Arm2 Arucos anzeigen, MatrixArbeit
This commit is contained in:
chk
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@@ -12,8 +12,6 @@ from mathutils import Matrix
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ROBOT_JSON_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\robot.json"
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ROBOT_JSON_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\robot.json"
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OUTPUT_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\render.png"
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OUTPUT_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\render.png"
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RENDER_WIDTH = 1280
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RENDER_HEIGHT = 720
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# ============================================================
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# ============================================================
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# DEFAULT MATERIALS
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# DEFAULT MATERIALS
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@@ -628,17 +626,17 @@ for link_name, link_info in links_def.items():
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)
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)
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# Marker-Normale im Welt-/Linkraum
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# Marker-Normale im lokalen Link-Raum (aus Marker-Rotation)
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normal_world = (
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normal_local = (
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marker_obj.matrix_world.to_quaternion()
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marker_obj.rotation_quaternion
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@ mathutils.Vector((0, 0, 1))
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@ mathutils.Vector((0, 0, 1))
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)
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)
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normal_world.normalize()
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normal_local.normalize()
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# minimal vorziehen gegen Z-Fighting
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# minimal vorziehen gegen Z-Fighting (lokaler Versatz)
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marker_obj.location = (
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marker_obj.location = (
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mathutils.Vector(marker_pos)
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mathutils.Vector(marker_pos)
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+ normal_world * mm_to_m(0.5)
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+ normal_local * mm_to_m(0.5)
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)
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)
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marker_mat = create_aruco_material(
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marker_mat = create_aruco_material(
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@@ -675,16 +673,14 @@ for link_name, link_info in links_def.items():
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plate_obj.rotation_mode = "QUATERNION"
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plate_obj.rotation_mode = "QUATERNION"
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plate_obj.rotation_quaternion = marker_obj.rotation_quaternion.copy()
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plate_obj.rotation_quaternion = marker_obj.rotation_quaternion.copy()
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# Normale des Markers im Welt-/Linkraum
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# Normale des Markers im lokalen Link-Raum (aus Marker-Rotation)
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normal_world = marker_obj.matrix_world.to_quaternion() @ mathutils.Vector((0, 0, 1))
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normal_local = marker_obj.rotation_quaternion @ mathutils.Vector((0, 0, 1))
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normal_world.normalize()
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normal_local.normalize()
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# Platte liegt "hinter" dem Marker (lokaler Versatz)
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# Platte liegt "hinter" dem Marker
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plate_obj.location = (
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plate_obj.location = (
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marker_obj.location
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marker_obj.location
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- normal_world * mm_to_m((plate_thickness_mm * 0.5) + gap_mm)
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- normal_local * mm_to_m((plate_thickness_mm * 0.5) + gap_mm)
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)
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)
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# exakte Abmessungen: 26 x 26 x 1 mm
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# exakte Abmessungen: 26 x 26 x 1 mm
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@@ -1,365 +0,0 @@
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import bpy
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import mathutils
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# ============================================================
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# CONFIG
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# ============================================================
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robot = {
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"vision_config":{
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"MarkerType":"DICT_4X4_250",
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"MarkerSize":0.025
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},
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"renderingInfo":{
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"cameraPosition":[-400, -700, 300],
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"cameraTarget":["x", 0, 0],
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"cameraUpVector":[0, 0, 1],
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"lightPosition":[-500, -500, 500],
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"lightTarget":[0, 0, 0],
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"lightUpVector":[0, 0, 1],
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"metric": "mm",
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"materials":{
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"wood":{
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"baseColor":[0.72,0.52,0.33],
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"roughness":0.8,
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"metallic":0.0
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},
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"plaWhite":{
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"baseColor":[0.95,0.95,0.95],
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"roughness":0.45,
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"metallic":0.0
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},
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"steel":{
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"baseColor":[0.7,0.7,0.72],
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"roughness":0.25,
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"metallic":1.0
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},
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"powderCoatBlue":{
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"baseColor":[0.15,0.25,0.7],
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"roughness":0.55,
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"metallic":0.0
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},
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"marbleStone":{
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"baseColor":[0.85,0.85,0.87],
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"roughness":0.9,
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"metallic":0.0
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}
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}
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},
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"recognized":{"x":None, "y":None, "z": None, "a":None, "b":None, "c":None, "e": None},
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"movements":{"x":None, "y":None, "z": None, "a":None, "b":None, "c":None, "e": None},
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"elements":{
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"Board":{"type":"static", "parent":None, "size":[1000, 200, 25],
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"model":[{
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"stlFile":"Board.stl",
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"originOfModel":[0,0,0],
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"rotationOfModelDegree":[0,0,90],
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"material":"wood"},
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{
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"stlFile":"BoardRail.stl",
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"originOfModel":[0,0,0],
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"rotationOfModelDegree":[0,0,90],
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"material":"steel"}
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]},
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"Base":{"type":"rigid", "parent":"Board", "size":[150, 200, 150], "rotationInParentCoordinates":[0, 0, 0],
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"model":[{ "stlFile":"Base.stl"
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}],
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"jointToParent":{"name":"Slider", "type":"linear", "axis":[1,0,0], "origin":[0, 0, 0],
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"rotation":[0, 0, 0],
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"variable":"x"}},
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"Arm1":{"type":"rigid", "parent":"Base", "size":[70, 250, 70],
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"model":[{ "stlFile":"Holm.stl",
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"originOfModel":[0,0,0],
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"rotationOfModelDegree":[0,0,0],
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"material":"powderCoatBlue"
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}]
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}
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}
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}
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LOCAL_PATH = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\\"
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MODEL_FILE = LOCAL_PATH + r"surfaces\BoardRail.stl"
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OUTPUT_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\render.png"
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RENDER_WIDTH = 2000
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RENDER_HEIGHT = 1000
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# ============================================================
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# CLEAN SCENE
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# ============================================================
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bpy.ops.object.select_all(action='SELECT')
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bpy.ops.object.delete(use_global=False)
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# ============================================================
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# UNITS
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# ============================================================
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scene = bpy.context.scene
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scene.unit_settings.system = 'METRIC'
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scene.unit_settings.length_unit = 'MILLIMETERS'
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metric = robot["renderingInfo"]["metric"]
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# IMPORTANT:
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# Blender internally uses meters.
