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Blender Scene Compose & Export addon

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brothermechanic 2023-12-21 08:45:25 +00:00 • committed by Igor Brylyov
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6
README.md
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- __Предикат стабильной осуществимости__. Верен для последовательности сборки, когда сборка на каждом из этапов приходит к стабильному состоянию.
- __Предикат степеней свободы__. Формируется на основе уже сгенерированных графов/графа сборки. В каких степенях свободы возможно перемещать деталь.
# Генерация сцен
TODO: составить описание
[пример файла описания сцены](docs/scene_generator)

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cg/blender/scripts/addons/Robossembler/__init__.py Normal file
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# ***** BEGIN GPL LICENSE BLOCK *****
#
# 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.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, see <http://www.gnu.org/licenses/>
# and write to the Free Software Foundation, Inc., 51 Franklin Street,
# Fifth Floor, Boston, MA 02110-1301, USA..
#
# The Original Code is Copyright (C) 2023 by Kurochkin Ilia ###
# All rights reserved.
#
# Contact: brothermechanic@yandex.com ###
# Information: https://gitlab.com/robossembler ###
#
# The Original Code is: all of this file.
#
# ***** END GPL LICENSE BLOCK *****
#
# -*- coding: utf-8 -*-
import os
import bpy
from bpy.types import (
Panel,
Operator,
PropertyGroup)
from bpy.props import (
StringProperty,
EnumProperty,
PointerProperty)
from .scene_to_json import export_scene_conf
bl_info = {
'name': 'Robossembler Tools',
'author': 'brothermechanic@gmail.com',
'version': (0, 1),
'blender': (3, 6, 1),
'location': '3D View > Toolbox',
'description': 'Robossembler pipeline tools',
'warning': '',
'wiki_url': '',
'tracker_url': 'https://gitlab.com/robossembler',
'category': 'Robossembler',
}
class addon_Properties(PropertyGroup):
engine: EnumProperty(
name='Physics Engine',
description='Selest Target Engine',
items=[('BULLET', 'Bullet', ''),
('ODE', 'O D E', ''),
('SIMBODY', 'Simbody', ''),
('OPENSIM', 'OpenSim', '')
]
)
conf_file_path: StringProperty(
name='Config File Path',
description='Input/output config file path',
default='',
maxlen=1023,
subtype='FILE_PATH'
)
class RobossemblerPanel(Panel):
'''Doc'''
bl_label = 'Robossembler Tools'
bl_idname = 'ROBOSSEMBLER_PT_PANEL'
bl_space_type = 'VIEW_3D'
bl_region_type = 'UI'
bl_category = 'Robossembler'
def draw(self, context):
prop = context.scene.robossembler_properties
layout = self.layout
layout.prop(prop, 'conf_file_path')
layout.prop(prop, 'engine')
col = layout.column()
col.alert = True
col.scale_y = 2.0
col.operator('export.scene_config',
icon='WORLD_DATA',
text='Export Scene Config')
class RobossemblerOperator(Operator):
'''Tooltip'''
bl_idname = 'export.scene_config'
bl_label = ''
bl_description = 'Export scene config'
bl_options = {'REGISTER', 'UNDO'}
def execute(self, context):
prop = context.scene.robossembler_properties
conf_file_path = os.path.realpath(bpy.path.abspath((prop.conf_file_path)))
physics_engine = prop.engine
export_scene_conf(context, conf_file_path, physics_engine)
return {'FINISHED'}
classes = (
RobossemblerPanel,
RobossemblerOperator,
addon_Properties)
def register():
for cls in classes:
bpy.utils.register_class(cls)
bpy.types.Scene.robossembler_properties = PointerProperty(type=addon_Properties)
def unregister():
for cls in classes:
bpy.utils.unregister_class(cls)
del bpy.types.Scene.robossembler_properties
if __name__ == '__main__':
register()

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cg/blender/scripts/addons/Robossembler/model_md5.py Normal file
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# coding: utf-8
import hashlib
import os
def md5(file_path):
''' Generate md5 hash. '''
hash_md5 = hashlib.md5()
with open(file_path, "rb") as f:
for chunk in iter(lambda: f.read(4096), b""):
hash_md5.update(chunk)
return hash_md5.hexdigest()
def create_file_md5(file_path):
''' Get md5_file_hash of file and store to md5 file. '''
md5_file_path = f'{file_path}.md5'
md5_file_hash = md5(file_path)
# create md5_file
if not os.path.isfile(md5_file_path):
with open(md5_file_path, 'w', encoding='utf-8') as md5_file:
md5_file.write(md5_file_hash)
else:
with open(md5_file_path, 'r', encoding='utf-8') as md5_file:
md5_file_stored = md5_file.read()
# check md5_file
assert md5_file_hash == md5_file_stored, (
"Mosel's md5 don't matched with stored %s.md5 file", file_path)
return md5_file_hash

