Tool for convert FreeCAD sub-assemblies to URDF-world according to config

asp/mocks/urdf/asm.urdf

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robossembler
+  name="{name}">
+</robossembler>

asp/mocks/urdf/joint.urdf

@@ -0,0 +1,13 @@
+  <joint
+    name="{joint_name}"
+    type="{joint_type}">
+    <origin
+      xyz="{joint_location}"
+      rpy="{joint_rotation}" />
+    <parent
+      link="{parent_part}" />
+    <child
+      link="{child_part}" />
+    <axis
+      xyz="0 0 1" />
+  </joint>

asp/mocks/urdf/link.urdf

@@ -0,0 +1,31 @@
+  <link
+    name="{part_name}">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="{mass}" />
+      <inertia
+        ixx="0.0"
+        ixy="0.0"
+        ixz="0.0"
+        iyy="0.0"
+        iyz="0.0"
+        izz="0.0" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh
+          filename="{visual_file}"
+          scale="1.0 1.0 1.0" />
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="{collision_file}"
+          scale="1.0 1.0 1.0" />
+      </geometry>
+    </collision>
+  </link>

cg/blender/export/__init__.py

@@ -1,7 +1,52 @@
 # -*- coding: utf-8 -*-
-"""
+# Copyright (C) 2023 Ilia Kurochkin <brothermechanic@gmail.com>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+'''
 DESCRIPTION.
-Blender export modules.
+Decorator for export functions.
-Modules exports all objests in scene.
+'''
-You can set export path and subdir.
+import logging
-"""
+import os
+import bpy
+import mathutils
+
+logger = logging.getLogger(__name__)
+logging.basicConfig(level=logging.INFO)
+
+
+def export_decorator(func):
+
+    def wrapper(**kwargs):
+        # add defaults
+        kwargs.setdefault('path', '//')
+        kwargs.setdefault('subdir', '')
+
+        obj = bpy.data.objects.get(kwargs['obj_name'])
+        # deselect all but just one object and make it active
+        bpy.ops.object.select_all(action='DESELECT')
+        obj.select_set(state=True)
+        bpy.context.view_layer.objects.active = obj
+        # clean hierarchy and transforms
+        obj.parent = None
+        obj.matrix_world = mathutils.Matrix()
+        # construct path
+        filename = bpy.context.active_object.name
+        filepath = os.path.join(kwargs['path'],
+                                kwargs['subdir']).replace('\\', '/')
+        if not os.path.isdir(filepath):
+            os.makedirs(filepath)
+        # store path
+        kwargs['outpath'] = os.path.join(filepath, filename)
+        # return export function
+        return func(**kwargs)
+
+    return wrapper

cg/blender/export/dae.py

@@ -1,34 +1,64 @@
 # -*- coding: utf-8 -*-
-"""
+# Copyright (C) 2023 Ilia Kurochkin <brothermechanic@gmail.com>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+'''
 DESCRIPTION.
 Collada mesh exporter.
 Exports all objects in scene.
 You can set export path and subdir.
-"""
+'''
-__version__ = "0.1"
+__version__ = "0.2"
 
-import logging
-import sys
 import bpy
-import os
+from blender.export import export_decorator
-
-logger = logging.getLogger(__name__)
-logging.basicConfig(level=logging.INFO)
 
 
-def export_dae(path, subdir=""):
+@export_decorator
-    """ Collada mesh exporter. Exports all objects in scene. """
+def export_dae(**kwargs):
-    for ob in bpy.context.scene.objects:
+    outpath = ('{}.dae'.format(kwargs['outpath']))
-        # deselect all but just one object and make it active
-        bpy.ops.object.select_all(action='DESELECT')
-        ob.select_set(state=True)
-        bpy.context.view_layer.objects.active = ob
-        filename = bpy.context.active_object.name
-        # export dae
-        dae_path = os.path.join(path, subdir).replace('\\', '/')
-        if not os.path.isdir(dae_path):
-            os.makedirs(dae_path)
-        outpath = os.path.join(dae_path, filename)
-        logger.debug('vizual:', outpath)
 