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# Your STL is already in millimeters.
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# We therefore scale mm -> meters.
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scale_factor = 0.001 if metric == "mm" else 1.0
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# ============================================================
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# IMPORT STL
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# ============================================================
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def import_stl(filepath):
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try:
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bpy.ops.wm.stl_import(filepath=filepath)
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except:
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bpy.ops.import_mesh.stl(filepath=filepath)
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import_stl(MODEL_FILE)
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imported_objects = bpy.context.selected_objects
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# Apply scale
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for obj in imported_objects:
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obj.scale = (scale_factor, scale_factor, scale_factor)
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# ============================================================
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# CENTER OBJECT
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# ============================================================
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bpy.ops.object.select_all(action='DESELECT')
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for obj in imported_objects:
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obj.select_set(True)
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bpy.context.view_layer.objects.active = imported_objects[0]
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# Move origin to geometry center
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bpy.ops.object.origin_set(type='ORIGIN_GEOMETRY', center='BOUNDS')
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# Move object to world center
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for obj in imported_objects:
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obj.location = (0, 0, 0)
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# ============================================================
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# WHITE PLASTIC MATERIAL
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# ============================================================
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mat = bpy.data.materials.new(name="WhitePlastic")
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mat.use_nodes = True
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bsdf = mat.node_tree.nodes["Principled BSDF"]
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bsdf.inputs["Base Color"].default_value = (
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0.95, 0.95, 0.95, 1.0
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)
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bsdf.inputs["Roughness"].default_value = 0.4
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bsdf.inputs["Metallic"].default_value = 0.0
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for obj in imported_objects:
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if obj.type == 'MESH':
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if len(obj.data.materials) == 0:
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obj.data.materials.append(mat)
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else:
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obj.data.materials[0] = mat
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# ============================================================
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# CAMERA
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# ============================================================
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cam_data = bpy.data.cameras.new("Camera")
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cam_obj = bpy.data.objects.new("Camera", cam_data)
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bpy.context.collection.objects.link(cam_obj)
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cam_pos = robot["renderingInfo"]["cameraPosition"]
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cam_target = robot["renderingInfo"]["cameraTarget"]
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# Convert mm -> meters
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cam_obj.location = (
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cam_pos[0] * scale_factor,
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cam_pos[1] * scale_factor,
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cam_pos[2] * scale_factor
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)
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target = mathutils.Vector((
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cam_target[0] * scale_factor,
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cam_target[1] * scale_factor,
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cam_target[2] * scale_factor
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))
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direction = target - cam_obj.location
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cam_obj.rotation_euler = (
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direction.to_track_quat('-Z', 'Y').to_euler()
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)
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cam_data.lens = 50
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scene.camera = cam_obj
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# ============================================================
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# SUN LIGHT
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# ============================================================
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sun_data = bpy.data.lights.new(name="Sun", type='SUN')
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sun_obj = bpy.data.objects.new(name="Sun", object_data=sun_data)
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bpy.context.collection.objects.link(sun_obj)
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light_pos = robot["renderingInfo"]["lightPosition"]
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light_target = robot["renderingInfo"]["lightTarget"]
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sun_obj.location = (
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light_pos[0] * scale_factor,
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light_pos[1] * scale_factor,
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light_pos[2] * scale_factor
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)
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light_target_vec = mathutils.Vector((
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light_target[0] * scale_factor,
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light_target[1] * scale_factor,
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light_target[2] * scale_factor
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))
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light_direction = light_target_vec - sun_obj.location
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sun_obj.rotation_euler = (
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light_direction.to_track_quat('-Z', 'Y').to_euler()
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)
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sun_data.energy = 3.0
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# ============================================================
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# ADDITIONAL AREA LIGHT
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# ============================================================
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area_data = bpy.data.lights.new(name="AreaLight", type='AREA')
