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