pose(pose_index=i)
bpy.ops.object.mode_set(mode='OBJECT')
for obj in bpy.context.scene.objects:
if obj.phobostype == 'link':
selectionUtils.selectObjects([obj], clear=True, active=0)
bpy.ops.object.mode_set(mode='POSE')
obj.pose.bones['Bone'].rotation_mode = 'XYZ'
y_angle = obj.pose.bones['Bone'].rotation_euler.y
bpy.ops.object.mode_set(mode='OBJECT')
pose_dict[obj.name] = y_angle
poses_dict[pose_name] = pose_dict
return poses_dict
def execute(self, context):
root = sUtils.getRoot(context.selected_objects[0])
objectlist = sUtils.getChildren(root,
selected_only=True,
include_hidden=False)
sUtils.selectObjects(objectlist)
poses = models.getPoses(root['modelname'])
i = 1
for pose in poses:
sUtils.selectObjects([root] + objectlist, clear=True, active=0)
models.loadPose(root['modelname'], pose)
parameter = self.decimate_ratio
if self.decimate_type == 'UNSUBDIV':
parameter = self.decimate_iteration
elif self.decimate_type == 'DISSOLVE':
parameter = self.decimate_angle_limit
exporter.bakeModel(objectlist,
root['modelname'],
pose,
decimate_type=self.decimate_type,
decimate_parameter=parameter)
display.setProgress(i / len(poses))
i += 1
sUtils.selectObjects([root] + objectlist, clear=True, active=0)
bpy.ops.scene.reload_models_and_poses_operator()
return {'FINISHED'}
def poll(self, context):
"""
Args:
context:
Returns:
"""
result = False
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
root = None
# TODO delete me?
# print("modelfile: ("+modelsPosesColl[bpy.data.images[activeModelPoseIndex].name].model_file+")")
if context.scene.objects.active != None:
root = sUtils.getRoot(context.scene.objects.active)
try:
if (
not root
or not sUtils.isRoot(root)
or bpy.data.images[activeModelPoseIndex].name in modelsPosesColl.keys()
and modelsPosesColl[bpy.data.images[activeModelPoseIndex].name].model_file != ''
and len(bpy.context.selected_objects) == 0
or modelsPosesColl[bpy.data.images[activeModelPoseIndex].name].robot_name
!= root["model/name"]
):
result = True
except KeyError:
result = False
return result
def execute(self, context):
startLog(self)
root = sUtils.getRoot(context.selected_objects[0])
model, objectlist = robotdictionary.buildModelDictionary(root)
exporter.export(model, objectlist)
endLog()
return {'FINISHED'}
def execute(self, context):
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
if bpy.data.images[activeModelPoseIndex].name in modelsPosesColl.keys(
):
activeModelPose = modelsPosesColl[
bpy.data.images[activeModelPoseIndex].name]
if activeModelPose.type != "robot_name":
# show on view_3d
root = None
if context.scene.objects.active != None:
root = sUtils.getRoot(context.scene.objects.active)
if not bpy.context.scene.preview_visible and \
(bpy.data.images[activeModelPoseIndex].type == 'IMAGE') and \
(root is None or not sUtils.isRoot(root) or not (modelsPosesColl[bpy.data.images[activeModelPoseIndex].name] != root["modelname"]) or len(bpy.context.selected_objects) == 0):
bpy.ops.view3d.draw_preview_operator()
bpy.context.scene.preview_visible = True
else:
activeModelPose.hide = not activeModelPose.hide
if activeModelPose.hide:
activeModelPose.icon = "RIGHTARROW"
else:
activeModelPose.icon = "DOWNARROW_HLT"
for modelPose in modelsPosesColl:
if (modelPose.type != "robot_name") and (
modelPose.parent == activeModelPose.name):
modelPose.hide = activeModelPose.hide
return {'FINISHED'}
def connectInterfaces(parentinterface, childinterface, transform=None):
"""
Args:
parentinterface:
childinterface:
transform: (Default value = None)
Returns:
"""
# first check if the interface is child of the root object and if not, restructure the tree
root = sUtils.getRoot(childinterface)
parent = childinterface.parent
if root != parent:
restructureKinematicTree(parent)
childsubmodel = childinterface.parent
# connect the interfaces
sUtils.selectObjects(objects=[parentinterface], clear=True, active=0)
bpy.ops.object.make_single_user(object=True, obdata=True)
bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
sUtils.selectObjects(objects=[childinterface], clear=True, active=0)
bpy.ops.object.make_single_user(object=True, obdata=True)
bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
# parent interfaces
bpy.ops.object.parent_clear(type='CLEAR_KEEP_TRANSFORM')
parentObjectsTo(childsubmodel, childinterface, clear=True)
parentObjectsTo(childinterface, parentinterface)
loc, rot, sca = parentinterface.matrix_world.decompose()
# apply additional transform (ignoring the scale of the parent interface)
if not transform:
transform = (mathutils.Euler(
(math.radians(180.0), 0.0, math.radians(180.0)),