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cg/blender/scripts/addons/Robossembler/model_name.py Normal file
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# coding: utf-8
import logging
import xml.etree.ElementTree as ET
logger = logging.getLogger(__name__)
def get_sdf_urdf_model_name(model_path):
mytree = ET.parse(model_path)
myroot = mytree.getroot()
for elem in myroot.iter():
if elem.tag in ('link', 'joint', 'material', 'visual', 'collision'):
continue
if not elem.attrib.get('name'):
continue
return elem.attrib.get('name')
return logger.warning('Model %s do not have a name!', model_path)

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cg/blender/scripts/addons/Robossembler/model_paths.py Normal file
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# coding: utf-8
import glob
def get_urdf_sdf_model_paths(models_dir):
''' Collect models paths. '''
model_paths = []
for file_name in glob.glob(f'{models_dir}/**', recursive=True):
if file_name.endswith('.urdf') or file_name.endswith('.sdf'):
model_paths.append(file_name.replace('\\', '/'))
return model_paths

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cg/blender/scripts/addons/Robossembler/scene_to_json.py Normal file
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# ***** BEGIN GPL LICENSE BLOCK *****
#
# 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.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, see <http://www.gnu.org/licenses/>
# and write to the Free Software Foundation, Inc., 51 Franklin Street,
# Fifth Floor, Boston, MA 02110-1301, USA..
#
# The Original Code is Copyright (C) 2023 by Kurochkin Ilia ###
# All rights reserved.
#
# Contact: brothermechanic@yandex.com ###
# Information: https://gitlab.com/robossembler ###
#
# The Original Code is: all of this file.
#
# ***** END GPL LICENSE BLOCK *****
#
# -*- coding: utf-8 -*-
'''
DESCRIPTION.
Collect all root objects in blender scene and export as json scene configuration.
'''
__version__ = '0.1'
import collections
import json
import logging
import math
import os
from .model_paths import get_urdf_sdf_model_paths
from .model_name import get_sdf_urdf_model_name
from .model_md5 import create_file_md5
logger = logging.getLogger(__name__)
logging.basicConfig(level=logging.INFO)
def export_scene_conf(context, scene_config_path, physics_engine):
''' Export scene config to json. '''
# open conf file
if os.path.isfile(scene_config_path):
with open(scene_config_path, 'r', encoding='utf-8') as conf_file:
world_dic = json.load(conf_file)
else:
world_dic = collections.defaultdict(list)
models_dir = os.path.join(os.path.dirname(scene_config_path), 'models')
model_paths = get_urdf_sdf_model_paths(models_dir)
for model_path in model_paths:
model_dic = {}
# 1
model_dic['name'] = get_sdf_urdf_model_name(model_path)
# 2
model_dic['id'] = create_file_md5(model_path)
# 3
relative_model_path = model_path.split(
os.path.dirname(scene_config_path))[1][1:]
model_dic['path'] = relative_model_path
world_dic['models'].append(model_dic)
# collect all non parented objs
roots = [obj for obj in context.scene.objects if not obj.parent]
# collect instances
for instance in roots:
instance_dic = {}
# 1
instance_dic['model_name'] = ''
if instance.get('model/name'):
instance_dic['model_name'] = instance['model/name']
# 2
instance_dic['model_id'] = ''
for item in world_dic['models']:
if item['name'] != instance_dic['model_name']:
continue
instance_dic['model_id'] = item['id']
# 2
instance_dic['id'] = ''
# 3
instance_dic['pose'] = {}
instance_dic['pose']['x'] = round(instance.location[0], 3)
instance_dic['pose']['y'] = round(instance.location[1], 3)
instance_dic['pose']['z'] = round(instance.location[2], 3)
instance_dic['pose']['roll'] = round(math.degrees(instance.rotation_euler[0]), 3)
instance_dic['pose']['pitch'] = round(math.degrees(instance.rotation_euler[1]), 3)
instance_dic['pose']['yaw'] = round(math.degrees(instance.rotation_euler[2]), 3)
# 4
if instance.scale[0] != sum(instance.scale[:]) / 3:
logger.warning('Asset instance {} is not uniformly scaled!'.format(
instance.name))
instance_dic['scale'] = round(instance.scale[0], 3)
# 5
# if assembly
if instance_dic['model_name']:
instance_dic['type'] = 'asset'
links = instance.children_recursive
links.insert(0, instance)
instance_dic['link_names'] = []
instance_dic['links'] = {}
transforms = 0.0
for link in links:
child = {}
if link.type != 'ARMATURE':
continue
bone = link.pose.bones[0]
rotation_mode = bone.rotation_mode
bone.rotation_mode = 'XYZ'
child['pose'] = {}
child['pose']['x'] = round(bone.location[0], 6)
child['pose']['y'] = round(bone.location[1], 6)
child['pose']['z'] = round(bone.location[2], 6)
child['pose']['roll'] = round(math.degrees(bone.rotation_euler[0]), 6)
child['pose']['pitch'] = round(math.degrees(bone.rotation_euler[1]), 6)
child['pose']['yaw'] = round(math.degrees(bone.rotation_euler[2]), 6)
bone.rotation_mode = rotation_mode
if bone.scale[0] != sum(bone.scale[:]) / 3:
logger.warning(
'Link {} of asset {} is not uniformly scaled!'.format(
link.name, asset_dic['name']))
child['scale'] = round(bone.scale[0], 3)
transforms += round(sum(
[child['pose']['x'], child['pose']['y'], child['pose']['z'],
child['pose']['roll'], child['pose']['pitch'], child['pose']['yaw']],
(child['scale'] - 1.0)),
6)
if '.' in link.name:
link_name = link.name.rpartition('.')[0]
else:
link_name = link.name
instance_dic['link_names'].append(link_name)
instance_dic['links'][link_name] = child
if transforms == 0.0:
instance_dic.pop('link_names')
instance_dic.pop('links')
# 6
instance_dic['parent'] = 'world'
# if light
if instance.type == 'LIGHT':
instance_dic['type'] = instance.type.lower()
if instance.data.type == 'POINT':
instance_dic['light_type'] = 'point'
elif instance.data.type == 'SUN':
instance_dic['light_type'] = 'directional'
elif instance.data.type == 'SPOT':
instance_dic['light_type'] = 'spot'
instance_dic['spot_angle'] = round(
math.degrees(instance.data.spot_size), 1)
else:
logger.warning(
'Unsupported light type {} on instance {}!'.format(
instance.data.type, instance.name))
instance_dic['intencity'] = instance.data.energy
instance_dic['diffuse'] = list(instance.data.color)
# if camera
if instance.type == 'CAMERA':
instance_dic['type'] = instance.type.lower()
instance_dic['focal_length'] = instance.data.lens
instance_dic['sensor_size'] = [instance.data.sensor_width,
instance.data.sensor_height]
world_dic['instances'].append(instance_dic)
# select physics engine
world_dic['physics'] = {}
world_dic['physics']['engine_name'] = physics_engine
world_dic['physics']['gravity'] = {}
world_dic['physics']['gravity']['x'] = round(context.scene.gravity[0], 3)
world_dic['physics']['gravity']['y'] = round(context.scene.gravity[1], 3)
world_dic['physics']['gravity']['z'] = round(context.scene.gravity[2], 3)
# write conf file
with open(scene_config_path, 'w', encoding='utf-8') as world_conf_file:
json.dump(world_dic, world_conf_file, ensure_ascii=False, indent=4)
logger.info('Scene configuration in json file was completed successfully!')
return scene_config_path