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area_obj = bpy.data.objects.new(
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name="AreaLight",
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object_data=area_data
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)
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bpy.context.collection.objects.link(area_obj)
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area_obj.location = (0, -1.2, 15)
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area_data.energy = 5000
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area_data.size = 2.0
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# ============================================================
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# CHECKERBOARD FLOOR
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# ============================================================
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# 2m x 2m floor
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bpy.ops.mesh.primitive_plane_add(size=2, location=(0, 0, -27))
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floor = bpy.context.active_object
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# Create checker material
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checker_mat = bpy.data.materials.new(name="Checkerboard")
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checker_mat.use_nodes = True
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nodes = checker_mat.node_tree.nodes
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links = checker_mat.node_tree.links
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nodes.clear()
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output_node = nodes.new(type='ShaderNodeOutputMaterial')
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bsdf_node = nodes.new(type='ShaderNodeBsdfPrincipled')
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checker_node = nodes.new(type='ShaderNodeTexChecker')
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mapping_node = nodes.new(type='ShaderNodeMapping')
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texcoord_node = nodes.new(type='ShaderNodeTexCoord')
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# Checker colors
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checker_node.inputs["Color1"].default_value = (
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0.8, 0.8, 0.8, 1.0
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)
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checker_node.inputs["Color2"].default_value = (
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0.2, 0.2, 0.2, 1.0
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)
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# 100mm tiles
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# floor is 2m -> 20 tiles
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mapping_node.inputs["Scale"].default_value = (
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20.0, 20.0, 20.0
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)
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links.new(
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texcoord_node.outputs["UV"],
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mapping_node.inputs["Vector"]
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)
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links.new(
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mapping_node.outputs["Vector"],
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checker_node.inputs["Vector"]
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)
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links.new(
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checker_node.outputs["Color"],
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bsdf_node.inputs["Base Color"]
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)
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||||||
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links.new(
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bsdf_node.outputs["BSDF"],
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output_node.inputs["Surface"]
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)
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||||||
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floor.data.materials.append(checker_mat)
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||||||
# ============================================================
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|
||||||
# SKY BACKGROUND
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|
||||||
# ============================================================
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|
||||||
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|
||||||
world = scene.world
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|
||||||
world.use_nodes = True
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|
||||||
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|
||||||
bg = world.node_tree.nodes["Background"]
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|
||||||
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|
||||||
# Light blue sky
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|
||||||
bg.inputs[0].default_value = (
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|
||||||
0.70, 0.85, 1.0, 1.0
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|
||||||
)
|
|
||||||
|
|
||||||
bg.inputs[1].default_value = 0.8
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# RENDER SETTINGS
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
scene.render.engine = 'CYCLES'
|
|
||||||
|
|
||||||
scene.cycles.samples = 128
|
|
||||||
|
|
||||||
scene.render.resolution_x = RENDER_WIDTH
|
|
||||||
scene.render.resolution_y = RENDER_HEIGHT
|
|
||||||
scene.render.resolution_percentage = 100
|
|
||||||
|
|
||||||
scene.render.image_settings.file_format = 'PNG'
|
|
||||||
|
|
||||||
scene.render.filepath = OUTPUT_FILE
|
|
||||||
|
|
||||||
# Slightly nicer shadows
|
|
||||||
scene.cycles.preview_samples = 32
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# RENDER
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
bpy.ops.render.render(write_still=True)
|
|
||||||
|
|
||||||
print("Finished rendering:")
|
|
||||||
print(OUTPUT_FILE)
|
|
||||||
@@ -1,580 +0,0 @@
|
|||||||
import bpy
|
|
||||||
import math
|
|
||||||
import mathutils
|
|
||||||
import json
|
|
||||||
from pathlib import Path
|
|
||||||
from typing import Any, Dict, Iterable, List, Optional, Tuple, Union
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# PATHS
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
ROBOT_JSON_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\robot.json"
|
|
||||||
OUTPUT_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\render.png"
|
|
||||||
RENDER_WIDTH = 1200
|
|
||||||
RENDER_HEIGHT = 800
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# FALLBACK DEFAULT MATERIALS (placeholders)
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
DEFAULT_MATERIALS = {
|
|
||||||
"wood": {
|
|
||||||
"baseColor": (0.72, 0.52, 0.33, 1.0),
|
|
||||||
"roughness": 0.85,
|
|
||||||
"metallic": 0.0,
|
|
||||||
},
|
|
||||||
"plaWhite": {
|
|
||||||
"baseColor": (0.95, 0.95, 0.95, 1.0),
|
|
||||||
"roughness": 0.45,
|
|
||||||
"metallic": 0.0,
|
|
||||||
},
|
|
||||||
"steel": {
|
|
||||||
"baseColor": (0.72, 0.72, 0.75, 1.0),
|
|
||||||
"roughness": 0.25,
|
|
||||||
"metallic": 1.0,
|
|
||||||
},
|
|
||||||
"powderCoatBlue": {
|
|
||||||
"baseColor": (0.15, 0.25, 0.70, 1.0),
|
|
||||||
"roughness": 0.55,
|
|
||||||
"metallic": 0.0,
|
|
||||||
},
|
|
||||||
"marbleStone": {
|
|
||||||
"baseColor": (0.85, 0.85, 0.87, 1.0),
|
|
||||||
"roughness": 0.95,
|
|
||||||
"metallic": 0.0,
|
|
||||||
},
|
|
||||||
"defaultPlastic": {
|
|
||||||
"baseColor": (0.95, 0.95, 0.95, 1.0),
|
|
||||||
"roughness": 0.40,
|
|
||||||
"metallic": 0.0,
|
|
||||||
},
|
|
||||||
}
|
|
||||||
|
|
||||||
STATE_KEYS = ["x", "y", "z", "a", "b", "c", "e"]
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# JSON LOADING
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
robot: Dict[str, Any] = {}
|
|
||||||
if Path(ROBOT_JSON_FILE).exists():
|
|
||||||
with open(ROBOT_JSON_FILE, "r", encoding="utf-8") as f:
|
|
||||||
robot = json.load(f)
|
|
||||||
else:
|
|
||||||
# Minimal fallback so the script can still run during development.
|
|
||||||
robot = {
|
|
||||||
"renderingInfo": {
|
|
||||||
"cameraPosition": [-500, -1100, 900],
|
|
||||||
"cameraTarget": [0, 0, 200],
|
|
||||||
"cameraUpVector": [0, 0, 1],
|
|
||||||
"lightPosition": [-1000, -1000, 2000],
|
|
||||||
"lightTarget": [0, 0, 0],
|
|
||||||
"lightUpVector": [0, 0, 1],
|
|
||||||
"metric": "mm",
|
|
||||||
"materials": {},
|
|
||||||
},
|
|
||||||
"defaultPosition": {k: 0 for k in STATE_KEYS},
|
|
||||||
"recognized": {k: None for k in STATE_KEYS},
|
|
||||||
"movements": {k: None for k in STATE_KEYS},
|
|
||||||
"links": {},
|
|
||||||
}
|
|
||||||
|
|
||||||
rendering_info = robot.get("renderingInfo", {})
|
|
||||||
metric = rendering_info.get("metric", "mm")
|
|
||||||
scale_factor = 0.001 if metric == "mm" else 1.0
|
|
||||||
|
|
||||||
# Merge current state from multiple places.
|
|
||||||
# Priority: movements -> recognized -> defaultPosition -> 0
|
|
||||||
state: Dict[str, float] = {k: 0.0 for k in STATE_KEYS}
|
|
||||||
for source_name in ("defaultPosition", "recognized", "movements"):
|
|
||||||
source = robot.get(source_name, {}) or {}
|
|
||||||
for k in STATE_KEYS:
|
|
||||||
v = source.get(k, None)
|
|
||||||
if v is not None:
|
|
||||||
state[k] = float(v)
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# HELPERS
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
def mm_to_m(value: float) -> float:
|
|
||||||
return value * scale_factor
|
|
||||||
|
|
||||||
|
|
||||||
def resolve_scalar(value: Any, state_map: Dict[str, float]) -> float:
|
|
||||||
"""Resolve numbers or symbolic placeholders like 'x'/'a'."""
|
|
||||||
if value is None:
|
|
||||||
return 0.0
|
|
||||||
if isinstance(value, (int, float)):
|
|
||||||
return float(value)
|
|
||||||
if isinstance(value, str):
|
|
||||||
key = value.strip().lower()
|
|
||||||
if key in state_map:
|
|
||||||
return float(state_map[key])
|
|
||||||
try:
|
|
||||||
return float(key)
|
|
||||||
except ValueError:
|
|
||||||
return 0.0
|
|
||||||
return 0.0
|
|
||||||
|
|
||||||
|
|
||||||
def resolve_vector(value: Any, state_map: Dict[str, float], default_len: int = 3) -> Tuple[float, ...]:
|
|
||||||
if value is None:
|
|
||||||
return tuple(0.0 for _ in range(default_len))
|
|
||||||
if isinstance(value, (int, float, str)):
|
|
||||||
return (resolve_scalar(value, state_map),)
|
|
||||||
if isinstance(value, (list, tuple)):
|
|
||||||
resolved = [resolve_scalar(v, state_map) for v in value]
|
|
||||||
if len(resolved) < default_len:
|
|
||||||
resolved.extend([0.0] * (default_len - len(resolved)))
|
|
||||||
return tuple(resolved[:default_len])
|
|
||||||
return tuple(0.0 for _ in range(default_len))
|
|
||||||
|
|
||||||
|
|
||||||
def resolve_vec3_m(value: Any, state_map: Dict[str, float]) -> Tuple[float, float, float]:
|
|
||||||
x, y, z = resolve_vector(value, state_map, default_len=3)
|
|
||||||
return mm_to_m(x), mm_to_m(y), mm_to_m(z)
|
|
||||||
|
|
||||||
|
|
||||||
def normalize_axis(axis: Iterable[Any]) -> mathutils.Vector:
|
|
||||||
ax = mathutils.Vector((float(axis[0]), float(axis[1]), float(axis[2])))
|
|
||||||
if ax.length == 0:
|
|
||||||
return mathutils.Vector((1.0, 0.0, 0.0))
|
|
||||||
return ax.normalized()
|
|
||||||
|
|
||||||
|
|
||||||
def create_or_get_material(name: str, fallback: str = "defaultPlastic") -> bpy.types.Material:
|
|
||||||
if name in bpy.data.materials:
|
|
||||||
return bpy.data.materials[name]