'XYZ').to_matrix().to_4x4())
childinterface.matrix_world = (mathutils.Matrix.Translation(loc)
@ rot.to_matrix().to_4x4() @ transform)
# TODO clean this up
# try:
# del childsubmodel['modelname']
# except KeyError:
# pass
# TODO: re-implement this for MECHANICS models
# try:
# # parent visual and collision objects to new parent
# children = sUtils.getImmediateChildren(parent, ['visual', 'collision', 'interface'])
# print(children)
# sUtils.selectObjects(children, True, 0)
# bpy.ops.object.parent_clear(type='CLEAR_KEEP_TRANSFORM')
# print()
# parentObjectsTo(children, sUtils.getEffectiveParent(parent, ignore_selection=True))
# bpy.ops.object.parent_set(type='BONE_RELATIVE')
# except (IndexError, AttributeError):
# pass # no objects to re-parent
parentinterface.show_name = False
childinterface.show_name = False
def execute(self, context):
"""
Args:
context:
Returns:
"""
root = sUtils.getRoot(context.selected_objects[0])
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
selected_robot = modelsPosesColl[bpy.data.images[activeModelPoseIndex].name]
objectlist = sUtils.getChildren(root, selected_only=True, include_hidden=False)
sUtils.selectObjects([root] + objectlist, clear=True, active=0)
models.loadPose(selected_robot.robot_name, selected_robot.label)
parameter = self.decimate_ratio
if self.decimate_type == 'UNSUBDIV':
parameter = self.decimate_iteration
elif self.decimate_type == 'DISSOLVE':
parameter = self.decimate_angle_limit
exporter.bakeModel(
objectlist,
root['model/name'],
selected_robot.label,
decimate_type=self.decimate_type,
decimate_parameter=parameter,
)
sUtils.selectObjects([root] + objectlist, clear=True, active=0)
bpy.ops.scene.reload_models_and_poses_operator()
return {'FINISHED'}
def execute(self, context):
root = sUtils.getRoot(context.active_object)
if root:
root["modelname"] = self.modelname
else:
log("Could not set modelname due to missing root link. No name was set.", "ERROR")
return {'FINISHED'}
def execute(self, context):
"""
Args:
context:
Returns:
"""
selection = []
if self.modelname:
log("phobos: Selecting model" + self.modelname, "INFO")
roots = sUtils.getRoots()
for root in roots:
if nUtils.getModelName(root) == self.modelname:
selection = sUtils.getChildren(root)
else:
log("No model name provided, deriving from selection...", "INFO")
roots = set()
for obj in bpy.context.selected_objects:
roots.add(sUtils.getRoot(obj))
for root in list(roots):
selection.extend(sUtils.getChildren(root))
sUtils.selectObjects(list(selection), True)
return {'FINISHED'}
def execute(self, context):
"""
Args:
context:
Returns:
"""
root = sUtils.getRoot(context.selected_objects[0])
objectlist = sUtils.getChildren(root, selected_only=True, include_hidden=False)
sUtils.selectObjects(objectlist)
poses = models.getPoses(root['model/name'])
i = 1
for pose in poses:
sUtils.selectObjects([root] + objectlist, clear=True, active=0)
models.loadPose(root['model/name'], pose)
parameter = self.decimate_ratio
if self.decimate_type == 'UNSUBDIV':
parameter = self.decimate_iteration
elif self.decimate_type == 'DISSOLVE':
parameter = self.decimate_angle_limit
exporter.bakeModel(
objectlist,
root['model/name'],
pose,
decimate_type=self.decimate_type,
decimate_parameter=parameter,
)
display.setProgress(i / len(poses))
i += 1
sUtils.selectObjects([root] + objectlist, clear=True, active=0)
bpy.ops.scene.reload_models_and_poses_operator()
return {'FINISHED'}
def addNamespace(obj):
"""This function namespaces a given blender object.
:param obj: The object to namespace.
:type obj: bpy.types.Object
"""
types = defs.subtypes
name = obj.name
root = selection.getRoot(obj)
namespace = root[
"entity/name"] if root != None and "entity/name" in root else None
if not namespace:
log(
"The obj " + getObjectName(obj) +
"has no namespace to append to. Aborting.", "ERROR")
return
obj.name = namespace + "::" + name
for ptype in types:
typetag = ptype + "/type"
nametag = ptype + "/name"
if (typetag in obj or
("phobostype" in obj
and obj.phobostype == ptype)) and nametag not in obj:
obj[nametag] = name
def poll(self, context):
"""
Args:
context:
Returns:
"""
result = False
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
root = None
# TODO delete me?
# print("modelfile: ("+modelsPosesColl[bpy.data.images[activeModelPoseIndex].name].model_file+")")
if context.view_layer.objects.active != None:
root = sUtils.getRoot(context.view_layer.objects.active)
try:
if (not root or not sUtils.isRoot(root)
or bpy.data.images[activeModelPoseIndex].name
in modelsPosesColl.keys()
and modelsPosesColl[bpy.data.images[activeModelPoseIndex].