-        bpy.ops.wm.collada_export(filepath=outpath, check_existing=False, apply_modifiers=True, export_mesh_type=0, export_mesh_type_selection='view', export_global_forward_selection='Y', export_global_up_selection='Z', apply_global_orientation=False, selected=True, include_children=False, include_armatures=False, include_shapekeys=False, deform_bones_only=False, include_animations=False, include_all_actions=True, export_animation_type_selection='sample', sampling_rate=1, keep_smooth_curves=False, keep_keyframes=False, keep_flat_curves=False, active_uv_only=False, use_texture_copies=True, triangulate=True, use_object_instantiation=True, use_blender_profile=True, sort_by_name=False, export_object_transformation_type=0, export_object_transformation_type_selection='matrix', export_animation_transformation_type=0, export_animation_transformation_type_selection='matrix', open_sim=False, limit_precision=False, keep_bind_info=False)
+    bpy.ops.wm.collada_export(
+        filepath=outpath,
+        check_existing=False,
+        apply_modifiers=True,
+        export_mesh_type=0,
+        export_mesh_type_selection='view',
+        export_global_forward_selection='Y',
+        export_global_up_selection='Z',
+        apply_global_orientation=False,
+        selected=True,
+        include_children=False,
+        include_armatures=False,
+        include_shapekeys=False,
+        deform_bones_only=False,
+        include_animations=False,
+        include_all_actions=True,
+        export_animation_type_selection='sample',
+        sampling_rate=1,
+        keep_smooth_curves=False,
+        keep_keyframes=False,
+        keep_flat_curves=False,
+        active_uv_only=False,
+        use_texture_copies=True,
+        triangulate=True,
+        use_object_instantiation=True,
+        use_blender_profile=True,
+        sort_by_name=False,
+        export_object_transformation_type=0,
+        export_object_transformation_type_selection='matrix',
+        export_animation_transformation_type=0,
+        export_animation_transformation_type_selection='matrix',
+        open_sim=False,
+        limit_precision=False,
+        keep_bind_info=False)
+
+    return outpath

cg/blender/export/stl.py

@@ -1,34 +1,41 @@
 # -*- coding: utf-8 -*-
-"""
+# Copyright (C) 2023 Ilia Kurochkin <brothermechanic@gmail.com>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+'''
 DESCRIPTION.
 STL mesh exporter.
 Exports all objects in scene.
 You can set export path and subdir.
-"""
+'''
-__version__ = "0.1"
+__version__ = "0.2"
 
-import logging
-import sys
 import bpy
-import os
+from blender.export import export_decorator
-
-logger = logging.getLogger(__name__)
-logging.basicConfig(level=logging.INFO)
 
 
-def export_stl(path, subdir=""):
+@export_decorator
-    """ STL mesh exporter. Exports all objects in scene. """
+def export_stl(**kwargs):
-    for ob in bpy.context.scene.objects:
+    outpath = ('{}.stl'.format(kwargs['outpath']))
-        # deselect all but just one object and make it active
-        bpy.ops.object.select_all(action='DESELECT')
-        ob.select_set(state=True)
-        bpy.context.view_layer.objects.active = ob
-        filename = bpy.context.active_object.name
-        # export stl
-        stl_path = os.path.join(path, subdir).replace('\\', '/')
-        if not os.path.isdir(stl_path):
-            os.makedirs(stl_path)
-        outpath = os.path.join(stl_path, filename+'.stl')
-        logger.debug('collision:', outpath)
 