|
|
||||||
|
|
||||||
info = (robot.get("renderingInfo", {}) or {}).get("materials", {}) or {}
|
|
||||||
spec = None
|
|
||||||
|
|
||||||
# Support both dict-style and old list-style material definitions.
|
|
||||||
if isinstance(info, dict):
|
|
||||||
spec = info.get(name)
|
|
||||||
elif isinstance(info, list):
|
|
||||||
for entry in info:
|
|
||||||
if isinstance(entry, dict) and name in entry:
|
|
||||||
spec = entry[name]
|
|
||||||
break
|
|
||||||
|
|
||||||
if not isinstance(spec, dict):
|
|
||||||
spec = DEFAULT_MATERIALS.get(name, DEFAULT_MATERIALS[fallback])
|
|
||||||
else:
|
|
||||||
# Accept partial specs from JSON.
|
|
||||||
base = DEFAULT_MATERIALS.get(name, DEFAULT_MATERIALS[fallback]).copy()
|
|
||||||
if "baseColor" in spec:
|
|
||||||
color = tuple(spec["baseColor"])
|
|
||||||
base["baseColor"] = (*color[:3], 1.0) if len(color) == 3 else tuple(color[:4])
|
|
||||||
if "roughness" in spec:
|
|
||||||
base["roughness"] = float(spec["roughness"])
|
|
||||||
if "metallic" in spec:
|
|
||||||
base["metallic"] = float(spec["metallic"])
|
|
||||||
spec = base
|
|
||||||
|
|
||||||
mat = bpy.data.materials.new(name=name)
|
|
||||||
mat.use_nodes = True
|
|
||||||
bsdf = mat.node_tree.nodes.get("Principled BSDF")
|
|
||||||
if bsdf is not None:
|
|
||||||
bsdf.inputs["Base Color"].default_value = spec["baseColor"]
|
|
||||||
bsdf.inputs["Roughness"].default_value = spec["roughness"]
|
|
||||||
bsdf.inputs["Metallic"].default_value = spec["metallic"]
|
|
||||||
return mat
|
|
||||||
|
|
||||||
def import_stl(filepath: str):
|
|
||||||
|
|
||||||
filepath = str(Path(filepath).resolve())
|
|
||||||
|
|
||||||
if not Path(filepath).exists():
|
|
||||||
raise FileNotFoundError(
|
|
||||||
f"STL file not found:\\n{filepath}"
|
|
||||||
)
|
|
||||||
|
|
||||||
before = set(bpy.data.objects)
|
|
||||||
|
|
||||||
bpy.ops.wm.stl_import(filepath=filepath)
|
|
||||||
|
|
||||||
after = [
|
|
||||||
obj for obj in bpy.data.objects
|
|
||||||
if obj not in before
|
|
||||||
]
|
|
||||||
|
|
||||||
return after
|
|
||||||
|
|
||||||
|
|
||||||
def link_object(obj: bpy.types.Object):
|
|
||||||
if obj.name not in bpy.context.collection.objects:
|
|
||||||
bpy.context.collection.objects.link(obj)
|
|
||||||
|
|
||||||
|
|
||||||
def create_empty(name: str, location=(0, 0, 0), rotation=(0, 0, 0)) -> bpy.types.Object:
|
|
||||||
empty = bpy.data.objects.new(name, None)
|
|
||||||
bpy.context.collection.objects.link(empty)
|
|
||||||
empty.location = location
|
|
||||||
empty.rotation_euler = rotation
|
|
||||||
return empty
|
|
||||||
|
|
||||||
|
|
||||||
def euler_deg_xyz(values: Any) -> Tuple[float, float, float]:
|
|
||||||
x, y, z = resolve_vector(values, state, default_len=3)
|
|
||||||
return math.radians(x), math.radians(y), math.radians(z)
|
|
||||||
|
|
||||||
|
|
||||||
def safe_parent(child: bpy.types.Object, parent: Optional[bpy.types.Object]):
|
|
||||||
if parent is not None:
|
|
||||||
child.parent = parent
|
|
||||||
# Keep current world transform visually stable after parenting.
|
|
||||||
child.matrix_parent_inverse = parent.matrix_world.inverted()
|
|
||||||
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# CLEAN SCENE
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
bpy.ops.object.select_all(action="SELECT")
|
|
||||||
bpy.ops.object.delete(use_global=False)
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# UNITS / WORLD
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
scene = bpy.context.scene
|
|
||||||
scene.unit_settings.system = "METRIC"
|
|
||||||
scene.unit_settings.length_unit = "MILLIMETERS"
|
|
||||||
scene.unit_settings.scale_length = scale_factor
|
|
||||||
|
|
||||||
world = scene.world
|
|
||||||
if world is None:
|
|
||||||
world = bpy.data.worlds.new("World")
|
|
||||||
scene.world = world
|
|
||||||
world.use_nodes = True
|
|
||||||
bg = world.node_tree.nodes["Background"]
|
|
||||||
bg.inputs[0].default_value = (0.70, 0.85, 1.0, 1.0) # light blue sky
|
|
||||||
bg.inputs[1].default_value = 0.2
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# RENDER SETTINGS
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
scene.render.engine = "CYCLES"
|
|
||||||
scene.view_settings.exposure = -1.5
|
|
||||||
scene.cycles.samples = 64
|
|
||||||
scene.cycles.preview_samples = 32
|
|
||||||
scene.render.resolution_x = RENDER_WIDTH
|
|
||||||
scene.render.resolution_y = RENDER_HEIGHT
|
|
||||||
scene.render.resolution_percentage = 100
|
|
||||||
scene.render.image_settings.file_format = "PNG"