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docs/scene_generator.md Normal file
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## Пример файла описания сцены из Blender
TODO: рассписать потребность в основных элементах, что и для чего
```json
{
"assets": [
{
"name": "robo-arm",
"id": "629b29d7-fe15-428b-9014-6c3dde045af8",
"model_path": "../model.urdf"
}
],
"instances": [
// измненная URDF модель
{
"id": "0e29084f-1190-45d0-bd59-8f4ce2591gb1",
"name": "robo-arm-1",
//assetId указывает на родительский ассет
"assetId": "629b29d7-fe15-428b-9014-6c3dde045af8",
"pose": {
"x": 12.0,
"y": 1.0,
"z": 4.0,
"roll": 1.0,
"pitch": 4.0,
"yaw": 5.0
},
//если изменено внутренее состояние URDF модели
"tags": [
"<joint name=\"robotiq_85_right_finger_joint\" type=\"fixed\"><parent link=\"robotiq_85_right_knuckle_link\"/><child link=\"robotiq_85_right_finger_link\"/><origin rpy=\"0 0 0\" xyz=\"-0.03152616 0.0 -0.00376347\"/></joint>"
]
},
{
"id": "0e27984f-8890-4d90-bd59-8f4ce29920f9",
"name": "robo-arm-2",
//assetId указывает на родительский ассет
"assetId": "629b29d7-fe15-428b-9014-6c3dde045af8",
//если дефолтные позиции модели
"pose": null,
//если не изменено внутренее состояние URDF модели
"tags": null
},
{
"type": "LIGHT",
"light_type": "SPOT",
"power": 10.0,
"spot_angle": 45.0,
"name": null,
"pose": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"roll": 0.0,
"pitch": 0.0,
"yaw": 0.0
}
}
]
}
```