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 deriveModelDictionary(root, name='', objectlist=[]):
"""Returns a dictionary representation of a Phobos model.
If name is not specified, it overrides the modelname in the root. If the modelname is not
defined at all, 'unnamed' will be used instead.
Args:
root(bpy_types.Object): root object of the model
name(str, optional): name for the derived model (Default value = '')
objectlist(list: bpy_types.Object): objects to derive the model from
objectlist: (Default value = [])
Returns:
"""
if root.phobostype not in ['link', 'submodel']:
log(root.name + " is no valid 'link' or 'submodel' object.", "ERROR")
return None
# define model name
if name:
modelname = name
elif 'model/name' in root:
modelname = root['model/name']
else:
modelname = 'unnamed'
# define model version
if 'model/version' in root:
modelversion = root['model/version']
else:
modelversion = 'undefined'
modeldescription = bUtils.readTextFile('README.md')
model = {
'links': {},
'joints': {},
'sensors': {},
'motors': {},
'controllers': {},
'materials': {},
'meshes': {},
'lights': {},
'groups': {},
'chains': {},
'date': datetime.now().strftime("%Y%m%d_%H:%M"),
'name': modelname,
'version': modelversion,
'description': modeldescription,
}
log(
"Creating dictionary for model '" + modelname + "' with root '" + root.name + "'.",
'INFO',
prefix="\n",
)
# create tuples of objects belonging to model
if not objectlist:
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))) + " total.", "INFO")
for link in linklist:
# parse link information (including inertia)
model['links'][nUtils.getObjectName(link, 'link')] = deriveLink(
link, logging=True, objectlist=objectlist
)
# parse joint and motor information
if sUtils.getEffectiveParent(link):
# joint may be None if link is a root
# to prevent confusion links are always defining also joints
jointdict = deriveJoint(link, logging=True, adjust=True)
log(" Setting joint type '{}' for link.".format(jointdict['type']), 'DEBUG')
# first check if we have motor information in the joint properties
# if so they can be extended/overwritten by motor objects later on
if '$motor' in jointdict:
motordict = jointdict['$motor']
# at least we need a type property
if 'type' in motordict:
# if no name is given derive it from the joint
if not 'name' in motordict:
motordict["name"] = jointdict['name']
model['motors'][motordict['name']] = motordict
# link the joint by name:
motordict['joint'] = jointdict['name']
del jointdict['$motor']
model['joints'][jointdict['name']] = jointdict
for mot in [child for child in link.children if child.phobostype == 'motor']:
motordict = motormodel.deriveMotor(mot, jointdict)
# motor may be None if no motor is attached
if motordict:
log(" Added motor {} to link.".format(motordict['name']), 'DEBUG')
if motordict['name'] in model["motors"]:
model['motors'][motordict['name']].update(motordict)
else:
model['motors'][motordict['name']] = motordict
# parse sensors and controllers
sencons = [obj for obj in objectlist if obj.phobostype in ['sensor', 'controller']]
log("Parsing sensors and controllers... {} total.".format(len(sencons)), 'INFO')
for obj in sencons:
props = deriveDictEntry(obj, names=True, objectlist=objectlist)
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
if mat:
if mat.name not in model['materials']:
model['materials'][mat.name] = deriveMaterial(mat)
linkname = nUtils.getObjectName(
sUtils.getEffectiveParent(obj, ignore_selection=bool(objectlist))
)
model['links'][linkname]['visual'][nUtils.getObjectName(obj)][
'material'
] = mat.name
# 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
#todo2.9: 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')
#todo2.9: 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")
def getSubmechanisms(link):
"""
Args:
link:
Returns:
"""
if 'submechanism/name' in link.keys():
submech = {
'type': link['submechanism/type'],
'contextual_name': link['submechanism/name'],
'name': link['submechanism/subtype']
if 'submechanism/subtype' in link
else link['submechanism/type'],
'jointnames_independent': [
nUtils.getObjectName(j, 'joint') for j in link['submechanism/independent']
],
'jointnames_spanningtree': [
nUtils.getObjectName(j, 'joint') for j in link['submechanism/spanningtree']
],
'jointnames_active': [
nUtils.getObjectName(j, 'joint') for j in link['submechanism/active']
],
# TODO: this should work in almost all cases, still a bit of a hack:
'file_path': '../submechanisms/urdf/' + link['submechanism/name'] + '.urdf',
}
log(' ' + submech['contextual_name'], 'DEBUG')
else:
submech = None
mechanisms = [submech] if submech else []
for c in link.children:
if c.phobostype in ['link', 'interface'] and c in objectlist:
mechanisms.extend(getSubmechanisms(c))
return mechanisms
model['submechanisms'] = getSubmechanisms(root)
# add additional data to model
model.update(deriveTextData(model['name']))
# shorten numbers in dictionary to n decimalPlaces and return it
log("Rounding numbers to {} digits.".format(ioUtils.getExpSettings().decimalPlaces), 'INFO')
model = roundFloatsInDict(model, ioUtils.getExpSettings().decimalPlaces)
log("Sorting objects.", 'DEBUG')
model = sortListsInDict(model)
return model