|
|
||||||
scene.render.filepath = OUTPUT_FILE
|
|
||||||
scene.render.film_transparent = False
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# FLOOR / CHECKERBOARD
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
# 2m x 2m floor, centered at origin.
|
|
||||||
bpy.ops.mesh.primitive_plane_add(size=2.0, location=(0, 0, mm_to_m(-28.0)))
|
|
||||||
floor = bpy.context.active_object
|
|
||||||
|
|
||||||
checker_mat = bpy.data.materials.new(name="Checkerboard")
|
|
||||||
checker_mat.use_nodes = True
|
|
||||||
nodes = checker_mat.node_tree.nodes
|
|
||||||
links = checker_mat.node_tree.links
|
|
||||||
nodes.clear()
|
|
||||||
|
|
||||||
output_node = nodes.new(type="ShaderNodeOutputMaterial")
|
|
||||||
bsdf_node = nodes.new(type="ShaderNodeBsdfPrincipled")
|
|
||||||
checker_node = nodes.new(type="ShaderNodeTexChecker")
|
|
||||||
mapping_node = nodes.new(type="ShaderNodeMapping")
|
|
||||||
texcoord_node = nodes.new(type="ShaderNodeTexCoord")
|
|
||||||
|
|
||||||
checker_node.inputs["Color1"].default_value = (0.82, 0.82, 0.82, 1.0)
|
|
||||||
checker_node.inputs["Color2"].default_value = (0.18, 0.18, 0.18, 1.0)
|
|
||||||
|
|
||||||
# 100mm checker squares across a 2m x 2m floor => 20 tiles each direction.
|
|
||||||
mapping_node.inputs["Scale"].default_value = (20.0, 20.0, 20.0)
|
|
||||||
|
|
||||||
links.new(texcoord_node.outputs["UV"], mapping_node.inputs["Vector"])
|
|
||||||
links.new(mapping_node.outputs["Vector"], checker_node.inputs["Vector"])
|
|
||||||
links.new(checker_node.outputs["Color"], bsdf_node.inputs["Base Color"])
|
|
||||||
links.new(bsdf_node.outputs["BSDF"], output_node.inputs["Surface"])
|
|
||||||
floor.data.materials.append(checker_mat)
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# CAMERA
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
cam_data = bpy.data.cameras.new("Camera")
|
|
||||||
cam_obj = bpy.data.objects.new("Camera", cam_data)
|
|
||||||
bpy.context.collection.objects.link(cam_obj)
|
|
||||||
|
|
||||||
cam_pos = resolve_vec3_m(rendering_info.get("cameraPosition", [-500, -1100, 900]), state)
|
|
||||||
cam_target = resolve_vec3_m(rendering_info.get("cameraTarget", [0, 0, 0]), state)
|
|
||||||
|
|
||||||
cam_obj.location = cam_pos
|
|
||||||
cam_data.lens = 50
|
|
||||||
|
|
||||||
cam_vec = mathutils.Vector(cam_target) - mathutils.Vector(cam_pos)
|
|
||||||
if cam_vec.length == 0:
|
|
||||||
cam_vec = mathutils.Vector((1, 0, 0))
|
|
||||||
cam_obj.rotation_euler = cam_vec.to_track_quat("-Z", "Y").to_euler()
|
|
||||||
scene.camera = cam_obj
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# LIGHTS
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
sun_data = bpy.data.lights.new(name="Sun", type="SUN")
|
|
||||||
sun_obj = bpy.data.objects.new(name="Sun", object_data=sun_data)
|
|
||||||
bpy.context.collection.objects.link(sun_obj)
|
|
||||||
|
|
||||||
sun_pos = resolve_vec3_m(rendering_info.get("lightPosition", [-1000, -1000, 2000]), state)
|
|
||||||
light_target = resolve_vec3_m(rendering_info.get("lightTarget", [0, 0, 0]), state)
|
|
||||||
sun_obj.location = sun_pos
|
|
||||||
light_vec = mathutils.Vector(light_target) - mathutils.Vector(sun_pos)
|
|
||||||
if light_vec.length == 0:
|
|
||||||
light_vec = mathutils.Vector((1, 0, -1))
|
|
||||||
sun_obj.rotation_euler = light_vec.to_track_quat("-Z", "Y").to_euler()
|
|
||||||
sun_data.energy = 1.0
|
|
||||||
|
|
||||||
area_data = bpy.data.lights.new(name="AreaLight", type="AREA")
|
|
||||||
area_obj = bpy.data.objects.new(name="AreaLight", object_data=area_data)
|
|
||||||
bpy.context.collection.objects.link(area_obj)
|
|
||||||
area_obj.location = (mm_to_m(-800), mm_to_m(-1200), mm_to_m(1500))
|
|
||||||
area_obj.rotation_euler = (math.radians(60), 0.0, math.radians(-20))
|
|
||||||
area_data.energy = 300
|
|
||||||
area_data.size = 2.0
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# ROBOT BUILDING
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
links_def = robot.get("links")
|
|
||||||
if links_def is None:
|
|
||||||
# Backward compatibility with older name.
|
|
||||||
links_def = robot.get("ElementInfos", {})