name].model_file != ''
and len(bpy.context.selected_objects) == 0
or modelsPosesColl[bpy.data.images[activeModelPoseIndex].
name].robot_name != root["model/name"]):
result = True
except KeyError:
result = False
return result
def execute(self, context):
startLog(self)
objlist = context.selected_objects
if self.complete:
roots = list(
set([sUtils.getRoot(obj) for obj in context.selected_objects]))
if None in roots:
roots.remove(None)
objlist = [
elem
for sublist in [sUtils.getChildren(root) for root in roots]
for elem in sublist
]
objnames = [o.name for o in bpy.data.objects]
for obj in objlist:
if "::" in obj.name:
if nUtils.namesAreExplicit({obj.name.split("::")[-1]},
objnames):
nUtils.removeNamespace(obj)
else:
log(
"Cannot remove namespace from " + obj.name +
". Name wouldn't be explicit", "ERROR")
else:
nUtils.addNamespace(obj)
endLog()
return {'FINISHED'}
def execute(self, context):
"""
Args:
context:
Returns:
"""
roots = set()
# add root object of each selected object
for obj in context.selected_objects:
roots.add(sUtils.getRoot(obj))
# select all found root objects
if roots:
# toggle layer to make objects visible
for root in roots:
bUtils.setObjectLayersActive(root, extendlayers=True)
# select objects
sUtils.selectObjects(list(roots), True)
context.scene.objects.active = list(roots)[0]
else:
log("Couldn't find any root object.", 'ERROR')
return {'FINISHED'}
def execute(self, context):
root = sUtils.getRoot(context.selected_objects[0])
modelsPosesColl = bpy.context.user_preferences.addons[
'phobos'].preferences.models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
selected_robot = modelsPosesColl[
bpy.data.images[activeModelPoseIndex].name]
objectlist = sUtils.getChildren(root,
selected_only=True,
include_hidden=False)
sUtils.selectObjects([root] + objectlist, clear=True, active=0)
models.loadPose(selected_robot.robot_name, selected_robot.label)
parameter = self.decimate_ratio
if self.decimate_type == 'UNSUBDIV':
parameter = self.decimate_iteration
elif self.decimate_type == 'DISSOLVE':
parameter = self.decimate_angle_limit
exporter.bakeModel(objectlist,
root['modelname'],
selected_robot.label,
decimate_type=self.decimate_type,
decimate_parameter=parameter)
sUtils.selectObjects([root] + objectlist, clear=True, active=0)
bpy.ops.scene.reload_models_and_poses_operator()
return {'FINISHED'}
def execute(self, context):
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
modelPose = modelsPosesColl[bpy.data.images[activeModelPoseIndex].name]
root = sUtils.getRoot(context.scene.objects.active)
bpy.context.scene.objects.active = root
robot.loadPose(modelPose.robot_name, modelPose.label)
return {'FINISHED'}
def execute(self, context):
selection = []
if self.modelname:
print("phobos: Selecting model", self.modelname)
roots = sUtils.getRoots()
for root in roots:
if root["modelname"] == self.modelname:
selection = sUtils.getChildren(root)
else:
print("phobos: No model name provided, deriving from selection...")
roots = set()
for obj in bpy.context.selected_objects:
print("Selecting", sUtils.getRoot(obj).name)
roots.add(sUtils.getRoot(obj))
for root in list(roots):
selection.extend(sUtils.getChildren(root))
sUtils.selectObjects(list(selection), True)
return {'FINISHED'}
def execute(self, context):
startLog(self)
root = selectionUtils.getRoot(bpy.context.active_object)
if root == None:
log("Could not set modelname due to missing root link. No name was set.", "ERROR")
return {'FINISHED'}
root["modelname"] = self.modelname
endLog()
return {'FINISHED'}
def execute(self, context):
selection = []
if self.modelname:
print("phobos: Selecting model", self.modelname)
roots = selectionUtils.getRoots()
for root in roots:
if root["modelname"] == self.modelname:
selection = selectionUtils.getChildren(root)
else:
print("phobos: No model name provided, deriving from selection...")
roots = set()
for obj in bpy.context.selected_objects:
print("Selecting", selectionUtils.getRoot(obj).name)
roots.add(selectionUtils.getRoot(obj))
for root in list(roots):
selection.extend(selectionUtils.getChildren(root))
selectionUtils.selectObjects(list(selection), True)
return {'FINISHED'}
def execute(self, context):
startLog(self)
root = sUtils.getRoot(context.selected_objects[0])
if root.phobostype != 'link':
log("Selection includes objects not parented to any model root, please adapt selection.", "ERROR", "ExportModelOperator")
else:
model, objectlist = robotdictionary.buildModelDictionary(root)
exporter.export(model, objectlist)
endLog()
return {'FINISHED'}
def execute(self, context):
startLog(self)
root = selectionUtils.getRoot(bpy.context.active_object)
if root == None:
log(
"Could not set modelname due to missing root link. No name was set.",
"ERROR")
return {'FINISHED'}
root["modelname"] = self.modelname
endLog()
return {'FINISHED'}
def execute(self, context):
roots = set()
for obj in bpy.context.selected_objects:
roots.add(sUtils.getRoot(obj))
if len(roots) > 0:
sUtils.selectObjects(list(roots), True)
bpy.context.scene.objects.active = list(roots)[0]
else:
# bpy.ops.error.message('INVOKE_DEFAULT', type="ERROR", message="Couldn't find any root object.")
log("Couldn't find any root object.", "ERROR")
return {'FINISHED'}
def poll(cls, context):
"""Hide operator if there is no link present.
