def revolve_bot_to_sdf(robot, robot_pose, nice_format, self_collide=True):
from xml.etree import ElementTree
from pyrevolve import SDF
sdf_root = ElementTree.Element('sdf', {'version': '1.6'})
assert (robot.id is not None)
model = ElementTree.SubElement(sdf_root, 'model', {
'name': str(robot.id)
})
pose_elem = SDF.Pose(robot_pose)
model.append(pose_elem)
core_link = SDF.Link('Core', self_collide=self_collide)
core_visual, core_collision, imu_core_sensor = robot._body.to_sdf('', core_link)
links = [core_link]
joints = []
actuators = []
sensors = [imu_core_sensor]
collisions = [core_collision]
core_link.append(core_visual)
core_link.append(core_collision)
for core_slot, child_module in robot._body.iter_children():
if child_module is None:
continue
core_slot = robot._body.boxslot(Orientation(core_slot))
slot_chain = core_slot.orientation.short_repr()
children_links, \
children_joints, \
children_sensors, \
children_collisions = _module_to_sdf(child_module,
core_link,
core_slot,
core_collision,
slot_chain,
self_collide)
links.extend(children_links)
joints.extend(children_joints)
sensors.extend(children_sensors)
collisions.extend(children_collisions)
for joint in joints:
model.append(joint)
if joint.is_motorized():
actuators.append(joint)
for link in links:
link.align_center_of_mass()
link.calculate_inertial()
model.append(link)
# ADD BRAIN
plugin_elem = _sdf_brain_plugin_conf(robot._brain, sensors, actuators, robot_genome=None)
model.append(plugin_elem)
# XML RENDER PHASE #
def prettify(rough_string, indent='\t'):
"""Return a pretty-printed XML string for the Element.
"""
import xml.dom.minidom
reparsed = xml.dom.minidom.parseString(rough_string)
return reparsed.toprettyxml(indent=indent)
res = xml.etree.ElementTree.tostring(sdf_root, encoding='utf8', method='xml')
if nice_format is not None:
res = prettify(res, nice_format)
else:
res = res.decode()
return res
def _module_to_sdf(module, parent_link, parent_slot: BoxSlot, parent_collision, slot_chain, self_collide):
"""
Recursive function that takes a module and returns a list of SDF links and joints that
that module and his children have generated.
:param module: Module to parse
:type module: RevolveModule
:param parent_link: SDF `Link` of the parent
:param parent_slot: Slot of the parent which this module should attach to
:param parent_collision: Parent collision box, needed for the alignment.
:param slot_chain: Text that names the joints, it encodes the path that was made to arrive to that element.
:return:
"""
links = []
joints = []
sensors = []
collisions = []
my_link = parent_link
my_collision = None
# ACTIVE HINGE
if type(module) is ActiveHingeModule:
child_link = SDF.Link('{}_Leg'.format(slot_chain), self_collide=self_collide)
visual_frame, collisions_frame, \
visual_servo, collisions_servo, \
joint = module.to_sdf('{}'.format(slot_chain), parent_link, child_link)
# parent_slot = parent_module.boxslot(parent_slot)
module_slot = module.boxslot_frame(Orientation.SOUTH)
_sdf_attach_module(module_slot, module.orientation,
visual_frame, collisions_frame[0],
parent_slot, parent_collision)
parent_slot = module.boxslot_frame(Orientation.NORTH)
module_slot = module.boxslot_servo(Orientation.SOUTH)
_sdf_attach_module(module_slot, None,
visual_servo, collisions_servo[0],
parent_slot, collisions_frame[0])
joint.set_rotation(visual_servo.get_rotation())
old_position = joint.get_position()
joint.set_position(visual_servo.get_position())
joint.translate(joint.to_parent_direction(old_position))
# Add visuals and collisions for Servo Frame block
parent_link.append(visual_frame)
for i, collision_frame in enumerate(collisions_frame):
parent_link.append(collision_frame)
collisions.append(collision_frame)
if i != 0:
old_pos = collision_frame.get_position()
collision_frame.set_rotation(visual_frame.get_rotation())
collision_frame.set_position(visual_frame.get_position())
collision_frame.translate(collision_frame.to_parent_direction(old_pos))
# Add visuals and collisions for Servo block
child_link.append(visual_servo)
for i, collision_servo in enumerate(collisions_servo):
child_link.append(collision_servo)
collisions.append(collision_servo)
if i != 0:
old_pos = collision_servo.get_position()
collision_servo.set_position(collisions_servo[0].get_position())
collision_servo.set_rotation(collisions_servo[0].get_rotation())
collision_servo.translate(collision_servo.to_parent_direction(old_pos))
# Add joint
child_link.add_joint(joint)
links.append(child_link)
joints.append(joint)
# update my_link and my_collision
my_link = child_link
my_collision = collisions_servo[0]
# OTHERS
else:
visual, collision, sensor = module.to_sdf(slot_chain, my_link)
module_slot = module.boxslot(Orientation.SOUTH)
_sdf_attach_module(module_slot, module.orientation,
visual, collision,
parent_slot, parent_collision)
parent_link.append(visual)
parent_link.append(collision)
collisions.append(collision)
my_collision = collision
if sensor is not None:
sensors.append(sensor)
# RECURSION ON CHILDREN
for my_slot, child_module in module.iter_children():
if child_module is None:
continue
my_slot = module.boxslot(Orientation(my_slot))
child_slot_chain = '{}{}'.format(slot_chain, my_slot.orientation.short_repr())
children_links, \
children_joints, \
children_sensors, \
children_collisions = _module_to_sdf(child_module,
my_link,
my_slot,
my_collision,
child_slot_chain, self_collide)
links.extend(children_links)
joints.extend(children_joints)
sensors.extend(children_sensors)
collisions.extend(children_collisions)
return links, joints, sensors, collisions