-        bpy.ops.export_mesh.stl(filepath=outpath, check_existing=False, filter_glob='*.stl', use_selection=True, global_scale=1.0, use_scene_unit=False, ascii=False, use_mesh_modifiers=True, batch_mode='OFF', axis_forward='Y', axis_up='Z')
+    bpy.ops.export_mesh.stl(filepath=outpath,
+                            check_existing=False,
+                            filter_glob='*.stl',
+                            use_selection=True,
+                            global_scale=1000,
+                            use_scene_unit=False,
+                            ascii=False,
+                            use_mesh_modifiers=True,
+                            batch_mode='OFF',
+                            axis_forward='Y',
+                            axis_up='Z')
+
+    return outpath

cg/blender/import_cad/build_blender_scene.py

@@ -1,5 +1,4 @@
 # -*- coding: utf-8 -*-
-# Original code by (C) 2019 yorikvanhavre <yorik@uncreated.net>
 # Copyright (C) 2023 Ilia Kurochkin <brothermechanic@gmail.com>
 #
 # This program is free software; you can redistribute it and/or modify
@@ -21,6 +20,7 @@ DESCRIPTION.
 '''
 __version__ = '0.1'
 
+import collections
 import logging
 import random
 import bpy
@@ -66,8 +66,7 @@ def json_to_blend(js_data):
 
     fc_file = list(js_data.keys())[0]
 
-    bobjs = []
+    imported_objects = collections.defaultdict(list)
-    bobjs_for_render = []
 
     for js_obj in js_data[fc_file]:
         bobj = None
@@ -78,6 +77,7 @@ def json_to_blend(js_data):
             bobj.empty_display_size = round(random.uniform(0.05, 0.15), 3)
             bobj.show_in_front = True
             lcs_collection.objects.link(bobj)
+            imported_objects['objs_lcs'].append(bobj.name)
 
         elif js_data[fc_file][js_obj]['type'] == 'PART':
             if js_data[fc_file][js_obj].get('mesh'):
@@ -107,24 +107,26 @@ def json_to_blend(js_data):
                                        scene_scale)
             for hierarchy_obj in hierarchy_objs:
                 hierarchy_collection.objects.link(hierarchy_obj)
+                imported_objects['objs_hierarchy'].append(hierarchy_obj.name)
 
             # one material for the whole object
             if bobj.type == 'MESH':
                 if js_data[fc_file][js_obj].get('material'):
                     fem_mat = js_data[fc_file][js_obj]['material']
                     assign_materials(bobj, fem_mat)
-                    bobjs_for_render.append(bobj)
+                    imported_objects['objs_foreground'].append(bobj.name)
                 else:
                     assign_black(bobj)
-
+                    imported_objects['objs_background'].append(bobj.name)
-        bobjs.append(bobj)
 
     # losted root lcs inlet workaround
-    lcs_objects = lcs_collection.objects
+    if imported_objects['objs_lcs']:
-    if lcs_objects:
+        root_lcs = None
-        root_lcs = [lcs for lcs in lcs_objects if lcs.name.endswith(root)]
+        for obj_name in imported_objects['objs_lcs']:
+            if obj_name.endswith(root):
+                root_lcs = bpy.data.objects[obj_name]
+                break
         if root_lcs:
-            root_lcs = root_lcs[0]
             root_inlet_name = '{}{}'.format(root_lcs.name.split(root)[0], inlet)
             if not bpy.data.objects.get(root_inlet_name):
                 root_inlet = bpy.data.objects.new(root_inlet_name, None)
@@ -135,10 +137,17 @@ def json_to_blend(js_data):
                 root_inlet.rotation_euler = root_lcs.rotation_euler
                 root_inlet.parent = root_lcs.parent
                 lcs_collection.objects.link(root_inlet)
+                imported_objects['objs_lcs'].append(root_inlet.name)
+                logger.info('Root Inlet LCS object created!')
+            else:
+                logger.info('Root Inlet LCS object already exists!')
         else:
-            logger.info('Lost root LCS object!')
+            logger.info('Lost Root LCS object!')
+    else:
+        logger.info('No LCS objects found!')
 
