robowflex_visualization.utils Namespace Reference

Functions
def	resolve_package (path)
def	resolve_path (path)
def	select_all_children (item)
def	apply_smooth_shade (item)
def	apply_edge_split (item, angle=math.pi/8)
def	find_object_in_collection (coll_name, item_name)
def	move_selected_to_collection (name)
def	find_collection (item)
def	get_collection (name)
def	remove_collection (name, remove_objects=True)
def	make_collection (name)
def	deselect_all ()
def	create_object_parent (parent, child)
def	get_object_parent (parent, child)
def	parent_object (parent, child, frame)
def	unparent_object (parent, child, frame)
def	set_active (item)
def	add_material (item, material)
def	set_color (obj, element)
def	pose_to_quat (pose)
def	pose_to_vec (pose)
def	pose_add (obj, pose1, pose2)
def	set_pose (obj, pose)
def	read_YAML_data (file_name)
def	remove_doubles (item, threshold=0.0001)
def	remove_inner_faces (item)
def	clear_alpha (obj)
def	get_tf_origin_xml (xml)

Detailed Description

Helper functions for the Robowflex Visualization library.

Function Documentation

add_material()

def robowflex_visualization.utils.add_material	(		item,
			material
	)

Adds a material to an object.

Definition at line 268 of file utils.py.

def add_material(item, material):
    '''Adds a material to an object.
    '''
    if item.data.materials:
        # assign to 1st material slot
        item.data.materials[0] = material
 
    else:
        # no slots
        item.data.materials.append(material)
 
 

apply_edge_split()

def robowflex_visualization.utils.apply_edge_split	(		item,
			angle = math.pi / 8
	)

Applies the edge-split modifier to the provided object.

Definition at line 83 of file utils.py.

def apply_edge_split(item, angle = math.pi / 8):
    '''Applies the edge-split modifier to the provided object.
    '''
    if bpy.context.mode != 'OBJECT':
        bpy.ops.object.mode_set(mode = 'OBJECT')
 
    deselect_all()
    set_active(item)
    item.select_set(True)
    try:
        bpy.ops.object.modifier_add(type = 'EDGE_SPLIT')
        bpy.context.object.modifiers["EdgeSplit"].split_angle = angle
    except:
        pass
 
    deselect_all()
 
 

apply_smooth_shade()

def robowflex_visualization.utils.apply_smooth_shade

(

item

)

Applies smooth shading to the provided object.

Definition at line 67 of file utils.py.

def apply_smooth_shade(item):
    '''Applies smooth shading to the provided object.
    '''
    if bpy.context.mode != 'OBJECT':
        bpy.ops.object.mode_set(mode = 'OBJECT')
 
    deselect_all()
    set_active(item)
    item.select_set(True)
 
    if item.type == 'MESH':
        bpy.ops.object.shade_smooth()
 
    deselect_all()
 
 

clear_alpha()

def robowflex_visualization.utils.clear_alpha

(

obj

)

Definition at line 394 of file utils.py.

def clear_alpha(obj):
    for mat in obj.data.materials:
        if not mat:
            continue
        for node in mat.node_tree.nodes:
            if 'Alpha' in node.inputs:
                node.inputs['Alpha'].default_value = 1.
 
 

create_object_parent()

def robowflex_visualization.utils.create_object_parent	(		parent,
			child
	)

Definition at line 179 of file utils.py.

def create_object_parent(parent, child):
    if bpy.context.mode != 'OBJECT':
        bpy.ops.object.mode_set(mode = 'OBJECT')
 
    deselect_all()
    set_active(child)
    child.select_set(True)
 
    constraint = get_object_parent(parent, child)
    if not constraint:
        try:
            bpy.ops.object.constraint_add(type = 'CHILD_OF')
            constraint = bpy.context.object.constraints["Child Of"]
 
            constraint.name = "{}_to_{}".format(parent.name, child.name)
            constraint.target = parent
            constraint.influence = 0.
        except:
            pass
 
    deselect_all()
    return constraint
 
 

deselect_all()

def robowflex_visualization.utils.deselect_all

(

)

Definition at line 165 of file utils.py.

def deselect_all():
    bpy.ops.object.select_all(action = 'DESELECT')
 
 
# def parent_object(parent, child):
#     deselect_all()
#     parent.select_set(True)
#     child.select_set(True)
#     set_active(child)
 
#     bpy.ops.object.parent_set(type = 'OBJECT')
#     deselect_all()
 
 

find_collection()

def robowflex_visualization.utils.find_collection

(

item

)

Find the current collection of an object.