|
|
||||||
|
|
||||||
created_nodes: Dict[str, bpy.types.Object] = {}
|
|
||||||
|
|
||||||
# Create all link containers first.
|
|
||||||
for link_name in links_def.keys():
|
|
||||||
created_nodes[link_name] = create_empty(f"{link_name}_link")
|
|
||||||
|
|
||||||
# Parent/position link containers.
|
|
||||||
for link_name, link_info in links_def.items():
|
|
||||||
parent_name = link_info.get("parent")
|
|
||||||
parent_obj = created_nodes.get(parent_name) if parent_name else None
|
|
||||||
|
|
||||||
link_obj = created_nodes[link_name]
|
|
||||||
safe_parent(link_obj, parent_obj)
|
|
||||||
|
|
||||||
# Static mounting transform relative to parent.
|
|
||||||
# Keep the extra info, but rename it to mountRotation in your JSON.
|
|
||||||
mount_pos = link_info.get("mountPosition", link_info.get("originInParentCoordinates", [0, 0, 0]))
|
|
||||||
mount_rot = link_info.get("mountRotation", link_info.get("rotationInParentCoordinates", [0, 0, 0]))
|
|
||||||
|
|
||||||
link_obj.location = resolve_vec3_m(mount_pos, state)
|
|
||||||
link_obj.rotation_euler = euler_deg_xyz(mount_rot)
|
|
||||||
|
|
||||||
# Joint transform (child-owned).
|
|
||||||
joint = link_info.get("jointToParent") or link_info.get("joint")
|
|
||||||
if isinstance(joint, dict):
|
|
||||||
joint_origin = joint.get("origin", [0, 0, 0])
|
|
||||||
joint_rot = joint.get("rotation", [0, 0, 0])
|
|
||||||
joint_type = joint.get("type", "fixed")
|
|
||||||
control_var = str(joint.get("variable", joint.get("control", ""))).lower()
|
|
||||||
axis = joint.get("axis", [1, 0, 0])
|
|
||||||
|
|
||||||
joint_offset = create_empty(f"{link_name}_joint")
|
|
||||||
safe_parent(joint_offset, link_obj)
|
|
||||||
joint_offset.location = resolve_vec3_m(joint_origin, state)
|
|
||||||
joint_offset.rotation_euler = euler_deg_xyz(joint_rot)
|
|
||||||
|
|
||||||
# Motion node under the joint offset.
|
|
||||||
motion_node = create_empty(f"{link_name}_motion")
|
|
||||||
safe_parent(motion_node, joint_offset)
|
|
||||||
|
|
||||||
if joint_type == "linear":
|
|
||||||
# Linear joint moves along its local axis by the control value.
|
|
||||||
move_val_mm = state.get(control_var, 0.0) if control_var else 0.0
|
|
||||||
axis_v = normalize_axis(axis)
|
|
||||||
motion_node.location = axis_v * mm_to_m(move_val_mm)
|
|
||||||
elif joint_type == "revolute":
|
|
||||||
# Revolute joint rotates around its local axis by the control value.
|
|
||||||
angle_deg = state.get(control_var, 0.0) if control_var else 0.0
|
|
||||||
axis_v = normalize_axis(axis)
|
|
||||||
# Convert axis-angle to Euler in local space by using rotation_difference.
|
|
||||||
quat = mathutils.Quaternion(axis_v, math.radians(angle_deg))
|
|
||||||
motion_node.rotation_euler = quat.to_euler()
|
|
||||||
else:
|
|
||||||
# fixed / unknown => no motion
|
|
||||||
pass
|
|
||||||
|
|
||||||
# The link container sits under the motion node.
|
|
||||||
safe_parent(link_obj, motion_node)
|
|
||||||
|
|
||||||
# Import and attach all meshes for every link.
|
|
||||||
for link_name, link_info in links_def.items():
|
|
||||||
link_obj = created_nodes[link_name]
|
|
||||||
model_list = link_info.get("model", [])
|
|
||||||
if not isinstance(model_list, list):
|
|
||||||
model_list = []
|
|
||||||
|
|
||||||
# Optional single-file shorthand.
|
|
||||||
if "stlFile" in link_info:
|
|
||||||
model_list = model_list + [{"stlFile": link_info["stlFile"]}]
|
|
||||||
|
|
||||||
for idx, model_def in enumerate(model_list):
|
|
||||||
stl_file = model_def.get("stlFile")
|
|
||||||
if not stl_file:
|
|
||||||
continue
|
|
||||||
|
|
||||||
base_dir = Path(ROBOT_JSON_FILE).parent if Path(ROBOT_JSON_FILE).exists() else Path.cwd()
|
|
||||||
stl_path = (base_dir / stl_file).resolve()
|
|
||||||
if not stl_path.exists():
|
|
||||||
# Try the file as given.
|
|
||||||
stl_path = Path(stl_file).resolve()
|
|
||||||
|
|
||||||
imported = import_stl(str(stl_path))
|
|
||||||
|
|
||||||
# Create a mesh container for each imported STL so a link can have many surfaces.
|
|
||||||
mesh_container = create_empty(f"{link_name}_mesh_{idx}")
|
|
||||||
safe_parent(mesh_container, link_obj)
|
|
||||||
|
|
||||||
origin_of_model = model_def.get("originOfModel", [0, 0, 0])
|
|
||||||
rot_of_model = model_def.get("rotationOfModelDegree", [0, 0, 0])
|
|
||||||
mesh_container.location = resolve_vec3_m(origin_of_model, state)
|
|
||||||
mesh_container.rotation_euler = euler_deg_xyz(rot_of_model)
|
|
||||||
|
|
||||||
material_name = model_def.get("material", "defaultPlastic")
|
|
||||||
material = create_or_get_material(material_name)
|
|
||||||
|
|
||||||
for obj in imported:
|
|
||||||
if obj.type != "MESH":
|
|
||||||
continue
|
|
||||||
safe_parent(obj, mesh_container)