     # TODO
     # update do not dork
-    logger.info('Generated %s objects without errors', len(bobjs))
+    logger.info('Generated %s objects without errors',
-    return bobjs_for_render
+                len(sum(list(imported_objects.values()), [])))
+    return imported_objects

cg/blender/processing/highpoly_setup.py

@@ -24,15 +24,16 @@ logger = logging.getLogger(__name__)
 logging.basicConfig(level=logging.INFO)
 
 
-def setup_meshes(bobjs, cleanup=False, sharpness=False, shading=False):
+def setup_meshes(obj_names, cleanup=False, sharpness=False, shading=False):
     ''' Setup raw meshes list after importing '''
     logger.info('Hightpoly meshes setup launched...')
-    for bobj in bobjs:
+    for obj_name in obj_names:
-        if not bobj.type == 'MESH':
+        obj = bpy.data.objects[obj_name]
+        if not obj.type == 'MESH':
             continue
         bpy.ops.object.select_all(action='DESELECT')
-        bobj.select_set(state=True)
+        obj.select_set(state=True)
-        bpy.context.view_layer.objects.active = bobj
+        bpy.context.view_layer.objects.active = obj
 
         if cleanup:
             # remove doubles
@@ -68,4 +69,4 @@ def setup_meshes(bobjs, cleanup=False, sharpness=False, shading=False):
             bpy.context.object.modifiers['triangulate'].keep_custom_normals = 1
             bpy.context.object.modifiers['triangulate'].show_expanded = 0
 
-    return logger.info('Hightpoly meshes setup finished!')
+    return logger.info('Setup of %s hightpoly meshes is finished!', len(obj_names))

cg/blender/processing/lowpoly_setup.py

@@ -135,6 +135,6 @@ def parts_to_shells(hightpoly_part_names):
         bpy.ops.mesh.select_mode(type='FACE')
         bpy.ops.object.mode_set(mode='OBJECT')
 
-    logger.info('Lowpoly shells created successfully!')
+    logger.info('Generation of %s lowpoly shells is finished!', len(lowpoly_col.objects))
 
-    return lowpoly_col.objects
+    return [obj.name for obj in lowpoly_col.objects]

cg/blender/processing/restruct_hierarchy_by_lcs.py

@@ -131,28 +131,42 @@ def lcs_collections(root_lcs, lcs_objects):
     return root_lcs.children
 
 
-def restruct_hierarchy():
+def restruct_hierarchy(lcs_names):
     ''' Execute restructurisation. '''
 
-    lcs_objects = bpy.data.collections[lcs_col_name].objects
+    #lcs_objects = bpy.data.collections[lcs_col_name].objects
+    lcs_objects = []
+    root_lcs = None
+    if lcs_names:
+        for obj_name in lcs_names:
+            if obj_name.endswith(root):
+                root_lcs = bpy.data.objects[obj_name]
+            lcs_objects.append(bpy.data.objects[obj_name])
 
-    main_locator = [obj for obj in bpy.data.objects if not obj.parent][0]
+        main_locators = [obj for obj in bpy.data.objects if not obj.parent]
-    root_lcs = [lcs for lcs in lcs_objects if lcs.name.endswith(root)][0]
+        if len(main_locators) > 1:
-    lcs_objects = [lcs for lcs in lcs_objects if lcs != root_lcs]
+            logger.info('Scene has several main (root) locators! '
-    root_locator = root_lcs.parent
+                        'This may cause an error!')
-    unparenting(root_lcs)
-    round_transforms(root_lcs)
-    unparenting(root_locator)
-    parenting(root_lcs, root_locator)
-    parenting(root_lcs, main_locator)
 
-    retree_by_lcs(lcs_objects, root_lcs)
+        if root_lcs:
-    lcs_constrainting(lcs_objects, root_lcs)
+            lcs_objects = [lcs for lcs in lcs_objects if lcs != root_lcs]
+            root_locator = root_lcs.parent
+            unparenting(root_lcs)
+            round_transforms(root_lcs)
+            unparenting(root_locator)
+            parenting(root_lcs, root_locator)
+            parenting(root_lcs, main_locators[0])
 
