def deriveVisual(obj):
"""This function derives the visual information from an object.
:param obj: The blender object to derive the visuals from.
:type obj: bpy_types.Object
:return: dict
"""
try:
visual = initObjectProperties(obj,
phobostype='visual',
ignoretypes='geometry')
visual['geometry'] = deriveGeometry(obj)
visual['pose'] = deriveObjectPose(obj)
if obj.lod_levels:
if 'lodmaxdistances' in obj:
maxdlist = obj['lodmaxdistances']
else:
maxdlist = [
obj.lod_levels[i + 1].distance
for i in range(len(obj.lod_levels) - 1)
] + [100.0]
lodlist = []
for i in range(len(obj.lod_levels)):
filename = obj.lod_levels[
i].object.data.name + ioUtils.getOutputMeshtype()
lodlist.append({
'start': obj.lod_levels[i].distance,
'end': maxdlist[i],
'filename': os.path.join('meshes', filename)
})
visual['lod'] = lodlist
except KeyError:
log("Missing data in visual object " + obj.name, "ERROR")
return None
return visual
def writeURDFGeometry(output, element):
"""This functions writes the URDF geometry for a given element at the end of a given String.
:param output: The String to append the URDF output string on.
:type output: str
:param element: A certain element to parse into URDF.
:type element: dict
:return: str -- The extended String
"""
geometry = element['geometry']
try:
output.append(indent * 4 + '<geometry>\n')
if geometry['type'] == 'box':
output.append(xmlline(5, 'box', ['size'], [l2str(geometry['size'])]))
elif geometry['type'] == "cylinder":
output.append(xmlline(5, 'cylinder', ['radius', 'length'], [geometry['radius'], geometry['length']]))
elif geometry['type'] == "sphere":
output.append(xmlline(5, 'sphere', ['radius'], [geometry['radius']]))
elif geometry['type'] == 'mesh':
output.append(xmlline(5, 'mesh', ['filename', 'scale'],
[os.path.join(ioUtils.getRelativeMeshpath(),
geometry['filename'] + '.' + ioUtils.getOutputMeshtype()),
l2str(geometry['scale'])]))
elif geometry['type'] == 'capsule':
output.append(xmlline(5, 'cylinder', ['radius', 'length'], [geometry['radius'], geometry['length']])) # FIXME: real capsules here!
else:
raise TypeError("Unknown geometry type")
output.append(indent * 4 + '</geometry>\n')
except (KeyError, TypeError) as err:
log("Misdefined geometry in element " + element['name'] + " " + str(err), "ERROR", "writeURDFGeometry")
def writeURDFGeometry(output, element, filepath):
"""This functions writes the URDF geometry for a given element at the end of a given String.
:param output: The String to append the URDF output string on.
:type output: str
:param element: A certain element to parse into URDF.
:type element: dict
:return: str -- The extended String
"""
geometry = element['geometry']
try:
output.append(indent * 4 + '<geometry>\n')
if geometry['type'] == 'box':
output.append(
xmlline(5, 'box', ['size'], [l2str(geometry['size'])]))
elif geometry['type'] == "cylinder":
output.append(
xmlline(5, 'cylinder', ['radius', 'length'],
[geometry['radius'], geometry['length']]))
elif geometry['type'] == "sphere":
output.append(
xmlline(5, 'sphere', ['radius'], [geometry['radius']]))
elif geometry['type'] == 'mesh':
# FIXME: the following will crash if unstructured export is used
log(
"writeURDFGeometry: " + filepath + ' ' +
ioUtils.getOutputMeshpath(path.dirname(filepath)), "DEBUG")
meshpath = ioUtils.getOutputMeshpath(path.dirname(filepath))
output.append(
xmlline(5, 'mesh', ['filename', 'scale'], [
path.join(
path.relpath(meshpath,
filepath), geometry['filename'] + '.' +
ioUtils.getOutputMeshtype()),
l2str(geometry['scale'])
]))
elif geometry['type'] == 'capsule':
# FIXME: real capsules here!
output.append(
xmlline(5, 'cylinder', ['radius', 'length'],
[geometry['radius'], geometry['length']]))
else:
raise TypeError("Unknown geometry type")
output.append(indent * 4 + '</geometry>\n')
except (KeyError, TypeError) as err:
log(
"Misdefined geometry in element " + element['name'] + " " +
str(err), "ERROR")
def writeURDFGeometry(output, element, filepath):
"""This functions writes the URDF geometry for a given element at the end of a given String.