Args:
context:
Returns:
"""
root = sUtils.getRoot(context.active_object)
return root and root.phobostype == 'link'
def execute(self, context):
startLog(self)
root = sUtils.getRoot(context.selected_objects[0])
if root.phobostype != 'link':
log(
"Selection includes objects not parented to any model root, please adapt selection.",
"ERROR", "ExportModelOperator")
else:
model, objectlist = robotdictionary.buildModelDictionary(root)
exporter.export(model, objectlist)
endLog()
return {'FINISHED'}
def createSensor(sensor, reference, origin=mathutils.Matrix()):
blenderUtils.toggleLayer(defs.layerTypes['sensor'], value=True)
# create sensor object
if 'Camera' in sensor['type']:
bpy.context.scene.layers[defs.layerTypes['sensor']] = True
bpy.ops.object.add(type='CAMERA', location=origin.to_translation(),
rotation=origin.to_euler(),
layers=blenderUtils.defLayers([defs.layerTypes['sensor']]))
newsensor = bpy.context.active_object
if reference is not None:
selectionUtils.selectObjects([newsensor, bpy.data.objects[reference]], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
elif sensor['type'] in ['RaySensor', 'RotatingRaySensor', 'ScanningSonar', 'MultiLevelLaserRangeFinder']:
# TODO: create a proper ray sensor scanning layer disc here
newsensor = blenderUtils.createPrimitive(sensor['name'], 'disc', (0.5, 36),
defs.layerTypes['sensor'], 'phobos_laserscanner',
origin.to_translation(), protation=origin.to_euler())
if reference is not None and reference != []:
if type(reference) == str:
key = reference
else:
key = reference[0]
selectionUtils.selectObjects([newsensor, bpy.data.objects[key]], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
else: # contact, force and torque sensors (or unknown sensors)
newsensor = blenderUtils.createPrimitive(sensor['name'], 'sphere', 0.05,
defs.layerTypes['sensor'], 'phobos_sensor',
origin.to_translation(), protation=origin.to_euler())
if 'Node' in sensor['type']:
newsensor['sensor/nodes'] = sorted(reference)
elif 'Joint' in sensor['type'] or 'Motor' in sensor['type']:
newsensor['sensor/joints'] = sorted(reference)
if reference is not None and reference != []:
selectionUtils.selectObjects([newsensor, selectionUtils.getRoot(bpy.data.objects[0])], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
# set sensor properties
newsensor.phobostype = 'sensor'
newsensor.name = sensor['name']
newsensor['sensor/type'] = sensor['type']
for prop in sensor['props']:
newsensor['sensor/'+prop] = sensor['props'][prop]
# add custom properties
#for prop in sensor:
# if prop.startswith('$'):
# for tag in sensor[prop]:
# newsensor[prop[1:]+'/'+tag] = sensor[prop][tag]
# throw warning if type is not known
if sensor['type'] not in defs.sensortypes:
print("### Warning: sensor", sensor['name'], "is of unknown/custom type.")
selectionUtils.selectObjects([newsensor], clear=False, active=0)
return newsensor
def execute(self, context):
root = sUtils.getRoot(context.active_object)
if root:
if self.usegitbranch:
gitbranch = iUtils.getgitbranch()
if gitbranch:
root["version"] = self.version.replace('*', gitbranch)
else:
root["version"] = self.version
else:
log("Could not set version due to missing root link. No version was set.", "ERROR")
return {'FINISHED'}
def execute(self, context):
startLog(self)
roots = set()
for obj in bpy.context.selected_objects:
roots.add(selectionUtils.getRoot(obj))
if len(roots) > 0:
selectionUtils.selectObjects(list(roots), True)
bpy.context.scene.objects.active = list(roots)[0]
else:
# bpy.ops.error.message('INVOKE_DEFAULT', type="ERROR", message="Couldn't find any root object.")
log("Couldn't find any root object.", "ERROR")
endLog()
return {'FINISHED'}
def execute(self, context):
startLog(self)
messages = {}
root = sUtils.getRoot(context.selected_objects[0])
model, objectlist = robotdictionary.buildModelDictionary(root)
validator.check_dict(model, defs.dictConstraints, messages)
defs.checkMessages = messages if len(list(messages.keys())) > 0 else {"NoObject": []}
for entry in messages:
log("Errors in object " + entry + ":", 'INFO')
for error in messages[entry]:
log(error, 'INFO')
endLog()
return {'FINISHED'}
def execute(self, context):
messages = {}
root = sUtils.getRoot(context.selected_objects[0])
model, objectlist = models.buildModelDictionary(root)
vUtils.check_dict(model, defs.definitions['model'], messages)
vUtils.checkMessages = messages if len(list(
messages.keys())) > 0 else {
"NoObject": []
}
for entry in messages:
log("Errors in object " + entry + ":", 'INFO')
for error in messages[entry]:
log(error, 'INFO')
return {'FINISHED'}
def addNamespace(obj):
types = defs.subtypes
name = obj.name
root = selection.getRoot(obj)
namespace = root["modelname"] if root != None and "modelname" in root else None
if not namespace:
log("The obj " + getObjectName(obj) + "has no namespace to append to. Aborting.", "ERROR")
return
obj.name = namespace + "::" + name
for pType in types:
typeTag = pType + "/type"
nameTag = pType + "/name"
if (typeTag in obj or ("phobostype" in obj and obj.phobostype == pType)) and nameTag not in obj:
obj[nameTag] = name
def execute(self, context):
roots = set()
# add root object of each selected object
for obj in bpy.context.selected_objects:
roots.add(sUtils.getRoot(obj))
# select all found root objects
if len(roots) > 0:
sUtils.selectObjects(list(roots), True)
bpy.context.scene.objects.active = list(roots)[0]
else:
log("Couldn't find any root object.", "ERROR")
return {'FINISHED'}
def execute(self, context):
startLog(self)
objs = context.selected_objects
root = sUtils.getRoot(context.selected_objects[0])
model = robotdictionary.buildModelDictionary(root)
sUtils.selectObjects(objs)
if bpy.data.worlds[0].relativePath:
outpath = exporter.securepath(os.path.expanduser(os.path.join(bpy.path.abspath("//"), bpy.data.worlds[0].path)))
else:
outpath = exporter.securepath(os.path.expanduser(bpy.data.worlds[0].path))
exporter.bakeModel(objs, outpath, model["modelname"])
with open(os.path.join(outpath, "info.bake"), "w") as f:
f.write(yaml.dump({"name": model["modelname"]}))
endLog()
return {'FINISHED'}
def draw(self, context):
import phobos.utils.selection as sUtils
layout = self.layout
obj = context.active_object
modelname = ''
rootname = ''
root = sUtils.getRoot(obj)
if 'modelname' in root:
modelname = root['modelname']
rootname = root.name
row = layout.row()
descr = row.column()
content = row.column()
descr.label(text='Part of model', icon='POSE_DATA')
content.operator('phobos.name_model',
text=modelname,
icon='OUTLINER_DATA_FONT')
descr.label(text='Root object', icon='OOPS')
if obj == root:
content.label("selected", icon='MATCUBE')
else:
content.operator('phobos.select_root',
text=rootname,
icon='FILE_PARENT')
# add parent object if available
if obj.parent:
descr.label('Parent object', icon='CONSTRAINT')
goto_op = content.operator('phobos.goto_object',
icon='FILE_PARENT',
text='{0}'.format(obj.parent.name))
goto_op.objectname = obj.parent.name
layout.separator()
row = layout.row()
row.label(icon="OBJECT_DATA", text="Phobostype")
row.prop(context.active_object, 'phobostype', text="")
# show object name as button
row = layout.row()
row.label(icon='COPY_ID', text="Object name")
row.operator('phobos.change_object_name',
icon='OUTLINER_DATA_FONT',
text=nUtils.getObjectName(obj))
def execute(self, context):
"""
Args:
context:
Returns:
"""
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
if bpy.data.images[activeModelPoseIndex].name in modelsPosesColl.keys():
activeModelPose = modelsPosesColl[bpy.data.images[activeModelPoseIndex].name]
if activeModelPose.type != "robot_name":
# show on view_3d
root = None
if context.scene.objects.active != None:
root = sUtils.getRoot(context.scene.objects.active)
if (
not bpy.context.scene.preview_visible
and (bpy.data.images[activeModelPoseIndex].type == 'IMAGE')
and (
root is None
or not sUtils.isRoot(root)
or not (
modelsPosesColl[bpy.data.images[activeModelPoseIndex].name]
!= root["model/name"]
)
or len(bpy.context.selected_objects) == 0
)
):
bpy.ops.view3d.draw_preview_operator()
bpy.context.scene.preview_visible = True
else:
