def importUrdf(filepath):
"""This function parses the whole URDF representation of the model and builds the model dictionary from it.
The created model is stored in the model value of the parser and the URDF file is specified by the filepath
given to the Parser.
:return: Nothing.
Args:
filepath:
Returns:
"""
model = {}
# TODO delete me?
#element_order = {'links': [], 'joints': [], 'viscol': {}, 'materials': []}
log("Parsing URDF model from " + filepath, "INFO")
# TODO filepath consistency?
tree = ET.parse(filepath)
# TODO comment needed?
root = tree.getroot() #[0]
model["name"] = root.attrib["name"]
if 'version' in root.attrib:
model["version"] = root.attrib['version']
# parse links
links = {}
log("Parsing links...", "INFO")
for link in root.iter('link'):
links[link.attrib['name']] = parseLink(link, filepath)
# TODO delete me?
#element_order['links'].append(links.attrib['name'])
#viscol_order = {'visual': [], 'collision': []}
model['links'] = links
# parse joints
joints = {}
log("Parsing joints...", "INFO")
for joint in root.iter('joint'):
# this is needed as there are "joint" tags e.g. in transmission
if joint.find('parent') is not None:
newjoint, pose = parseJoint(joint)
# TODO delete me?
#element_order['joints'].append(joint.attrib['name'])
model['links'][newjoint['child']]['pose'] = pose
joints[newjoint['name']] = newjoint
model['joints'] = joints
# find any links that still have no pose (most likely because they had no parent)
for link in links:
if 'pose' not in links[link]:
links[link]['pose'] = parsePose(None)
# write parent-child information to links
log("Writing parent-child information to links...", "INFO")
for j in model['joints']:
joint = model['joints'][j]
parentlink = model['links'][joint['parent']]
childlink = model['links'][joint['child']]
childlink['parent'] = joint['parent']
parentlink['children'].append(joint['child'])
# parse materials
log("Parsing materials..", 'INFO')
materiallist = []
for material in root.iter('material'):
newmaterial = {a: material.attrib[a] for a in material.attrib}
color = material.find('color')
if color is not None:
newmaterial['color'] = gUtils.parse_text(color.attrib['rgba'])
materiallist.append(newmaterial) # simply overwrite duplicates
for m in materiallist:
materials.createMaterial(m['name'], tuple(m['color'][0:3]), (1, 1, 1),
m['color'][-1])
model['materials'] = {m['name']: m for m in materiallist}
# TODO delete me?
#element_order['materials'].append(m['name'])
return model
def buildModelFromDictionary(model):
"""Creates the Blender representation of the imported model, using a model dictionary.
Args:
model(dict): model representation of the imported model
Returns:
"""
log("Creating Blender model...", 'INFO', prefix='\n' + '-' * 25 + '\n')
log(" Initializing materials... ({} total)".format(len(model['materials'])), 'INFO')
for mat in model['materials']:
matmodel.createMaterial(model['materials'][mat], logging=True, adjust=True)
# ['name'], tuple(mat['color'][0:3]), (1, 1, 1), mat['color'][-1])
newobjects = []
log(" Creating links... ({} total)".format(len(model['links'])), 'INFO')
for lnk in model['links']:
link = model['links'][lnk]
model['links'][lnk]['object'] = linkmodel.createLink(link)
newobjects.append(model['links'][lnk]['object'])
newobjects.extend(model['links'][lnk]['object'].children)
log("Setting parent-child relationships", 'INFO', prefix='\n')
bUtils.toggleLayer('link', True)
for lnk in model['links']:
parent = model['links'][lnk]
log("Children for link " + parent['name'] + ":\n" + '\n'.join(parent['children']), 'DEBUG')
for chi in parent['children']:
child = model['links'][chi]
child['object'].matrix_world = parent['object'].matrix_world
eUtils.parentObjectsTo(child['object'], parent['object'])
# set transformations
log("Transforming links... ({} total)".format(len(model['links'])), 'INFO', prefix='\n')
for lnk in model['links']:
if 'parent' not in model['links'][lnk]:
root = model['links'][lnk]
break
linkmodel.setLinkTransformations(model, root)
log("Creating joints... ({} total)".format(len(model['joints'])), 'INFO', prefix='\n')
for j in model['joints']:
joint = model['joints'][j]
jointmodel.createJoint(joint, links=model['links'])
log("Assigning model name: {}".format(model['name']), 'INFO')
rootlink = sUtils.getRoot(bpy.data.objects[root['object'].name])
if 'name' not in model:
log("Model name not specified in URDF. Make sure to define it thereafter.", 'WARNING')
else:
rootlink['model/name'] = model['name']
rootlink.location = (0, 0, 0)
# TODO make sure this works
log("Creating sensors...", 'INFO')
if 'sensors' in model and model['sensors']:
for sen in model['sensors']:
sensormodel.createSensor(model['sensors'][sen], model['sensors'][sen]['parent'])
else:
log(" No sensors in model.", 'INFO')
# TODO make sure this works
log("Creating motors...", 'INFO')
if 'motors' in model and model['motors']:
for motor in model['motors']:
eUtils.setProperties(
model['joints'][model['motors'][motor]['joint']],
model['motors'][motor],
category='motor',
)
else:
log(" No motors in model.", 'INFO')
# TODO make sure this works
log("Creating groups...", 'INFO')
if 'groups' in model and model['groups']:
for group in model['groups']:
createGroup(model['groups'][group])
else:
log(" No kinematic groups in model.", 'INFO')
# TODO make sure this works
log("Creating chains...", 'INFO')
if 'chains' in model and model['chains']:
for ch in model['chains']:
createChain(model['chains'][ch])
else:
log(" No kinematic chains in model.", 'INFO')
# TODO make sure this works
log("Creating lights...", 'INFO')
if 'lights' in model and model['lights']:
for light in model['lights']:
lightmodel.createLight(model['lights'][light])
else:
log(" No lights in model.", 'INFO')
# display new objects after import
sUtils.selectObjects(newobjects, clear=True, active=0)
eUtils.sortObjectsToLayers(newobjects)
for obj in newobjects:
bUtils.setObjectLayersActive(obj, extendlayers=True)
bpy.ops.object.mode_set(mode='OBJECT')
bpy.ops.view3d.view_selected()
# update the scene
bUtils.update()
