示例#1
0
文件: io.py 项目: hwiedDFKI/phobos
    def execute(self, context):
        """

        Args:
          context:

        Returns:

        """
        if self.bakeObj == "None":
            return {"FINISHED"}
        with open(os.path.join(os.path.dirname(defs.__file__), "RobotLib.yml"),
                  "r") as f:
            robot_lib = json.loads(f.read())
        root = links.createLink(1.0, name=self.robName + "::" + self.bakeObj)
        root["model/name"] = self.bakeObj
        root["entity/name"] = self.robName
        root["isInstance"] = True
        bpy.ops.import_mesh.stl(
            filepath=os.path.join(robot_lib[self.bakeObj], "bake.stl"))
        bpy.ops.view3d.snap_selected_to_cursor(use_offset=False)
        obj = context.active_object
        obj.name = self.robName + "::visual"
        obj.phobostype = "visual"
        eUtils.parentObjectsTo(obj, root)
        return {"FINISHED"}
示例#2
0
 def execute(self, context):
     if self.linktype == '3D cursor':
         links.createLink({'name': self.name, 'scale': self.size})
     else:
         for obj in context.selected_objects:
             tmpnamepartindices = [
                 int(p) for p in self.namepartindices.split()
             ]
             links.deriveLinkfromObject(obj,
                                        scale=self.size,
                                        parenting=self.parenting,
                                        parentobjects=self.parentobject,
                                        namepartindices=tmpnamepartindices,
                                        separator=self.separator,
                                        prefix=self.prefix)
     return {'FINISHED'}
示例#3
0
文件: io.py 项目: snrkiwi/phobos
 def execute(self, context):
     if self.bakeObj == "None":
         return {"FINISHED"}
     with open(os.path.join(os.path.dirname(defs.__file__), "RobotLib.yml"), "r") as f:
         robot_lib = yaml.load(f.read())
     root = links.createLink(1.0, name=self.robName + "::" + self.bakeObj)
     root["modelname"] = self.bakeObj
     root["entity/name"] = self.robName
     root["isInstance"] = True
     bpy.ops.import_mesh.stl(filepath=os.path.join(
         robot_lib[self.bakeObj], "bake.stl"))
     bpy.ops.view3d.snap_selected_to_cursor(use_offset=False)
     obj = context.active_object
     obj.name = self.robName + "::visual"
     obj.phobostype = "visual"
     sUtils.selectObjects([root, obj], clear=True, active=0)
     bpy.ops.object.parent_set(type='BONE_RELATIVE')
     return {"FINISHED"}
示例#4
0
文件: io.py 项目: Amudtogal/phobos
    def execute(self, context):
        """

        Args:
          context: 

        Returns:

        """
        if self.bakeObj == "None":
            return {"FINISHED"}
        with open(os.path.join(os.path.dirname(defs.__file__), "RobotLib.yml"), "r") as f:
            robot_lib = yaml.load(f.read())
        root = links.createLink(1.0, name=self.robName + "::" + self.bakeObj)
        root["model/name"] = self.bakeObj
        root["entity/name"] = self.robName
        root["isInstance"] = True
        bpy.ops.import_mesh.stl(filepath=os.path.join(robot_lib[self.bakeObj], "bake.stl"))
        bpy.ops.view3d.snap_selected_to_cursor(use_offset=False)
        obj = context.active_object
        obj.name = self.robName + "::visual"
        obj.phobostype = "visual"
        eUtils.parentObjectsTo(obj, root)
        return {"FINISHED"}
示例#5
0
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))
示例#6
0
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()
示例#7
0
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()