Definition at line 124 of file utils.py.

def find_collection(item):
    '''Find the current collection of an object.
    '''
    collections = item.users_collection
    if len(collections) > 0:
        return collections[0]
    return bpy.context.scene.collection
 
 

find_object_in_collection()

def robowflex_visualization.utils.find_object_in_collection	(		coll_name,
			item_name
	)

Retrieves an object by name from a collection.

Definition at line 101 of file utils.py.

def find_object_in_collection(coll_name, item_name):
    '''Retrieves an object by name from a collection.
    '''
    collection = bpy.data.collections.get(coll_name)
    for item in collection.objects:
        if item.name == item_name:
            return item
 
    return None
 
 

get_collection()

def robowflex_visualization.utils.get_collection

(

name

)

Get a collection.

Definition at line 133 of file utils.py.

def get_collection(name):
    '''Get a collection.
    '''
    collection = bpy.data.collections.get(name)
    return collection
 
 

get_object_parent()

def robowflex_visualization.utils.get_object_parent	(		parent,
			child
	)

Definition at line 203 of file utils.py.

def get_object_parent(parent, child):
    if bpy.context.mode != 'OBJECT':
        bpy.ops.object.mode_set(mode = 'OBJECT')
 
    deselect_all()
    set_active(child)
    child.select_set(True)
 
    try:
        name = "{}_to_{}".format(parent.name, child.name)
        constraint = bpy.context.object.constraints[name]
        return constraint
    except:
        pass
 
    return None
 
 

get_tf_origin_xml()

def robowflex_visualization.utils.get_tf_origin_xml

(

xml

)

Definition at line 403 of file utils.py.

def get_tf_origin_xml(xml):
    xyz = [0, 0, 0]
    rpy = [0, 0, 0]
 
    if xml.origin:
        rpy = xml.origin.rpy
        xyz = xml.origin.xyz
 
    rot = mathutils.Euler(rpy, 'XYZ').to_matrix()
    rot.resize_4x4()
    pos = mathutils.Matrix.Translation(xyz)
    return pos @ rot

make_collection()

def robowflex_visualization.utils.make_collection

(

name

)

Creates a new collection, deleting collections with the same name.

Definition at line 154 of file utils.py.

def make_collection(name):
    '''Creates a new collection, deleting collections with the same name.
    '''
 
    remove_collection(name)
 
    collection = bpy.data.collections.new(name)
    bpy.context.scene.collection.children.link(collection)
    return collection
 
 

move_selected_to_collection()

def robowflex_visualization.utils.move_selected_to_collection

(

name

)

Moves selected objects to collection.

Definition at line 112 of file utils.py.

def move_selected_to_collection(name):
    '''Moves selected objects to collection.
    '''
    collection = bpy.data.collections.get(name)
    selected = bpy.context.selected_objects
    for select in selected:
        old = find_collection(select)
 
        collection.objects.link(select)
        old.objects.unlink(select)
 
 

parent_object()

def robowflex_visualization.utils.parent_object	(		parent,
			child,
			frame
	)

Definition at line 221 of file utils.py.

def parent_object(parent, child, frame):
    # Set current frame so inverse matrix can properly be computed
    bpy.context.scene.frame_set(frame)
    constraint = create_object_parent(parent, child)
 
    # Set object as parented in frame
    constraint.influence = 1
    constraint.keyframe_insert(data_path = "influence", frame = frame)
 
    # Compute inverse transform for proper parenting
    deselect_all()
    set_active(child)
    child.select_set(True)
 
    context_py = bpy.context.copy()
    context_py["constraint"] = constraint
 
    bpy.ops.constraint.childof_set_inverse(context_py,
                                           constraint = constraint.name,
                                           owner = "OBJECT")
 
    deselect_all()
 
    # Set object as unparented in prior frame
    constraint.influence = 0
    constraint.keyframe_insert(data_path = "influence", frame = frame - 1)
 
 

pose_add()

def robowflex_visualization.utils.pose_add	(		obj,
			pose1,
			pose2
	)

