framework/cg/blender/scripts/addons/Robossembler/scene_to_json.py
2023-12-21 08:45:25 +00:00

189 lines
7.7 KiB
Python

# ***** 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