-    lcs_collections(root_lcs, lcs_objects)
+            retree_by_lcs(lcs_objects, root_lcs)
+            lcs_constrainting(lcs_objects, root_lcs)
 
-    # remove unused for now collection
+            lcs_collections(root_lcs, lcs_objects)
-    bpy.data.collections.remove(bpy.data.collections[hierarchy_col_name])
 
-    logger.info('Restructuring pipeline finished!')
+            # remove unused for now collection
-    return lcs_objects
+            bpy.data.collections.remove(bpy.data.collections[hierarchy_col_name])
+
+            return logger.info('Restructuring pipeline finished!')
+        else:
+            return logger.info('Lost root LCS object!')
+    else:
+        return logger.info('Restructuring pipeline canceled!')

cg/blender/processing/uv_setup.py

@@ -24,9 +24,10 @@ logger = logging.getLogger(__name__)
 logging.basicConfig(level=logging.INFO)
 
 
-def uv_unwrap(objs, angle_limit=30):
+def uv_unwrap(obj_names, angle_limit=30):
     ''' UV unwrapping and UV packing processing '''
-    for obj in objs:
+    for obj_name in obj_names:
+        obj = bpy.data.objects[obj_name]
         obj.select_set(True)
         bpy.context.view_layer.objects.active = obj
         bpy.ops.object.mode_set(mode='EDIT')
@@ -60,5 +61,5 @@ def uv_unwrap(objs, angle_limit=30):
         bpy.ops.object.mode_set(mode='OBJECT')
         obj.select_set(False)
 
-    logger.info('UV unwrapping and UV packing processing done successfully!')
+    return logger.info('UV setup of %s lowpoly meshes is finished!', len(obj_names))
-    return objs
+

cg/pipeline/cg_pipeline.py

@@ -6,9 +6,11 @@ Convert and setup FreeCAD solid objects to 3d assets.
 Support Blender compiled as a Python Module only!
 '''
 __version__ = '0.6'
+import collections
 import json
 import logging
 import os
+from itertools import zip_longest
 
 from blender.utils.remove_collections import remove_collections
 from blender.utils.cleanup_orphan_data import cleanup_orphan_data
@@ -18,10 +20,10 @@ from blender.processing.restruct_hierarchy_by_lcs import restruct_hierarchy
 from blender.processing.highpoly_setup import setup_meshes
 from blender.processing.lowpoly_setup import parts_to_shells
 from blender.processing.uv_setup import uv_unwrap
+from blender.export.dae import export_dae
+from blender.export.stl import export_stl
 import bpy
 import mathutils
-# from export.dae import export_dae
-# from export.collision import export_col_stl
 
 logger = logging.getLogger(__name__)
 logging.basicConfig(level=logging.INFO)
@@ -64,12 +66,15 @@ render = '_render'
 def cg_pipeline(**kwargs):
     ''' CG asset creation pipeline '''
 
+    blend_path = kwargs.pop('blend_path', None)
+    mesh_export_path = kwargs.pop('mesh_export_path', None)
+
     # prepare blend file
     remove_collections()
     cleanup_orphan_data()
 
     # convert FreeCAD scene to Blender scene
-    objs_for_render = json_to_blend(
+    imported_objects = json_to_blend(
         json.loads(
             cmd_proc(freecadcmd,
                      fcstd_data_script,
@@ -80,36 +85,84 @@ def cg_pipeline(**kwargs):
     )
 
     # restructuring hierarchy by lcs points
-    lcs_objects = restruct_hierarchy()
+    if imported_objects['objs_lcs']:
+        restruct_hierarchy(imported_objects['objs_lcs'])
 