Adds the second pose after the first. For something like link origins, the
   joint pose should be passed first, then the link origin

Definition at line 319 of file utils.py.

def pose_add(obj, pose1, pose2):
    '''Adds the second pose after the first. For something like link origins, the
       joint pose should be passed first, then the link origin
    '''
 
    # Get the objects for the pose vectors and quaternions.
    p1_vec = pose_to_vec(pose1)
    q1 = pose_to_quat(pose1)
    p2_vec = pose_to_vec(pose2)
    q2 = pose_to_quat(pose2)
 
    # Rotate pose2's vec by pose1's quaternion.
    p2_vec.rotate(q1)
    obj.location = p1_vec + p2_vec
 
    # Apply pose2's quaternion to the existing rotation.
    q2.rotate(q1)
    obj.rotation_mode = 'QUATERNION'
    obj.rotation_quaternion = q2
 
 

pose_to_quat()

def robowflex_visualization.utils.pose_to_quat

(

pose

)

Takes a pose dict and extracts the orientation quaternion. ROS quaternions or XYZW, but Blender's are WXYZ, so
reorder them.

Definition at line 292 of file utils.py.

def pose_to_quat(pose):
    '''Takes a pose dict and extracts the orientation quaternion. ROS quaternions or XYZW, but Blender's are WXYZ, so
    reorder them.
    '''
 
    if 'x' in pose['orientation']:
        q = pose['orientation']
        return mathutils.Quaternion([q['w'], q['x'], q['y'], q['z']])
 
    if isinstance(pose['orientation'][0], str):
        # Means there's a NAN somewhere.
        return mathutils.Quaternion((1.0, 0.0, 0.0, 0.0))
    else:
        return mathutils.Quaternion(pose['orientation'][3:] +
                                    pose['orientation'][:3])
 
 

pose_to_vec()

def robowflex_visualization.utils.pose_to_vec

(

pose

)

Takes a pose dict and extracts the position vector.

Definition at line 309 of file utils.py.

def pose_to_vec(pose):
    '''Takes a pose dict and extracts the position vector.
    '''
    if 'x' in pose['position']:
        v = pose['position']
        return mathutils.Vector([v['x'], v['y'], v['z']])
 
    return mathutils.Vector(pose['position'])
 
 

read_YAML_data()

def robowflex_visualization.utils.read_YAML_data

(

file_name

)

Returns the yaml data structure of the data stored.

Definition at line 349 of file utils.py.

def read_YAML_data(file_name):
    '''Returns the yaml data structure of the data stored.
    '''
    full_name = resolve_path(file_name)
    if not full_name:
        logging.warn('Cannot open {}'.format(file_name))
        return None
    with open(full_name) as input_file:
        return yaml.load(input_file.read(), Loader=yaml.SafeLoader)
 
 

remove_collection()

def robowflex_visualization.utils.remove_collection	(		name,
			remove_objects = True
	)

Removes a collection and all its contents.

Definition at line 140 of file utils.py.

def remove_collection(name, remove_objects = True):
    '''Removes a collection and all its contents.
    '''
    collection = bpy.data.collections.get(name)
 
    if collection:
        if remove_objects:
            obs = [o for o in collection.objects if o.users == 1]
            while obs:
                bpy.data.objects.remove(obs.pop())
 
        bpy.data.collections.remove(collection)
 
 

remove_doubles()

def robowflex_visualization.utils.remove_doubles	(		item,
			threshold = 0.0001
	)

Definition at line 360 of file utils.py.

def remove_doubles(item, threshold = 0.0001):
    if bpy.context.mode != 'OBJECT':
        bpy.ops.object.mode_set(mode = 'OBJECT')
 
    deselect_all()
    set_active(item)
    item.select_set(True)
    if item.type == 'MESH':
        bpy.ops.object.mode_set(mode = 'EDIT')
        bpy.ops.mesh.select_all(action = 'SELECT')
        bpy.ops.mesh.remove_doubles(threshold = threshold)
        bpy.ops.object.mode_set(mode = 'OBJECT')
 
    deselect_all()
 
 

remove_inner_faces()

def robowflex_visualization.utils.remove_inner_faces

(

item

)

Definition at line 376 of file utils.py.