activeModelPose.hide = not activeModelPose.hide
if activeModelPose.hide:
activeModelPose.icon = "RIGHTARROW"
else:
activeModelPose.icon = "DOWNARROW_HLT"
for modelPose in modelsPosesColl:
if (modelPose.type != "robot_name") and (
modelPose.parent == activeModelPose.name
):
modelPose.hide = activeModelPose.hide
return {'FINISHED'}
def execute(self, context):
"""
Args:
context:
Returns:
"""
root = sUtils.getRoot(context.active_object)
if self.usegitbranch:
gitbranch = ioUtils.getgitbranch()
if gitbranch:
root["model/version"] = self.version.replace('*', gitbranch)
else:
root["model/version"] = self.version
return {'FINISHED'}
def execute(self, context):
"""
Args:
context:
Returns:
"""
root = sUtils.getRoot(context.active_object)
if root:
root["model/name"] = self.modelname
# write model information to new root
root.pose.bones[0].custom_shape = ioUtils.getResource(('link', 'root'))
else:
log("Could not set modelname due to missing root link. No name was set.", "ERROR")
return {'FINISHED'}
def execute(self, context):
startLog(self)
objs = context.selected_objects
root = sUtils.getRoot(context.selected_objects[0])
model = robotdictionary.buildModelDictionary(root)
sUtils.selectObjects(objs)
if bpy.data.worlds[0].relativePath:
outpath = exporter.securepath(
os.path.expanduser(
os.path.join(bpy.path.abspath("//"),
bpy.data.worlds[0].path)))
else:
outpath = exporter.securepath(
os.path.expanduser(bpy.data.worlds[0].path))
exporter.bakeModel(objs, outpath, model["modelname"])
with open(os.path.join(outpath, "info.bake"), "w") as f:
f.write(yaml.dump({"name": model["modelname"]}))
endLog()
return {'FINISHED'}
def execute(self, context):
startLog(self)
objlist = context.selected_objects
if self.complete:
roots = list(set([selectionUtils.getRoot(obj) for obj in context.selected_objects]))
if None in roots:
roots.remove(None)
objlist = [elem for sublist in [selectionUtils.getChildren(root) for root in roots] for elem in sublist]
objnames = [o.name for o in bpy.data.objects]
for obj in objlist:
if "::" in obj.name:
if namingUtils.namesAreExplicit({obj.name.split("::")[-1]}, objnames):
namingUtils.removeNamespace(obj)
else:
log("Cannot remove namespace from " + obj.name + ". Name wouldn't be explicit", "ERROR")
else:
namingUtils.addNamespace(obj)
endLog()
return {'FINISHED'}
def addNamespace(obj):
"""This function namespaces a given blender object.
:param obj: The object to namespace.
:type obj: bpy.types.Object
"""
types = defs.subtypes
name = obj.name
root = selection.getRoot(obj)
namespace = root["entityname"] if root != None and "entityname" in root else None
if not namespace:
log("The obj " + getObjectName(obj) + "has no namespace to append to. Aborting.", "ERROR")
return
obj.name = namespace + "::" + name
for pType in types:
typeTag = pType + "/type"
nameTag = pType + "/name"
if (typeTag in obj or ("phobostype" in obj and obj.phobostype == pType)) and nameTag not in obj:
obj[nameTag] = name
def draw(self, context):
import phobos.utils.selection as sUtils
layout = self.layout
obj = context.active_object
modelname = ''
rootname = ''
root = sUtils.getRoot(obj)
if 'modelname' in root.keys():
modelname = root['modelname']
rootname = root.name
datatop = layout.split()
datatopl = datatop.column(align=True)
datatopr = datatop.column(align=True)
# dataright = layout.column(align=True)
datatopl.operator('phobos.name_model', text=('Part of model: ' +
modelname), icon='POSE_DATA')
datatopr.operator('phobos.select_root', text=('Root object: ' +
rootname), icon='OOPS')
def addNamespace(obj):
"""This function namespaces a given blender object.
:param obj: The object to namespace.
:type obj: bpy.types.Object
"""
types = defs.subtypes
name = obj.name
root = selection.getRoot(obj)
try:
namespace = root["entity/name"]
obj.name = namespace + "::" + name
for ptype in types:
typetag = ptype + "/type"
nametag = ptype + "/name"
if (typetag in obj or
("phobostype" in obj
and obj.phobostype == ptype)) and nametag not in obj:
obj[nametag] = name
except (TypeError, KeyError):
log(
getObjectName(obj) + " is not part of a well-defined entity.",
"ERROR", "utils/naming/addNamespace")
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 restructureKinematicTree(link, root=None):
"""Restructures a tree such that the ``link`` provided becomes the root of the tree.
If no root object is provided, :func:`phobos.utils.selection.getRoot` will be used.
For instance, the following tree::
A
/ \\
B C
/ \ \\
D E F
would, using the call restructureKinematicsTree(C), become::
C
/ \\
A F
/
B
/ \\
D E
Currently, this function ignores all options such as unselected or hidden objects.