     # save blender scene
-    if kwargs['blend_path'] is not None:
+    if blend_path is not None:
-        if not os.path.isdir(os.path.dirname(kwargs['blend_path'])):
+        if not os.path.isdir(os.path.dirname(blend_path)):
-            os.makedirs(os.path.dirname(kwargs['blend_path']))
+            os.makedirs(os.path.dirname(blend_path))
-        bpy.ops.wm.save_as_mainfile(filepath=kwargs['blend_path'])
+        bpy.ops.wm.save_as_mainfile(filepath=blend_path)
 
     # prepare highpoly
-    setup_meshes(objs_for_render, sharpness=True, shading=True)
+    if imported_objects['objs_foreground']:
+        setup_meshes(imported_objects['objs_foreground'], sharpness=True, shading=True)
+    else:
+        setup_meshes(imported_objects['objs_background'], sharpness=True, shading=True)
+
+    # TODO Part's names from LCS names?
+    part_names = [lcs_name.split(inlet)[0]
+                  for lcs_name in imported_objects['objs_lcs']
+                  if lcs_name.endswith(inlet)]
+
     # prepare lowpoly
-    part_names = [p.name.split(inlet)[0] for p in lcs_objects if p.name.endswith(inlet)]
     lowpoly_objs = parts_to_shells(part_names)
     uv_unwrap(lowpoly_objs)
 
     # save blender scene
-    if kwargs['blend_path'] is not None:
+    if blend_path is not None:
-        if not os.path.isdir(os.path.dirname(kwargs['blend_path'])):
+        if not os.path.isdir(os.path.dirname(blend_path)):
-            os.makedirs(os.path.dirname(kwargs['blend_path']))
+            os.makedirs(os.path.dirname(blend_path))
-        bpy.ops.wm.save_as_mainfile(filepath=kwargs['blend_path'])
+        bpy.ops.wm.save_as_mainfile(filepath=blend_path)
 
-    # export all objects
+    # export object meshes and urdf
-    if kwargs['mesh_export_path'] is not None:
+    to_urdf = collections.defaultdict(list)
-        obs = bpy.context.selected_objects
+
-        for ob in obs:
+    if lowpoly_objs:
-            ob.matrix_world = mathutils.Matrix()
+        export_objs = lowpoly_objs
-        for ob in obs:
+    else:
-            ob.select_set(state=True)
+        export_objs = sum([imported_objects['objs_foreground'],
-        export_dae(kwargs['mesh_export_path'])
+                          imported_objects['objs_background']], [])
-        export_col_stl(kwargs['mesh_export_path'])
+
+    link = {}
+    for export_obj in export_objs:
+        link_prop = {}
+        if mesh_export_path is not None:
+            link_prop['visual'] = export_dae(
+                obj_name=export_obj, path=mesh_export_path, subdir='visual')
+            link_prop['collision'] = export_stl(
+                obj_name=export_obj, path=mesh_export_path, subdir='collision')
+
+        link[export_obj] = link_prop
+
+    to_urdf['links'].append(link)
+
+    config = {'sequences': [['cube1', 'cube2', 'cube3', 'cube4'], ['cube2', 'cube1', 'cube4', 'cube3']]}
+    if config:
+        for sequence in config['sequences']:
+            joint = {}
+            for pair in zip_longest(sequence[0::2], sequence[1::2]):
+                joint_prop = {}
+                if pair[1]:
+                    joint_prop['type'] = 'fixed'
+                    location = list(bpy.data.objects.get(pair[1]).location)
+                    rotation = list(bpy.data.objects.get(pair[0]).rotation_euler)
+                    # origin
+                    # round location values
+                    for idx, axis in enumerate(location):
+                        location[idx] = round(axis, 5)
+                    joint_prop['location'] = location
+                    joint_prop['rotation'] = rotation
+                    # parent
+                    joint_prop['parent'] = pair[0]
+                    # child
+                    joint_prop['child'] = pair[1]
+
+                    joint['_'.join(pair)] = joint_prop
+
+            to_urdf['sequence'].append(joint)
+
+    print(json.dumps(to_urdf, indent=4))
 
 
 if __name__ == '__main__':