def remove_inner_faces(item):
    if bpy.context.mode != 'OBJECT':
        bpy.ops.object.mode_set(mode = 'OBJECT')
 
    deselect_all()
    set_active(item)
    item.select_set(True)
    if item.type == 'MESH':
        bpy.ops.object.mode_set(mode = 'EDIT')
        bpy.ops.mesh.select_all(action = 'SELECT')
        bpy.ops.mesh.select_mode(type = 'FACE')
        bpy.ops.mesh.select_interior_faces()
        bpy.ops.mesh.delete(type = 'FACE')
        bpy.ops.object.mode_set(mode = 'OBJECT')
 
    deselect_all()
 
 

resolve_package()

def robowflex_visualization.utils.resolve_package

(

path

)

Resolves `package://` URLs to their canonical form. The path does not need
to exist, but the package does. Can be used to write new files in packages.

Returns "" on failure.

Definition at line 15 of file utils.py.

def resolve_package(path):
    '''Resolves `package://` URLs to their canonical form. The path does not need
    to exist, but the package does. Can be used to write new files in packages.
 
    Returns "" on failure.
    '''
    if not path:
        return ""
 
    package_name = ""
    package_path1 = ""
    PREFIX = "package://"
    if PREFIX in path:
        path = path[len(PREFIX):]    # Remove "package://"
        if "/" not in path:
            package_name = path
            path = ""
        else:
            package_name = path[:path.find("/")]
            path = path[path.find("/"):]
 
        package_path1 = subprocess.check_output(
            ["rospack", "find", package_name]).decode().strip()
 
    elif "~" in path:
        path = os.path.expanduser(path)
 
    new_path = os.path.realpath(package_path1 + path)
    return new_path
 
 

resolve_path()

def robowflex_visualization.utils.resolve_path

(

path

)

Resolves `package://` URLs and relative file paths to their canonical form.
Returns "" on failure.

Definition at line 46 of file utils.py.

def resolve_path(path):
    '''Resolves `package://` URLs and relative file paths to their canonical form.
    Returns "" on failure.
    '''
    full_path = resolve_package(path)
    if not os.path.exists(full_path):
        logging.warn("File {} does not exist".format(full_path))
        return ""
    return full_path
 
 

select_all_children()

def robowflex_visualization.utils.select_all_children

(

item

)

Selects and returns all children, recursively.

Definition at line 57 of file utils.py.

def select_all_children(item):
    '''Selects and returns all children, recursively.'''
    items = [item]
    item.select_set(True)
    for child in item.children:
        items += select_all_children(child)
 
    return items
 
 

set_active()

def robowflex_visualization.utils.set_active

(

item

)

Definition at line 264 of file utils.py.

def set_active(item):
    bpy.context.view_layer.objects.active = item
 
 

set_color()

def robowflex_visualization.utils.set_color	(		obj,
			element
	)

Definition at line 280 of file utils.py.

def set_color(obj, element):
    if 'color' in element:
        # TODO: figure out a better way to make new materials?
        mat = bpy.data.materials.new(name = str(random.randint(1, 100000)))
        if len(element['color']) > 3:
            mat.diffuse_color = element['color']
        else:
            mat.diffuse_color = element['color'] + (1., )
 
        add_material(obj, mat)
 
 

set_pose()

def robowflex_visualization.utils.set_pose	(		obj,
			pose
	)

Sets the pose of a blender object by passing in a pose dict.

Definition at line 340 of file utils.py.

def set_pose(obj, pose):
    '''Sets the pose of a blender object by passing in a pose dict.
    '''
 
    obj.location = pose_to_vec(pose)
    obj.rotation_mode = 'QUATERNION'
    obj.rotation_quaternion = pose_to_quat(pose)
 
 

unparent_object()

def robowflex_visualization.utils.unparent_object	(		parent,
			child,
			frame
	)

Definition at line 249 of file utils.py.

def unparent_object(parent, child, frame):
    bpy.context.scene.frame_set(frame - 1)
    constraint = get_object_parent(parent, child)
    if not constraint:
        return
 
    # Set object as parented in prior frame
    constraint.influence = 1
    constraint.keyframe_insert(data_path = "influence", frame = frame - 1)
 
    # Set object as unparented in prior frame
    constraint.influence = 0
    constraint.keyframe_insert(data_path = "influence", frame = frame)