Args:
link(bpy.types.Object): the link which will become the new root object
root(bpy.types.Object, optional): the current root object (Default value = None)
Returns:
None: None
"""
if not root:
root = sUtils.getRoot(link)
links = [link]
obj = link
# stop right now when the link is already root
if not obj.parent:
log('No restructure necessary. Link is already root.', 'INFO')
return
# gather chain of links ascending the tree
while obj.parent.name != root.name:
obj = obj.parent
if obj.phobostype == 'link':
links.append(obj)
links.append(root)
log("Unparenting objects for restructure: " + str([link.name for link in links]) + ".", 'DEBUG')
# unparent all links
sUtils.selectObjects(links, True)
bpy.ops.object.parent_clear(type='CLEAR_KEEP_TRANSFORM')
log("Restructuring objects for new hierarchy.", 'DEBUG')
for i in range(len(links) - 1):
parent = links[i]
child = links[i + 1]
parentObjectsTo(child, parent)
log("Copying model information from old root.", 'DEBUG')
# copy properties
if 'model/name' in root:
link['model/name'] = root['model/name']
del root['model/name']
if 'model/version' in root:
link['model/version'] = root['model/version']
del root['model/version']
log("Restructured kinematic tree to new root: {}.".format(link.name), 'INFO')
def connectInterfaces(parentinterface, childinterface, transform=None):
"""
Args:
parentinterface:
childinterface:
transform: (Default value = None)
Returns:
"""
# first check if the interface is child of the root object and if not, restructure the tree
root = sUtils.getRoot(childinterface)
parent = childinterface.parent
if root != parent:
restructureKinematicTree(parent)
childsubmodel = childinterface.parent
# connect the interfaces
sUtils.selectObjects(objects=[parentinterface], clear=True, active=0)
bpy.ops.object.make_single_user(object=True, obdata=True)
bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
sUtils.selectObjects(objects=[childinterface], clear=True, active=0)
bpy.ops.object.make_single_user(object=True, obdata=True)
bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
# parent interfaces
bpy.ops.object.parent_clear(type='CLEAR_KEEP_TRANSFORM')
parentObjectsTo(childsubmodel, childinterface, clear=True)
parentObjectsTo(childinterface, parentinterface)
loc, rot, sca = parentinterface.matrix_world.decompose()
# apply additional transform (ignoring the scale of the parent interface)
if not transform:
transform = (
mathutils.Euler((math.radians(180.0), 0.0, math.radians(180.0)), 'XYZ')
.to_matrix()
.to_4x4()
)
childinterface.matrix_world = (
mathutils.Matrix.Translation(loc) * rot.to_matrix().to_4x4() * transform
)
# TODO clean this up
# try:
# del childsubmodel['modelname']
# except KeyError:
# pass
# TODO: re-implement this for MECHANICS models
# try:
# # parent visual and collision objects to new parent
# children = sUtils.getImmediateChildren(parent, ['visual', 'collision', 'interface'])
# print(children)
# sUtils.selectObjects(children, True, 0)
# bpy.ops.object.parent_clear(type='CLEAR_KEEP_TRANSFORM')
# print()
# parentObjectsTo(children, sUtils.getEffectiveParent(parent, ignore_selection=True))
# bpy.ops.object.parent_set(type='BONE_RELATIVE')
# except (IndexError, AttributeError):
# pass # no objects to re-parent
parentinterface.show_name = False
childinterface.show_name = False
def buildModelFromDictionary(model):
"""Creates the Blender representation of the imported model, using a model dictionary.
"""
# DOCU add some more docstring
log("Creating Blender model...", 'INFO')
log("Creating links...", 'INFO')
for l in model['links']:
link = model['links'][l]
linkmodel.createLink(link)
log("Creating joints...", 'INFO')
for j in model['joints']:
joint = model['joints'][j]
jointmodel.createJoint(joint)
# build tree recursively and correct translation & rotation on the fly
log("Placing links...", 'INFO')
for l in model['links']:
if 'parent' not in model['links'][l]:
root = model['links'][l]
linkmodel.placeChildLinks(model, root)
log("Assigning model name...", 'INFO')
try:
rootlink = sUtils.getRoot(bpy.data.objects[root['name']])
rootlink['modelname'] = model['name']
rootlink.location = (0, 0, 0)
except KeyError:
log("Could not assign model name to root link.", "ERROR")
log("Placing visual and collision objects...", 'INFO')
for link in model['links']:
linkmodel.placeLinkSubelements(model['links'][link])
try:
log("Creating sensors...", 'INFO')
for s in model['sensors']:
sensormodel.createSensor(model['sensors'][s])
except KeyError:
log("No sensors in model " + model['name'], 'INFO')
try:
log("Creating motors...", 'INFO')
for m in model['motors']:
eUtils.addDictionaryToObj(
model['motors'][m],
model['joints'][model['motors'][m]['joint']],
category='motor')
except KeyError:
log("No motors in model " + model['name'], 'INFO')
try:
log("Creating controllers...", 'INFO')
for c in model['controllers']:
controllermodel.createController(model['controllers'][c])
except KeyError:
log("No controllers in model " + model['name'], 'INFO')
try:
log("Creating groups...", 'INFO')
for g in model['groups']:
createGroup(model['groups'][g])
except KeyError:
log("No kinematic groups in model " + model['name'], 'INFO')
try:
log("Creating chains...", 'INFO')
for ch in model['chains']:
createChain(model['chains'][ch])
except KeyError:
log("No kinematic chains in model " + model['name'], 'INFO')
try:
log("Creating lights...", 'INFO')
for l in model['lights']:
lightmodel.createLight(model['lights'][l])
except KeyError:
log("No lights in model " + model['name'], 'INFO')
# FIXME: this is a trick to force Blender to apply matrix_local
# AAAAAARGH: THIS DOES NOT WORK!
for obj in bpy.data.objects:
bUtils.setObjectLayersActive(obj)
bpy.ops.object.mode_set(mode='OBJECT')
bpy.ops.object.select_all(action='SELECT')
bpy.ops.transform.translate(value=(0, 0, 0))
def restructureKinematicTree(link, root=None):
"""Restructures a tree such that the ``link`` provided becomes the root of the tree.