Args:
output(str): The String to append the URDF output string on.
element(dict): A certain element to parse into URDF.
filepath:
Returns:
: str -- The extended String
"""
geometry = element['geometry']
try:
output.append(indent * 4 + '<geometry>\n')
if geometry['type'] == 'box':
output.append(
xmlline(5, 'box', ['size'], [l2str(geometry['size'])]))
elif geometry['type'] == "cylinder":
output.append(
xmlline(5, 'cylinder', ['radius', 'length'],
[geometry['radius'], geometry['length']]))
elif geometry['type'] == "sphere":
output.append(
xmlline(5, 'sphere', ['radius'], [geometry['radius']]))
elif geometry['type'] == 'mesh':
meshpath = ioUtils.getOutputMeshpath(
path.dirname(filepath), None, None
) + geometry['filename'] + '.' + ioUtils.getOutputMeshtype()
if not "package://" in meshpath:
meshpath = path.relpath(meshpath, filepath)
output.append(
xmlline(
5,
'mesh',
['filename', 'scale'],
[
meshpath,
l2str(geometry['scale']),
],
))
else:
raise TypeError("Unknown geometry type")
output.append(indent * 4 + '</geometry>\n')
except (KeyError, TypeError) as err:
log(
"Misdefined geometry in element " + element['name'] + " " +
str(err), "ERROR")
def deriveVisual(obj, logging=True, **kwargs):
"""This function derives the visual information from an object.
Contains these keys:
*name*: name of the visual
*geometry*: derived according to `deriveGeometry`
*pose*: derived according to `deriveObjectPose`
*lod*: (opt.) level of detail levels
Args:
obj(bpy.types.Object): object to derive the visual representation from
logging: (Default value = True)
**kwargs:
Returns:
: dict -- model representation of the visual object
"""
visual = initObjectProperties(obj,
phobostype='visual',
ignoretypes='geometry')
visual['geometry'] = deriveGeometry(obj, logging=logging)
visual['pose'] = deriveObjectPose(obj, logging=logging)
# check for material of the visual
material = deriveMaterial(obj.active_material, logging=logging)
if material:
visual['material'] = material['name']
if obj.lod_levels:
if 'lodmaxdistances' in obj:
maxdlist = obj['lodmaxdistances']
else:
maxdlist = [
obj.lod_levels[i + 1].distance
for i in range(len(obj.lod_levels) - 1)
] + [100.0]
lodlist = []
for i in range(len(obj.lod_levels)):
filename = obj.lod_levels[
i].object.data.name + ioUtils.getOutputMeshtype()
lodlist.append({
'start': obj.lod_levels[i].distance,
'end': maxdlist[i],
'filename': os.path.join('meshes', filename),
})
visual['lod'] = lodlist
return visual
def writeURDFGeometry(output, element, filepath):
"""This functions writes the URDF geometry for a given element at the end of a given String.
Args:
output(str): The String to append the URDF output string on.
element(dict): A certain element to parse into URDF.
filepath:
Returns:
: str -- The extended String
"""
geometry = element['geometry']
try:
output.append(indent * 4 + '<geometry>\n')
if geometry['type'] == 'box':
output.append(xmlline(5, 'box', ['size'], [l2str(geometry['size'])]))
elif geometry['type'] == "cylinder":
output.append(
xmlline(
5, 'cylinder', ['radius', 'length'], [geometry['radius'], geometry['length']]
)
)
elif geometry['type'] == "sphere":
output.append(xmlline(5, 'sphere', ['radius'], [geometry['radius']]))
elif geometry['type'] == 'mesh':
meshpath = ioUtils.getOutputMeshpath(path.dirname(filepath))
output.append(
xmlline(
5,
'mesh',
['filename', 'scale'],
[
path.join(
path.relpath(meshpath, filepath),
geometry['filename'] + '.' + ioUtils.getOutputMeshtype(),
),
l2str(geometry['scale']),
],
)
)
else:
raise TypeError("Unknown geometry type")
output.append(indent * 4 + '</geometry>\n')
except (KeyError, TypeError) as err:
log("Misdefined geometry in element " + element['name'] + " " + str(err), "ERROR")