If no root object is provided, :func:`phobos.utils.selection.getRoot` will be used.
For instance, the following tree::
A
/ \\
B C
/ \ \\
D E F
would, using the call restructureKinematicsTree(C), become::
C
/ \\
A F
/
B
/ \\
D E
Currently, this function ignores all options such as unselected or hidden objects.
Args:
link(bpy.types.Object): the link which will become the new root object
root(bpy.types.Object, optional): the current root object (Default value = None)
Returns:
None: None
"""
if not root:
root = sUtils.getRoot(link)
links = [link]
obj = link
# stop right now when the link is already root
if not obj.parent:
log('No restructure necessary. Link is already root.', 'INFO')
return
# gather chain of links ascending the tree
while obj.parent.name != root.name:
obj = obj.parent
if obj.phobostype == 'link':
links.append(obj)
links.append(root)
log(
"Unparenting objects for restructure: " +
str([link.name for link in links]) + ".", 'DEBUG')
# unparent all links
sUtils.selectObjects(links, True)
bpy.ops.object.parent_clear(type='CLEAR_KEEP_TRANSFORM')
log("Restructuring objects for new hierarchy.", 'DEBUG')
for i in range(len(links) - 1):
parent = links[i]
child = links[i + 1]
parentObjectsTo(child, parent)
log("Copying model information from old root.", 'DEBUG')
# copy properties
if 'model/name' in root:
link['model/name'] = root['model/name']
del root['model/name']
if 'model/version' in root:
link['model/version'] = root['model/version']
del root['model/version']
log("Restructured kinematic tree to new root: {}.".format(link.name),
'INFO')
def buildModelFromDictionary(model):
"""Creates the Blender representation of the imported model, using a model dictionary.
Args:
model:
Returns:
"""
# DOCU add some more docstring
log("Creating Blender model...", 'INFO')
log("Creating links...", 'INFO')
for l in model['links']:
link = model['links'][l]
model['links'][l]['object'] = linkmodel.createLink(link)
log("Setting parent-child relationships", 'INFO')
bUtils.toggleLayer(defs.layerTypes['link'], True)
for l in model['links']:
parent = model['links'][l]
for c in parent['children']:
child = model['links'][c]
child['object'].matrix_world = parent['object'].matrix_world
sUtils.selectObjects([child['object'], parent['object']], True, 1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
log("Creating joints...", 'INFO')
for j in model['joints']:
joint = model['joints'][j]
jointmodel.createJoint(joint)
log('...finished.', 'INFO')
# set transformations
log("Placing links...", 'INFO')
for l in model['links']:
if 'parent' not in model['links'][l]:
root = model['links'][l]
break
linkmodel.placeChildLinks(model, root)
log("Assigning model name...", 'INFO')
try:
rootlink = sUtils.getRoot(bpy.data.objects[root['name']])
rootlink['modelname'] = model['name']
rootlink.location = (0, 0, 0)
except (KeyError, NameError):
log("Could not assign model name to root link.", "ERROR")
try:
log("Creating sensors...", 'INFO')
for s in model['sensors']:
sensormodel.createSensor(model['sensors'][s])
except KeyError:
log("No sensors in model " + model['name'], 'INFO')
try:
log("Creating motors...", 'INFO')
for m in model['motors']:
eUtils.addDictionaryToObj(
model['motors'][m],
model['joints'][model['motors'][m]['joint']],
category='motor')
except KeyError:
log("No motors in model " + model['name'], 'INFO')
try:
log("Creating controllers...", 'INFO')
for c in model['controllers']:
controllermodel.createController(model['controllers'][c])
except KeyError:
log("No controllers in model " + model['name'], 'INFO')
try:
log("Creating groups...", 'INFO')
for g in model['groups']:
createGroup(model['groups'][g])
except KeyError:
log("No kinematic groups in model " + model['name'], 'INFO')
try:
log("Creating chains...", 'INFO')
for ch in model['chains']:
createChain(model['chains'][ch])
except KeyError:
log("No kinematic chains in model " + model['name'], 'INFO')
try:
log("Creating lights...", 'INFO')
for l in model['lights']:
lightmodel.createLight(model['lights'][l])
except KeyError:
log("No lights in model " + model['name'], 'INFO')
# display all objects after import
for obj in bpy.data.objects:
bUtils.setObjectLayersActive(obj)
bpy.ops.object.mode_set(mode='OBJECT')
bpy.ops.object.select_all(action='SELECT')
bpy.ops.view3d.view_selected()
# update transformations
bUtils.update()