|
|
||||||
# Keep STL imports at their own local origin; only scale to meters.
|
|
||||||
obj.scale = (scale_factor, scale_factor, scale_factor)
|
|
||||||
if len(obj.data.materials) == 0:
|
|
||||||
obj.data.materials.append(material)
|
|
||||||
else:
|
|
||||||
obj.data.materials[0] = material
|
|
||||||
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# DEBUG WORLD AXES
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
def create_axis_arrow(
|
|
||||||
name,
|
|
||||||
direction,
|
|
||||||
color,
|
|
||||||
length_mm=200,
|
|
||||||
radius_mm=2,
|
|
||||||
cone_radius_mm=5,
|
|
||||||
cone_length_mm=20
|
|
||||||
):
|
|
||||||
length = mm_to_m(length_mm)
|
|
||||||
radius = mm_to_m(radius_mm)
|
|
||||||
cone_radius = mm_to_m(cone_radius_mm)
|
|
||||||
cone_length = mm_to_m(cone_length_mm)
|
|
||||||
|
|
||||||
dir_vec = mathutils.Vector(direction).normalized()
|
|
||||||
|
|
||||||
# --------------------------------------------------------
|
|
||||||
# CYLINDER
|
|
||||||
# --------------------------------------------------------
|
|
||||||
|
|
||||||
bpy.ops.mesh.primitive_cylinder_add(
|
|
||||||
radius=radius,
|
|
||||||
depth=length - cone_length
|
|
||||||
)
|
|
||||||
|
|
||||||
cyl = bpy.context.active_object
|
|
||||||
cyl.name = f"{name}_shaft"
|
|
||||||
|
|
||||||
# Blender cylinder points along Z by default
|
|
||||||
cyl.rotation_mode = 'QUATERNION'
|
|
||||||
cyl.rotation_quaternion = (
|
|
||||||
mathutils.Vector((0, 0, 1))
|
|
||||||
.rotation_difference(dir_vec)
|
|
||||||
)
|
|
||||||
|
|
||||||
cyl.location = dir_vec * ((length - cone_length) * 0.5)
|
|
||||||
|
|
||||||
# --------------------------------------------------------
|
|
||||||
# CONE
|
|
||||||
# --------------------------------------------------------
|
|
||||||
|
|
||||||
bpy.ops.mesh.primitive_cone_add(
|
|
||||||
radius1=cone_radius,
|
|
||||||
depth=cone_length
|
|
||||||
)
|
|
||||||
|
|
||||||
cone = bpy.context.active_object
|
|
||||||
cone.name = f"{name}_tip"
|
|
||||||
|
|
||||||
cone.rotation_mode = 'QUATERNION'
|
|
||||||
cone.rotation_quaternion = (
|
|
||||||
mathutils.Vector((0, 0, 1))
|
|
||||||
.rotation_difference(dir_vec)
|
|
||||||
)
|
|
||||||
|
|
||||||
cone.location = dir_vec * (length - cone_length * 0.5)
|
|
||||||
|
|
||||||
# --------------------------------------------------------
|
|
||||||
# MATERIAL
|
|
||||||
# --------------------------------------------------------
|
|
||||||
|
|
||||||
mat = bpy.data.materials.new(name=f"{name}_material")
|
|
||||||
mat.use_nodes = True
|
|
||||||
|
|
||||||
bsdf = mat.node_tree.nodes["Principled BSDF"]
|
|
||||||
|
|
||||||
bsdf.inputs["Base Color"].default_value = (
|
|
||||||
color[0],
|
|
||||||
color[1],
|
|
||||||
color[2],
|
|
||||||
1.0
|
|
||||||
)
|
|
||||||
|
|
||||||
bsdf.inputs["Roughness"].default_value = 0.3
|
|
||||||
bsdf.inputs["Metallic"].default_value = 0.0
|
|
||||||
|
|
||||||
cyl.data.materials.append(mat)
|
|
||||||
cone.data.materials.append(mat)
|
|
||||||
|
|
||||||
|
|
||||||
# ------------------------------------------------------------
|
|
||||||
# CREATE XYZ AXES
|
|
||||||
# ------------------------------------------------------------
|
|
||||||
|
|
||||||
# X = red
|
|
||||||
create_axis_arrow(
|
|
||||||
"AxisX",
|
|
||||||
(1, 0, 0),
|
|
||||||
(1, 0, 0)
|
|
||||||
)
|
|
||||||
|
|
||||||
# Y = green
|
|
||||||
create_axis_arrow(
|
|
||||||
"AxisY",
|
|
||||||
(0, 1, 0),
|
|
||||||
(0, 1, 0)
|
|
||||||
)
|
|
||||||
|
|
||||||
# Z = blue
|
|
||||||
create_axis_arrow(
|
|
||||||
"AxisZ",
|
|
||||||
(0, 0, 1),
|
|
||||||
(0, 0, 1)
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# FINAL RENDER
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
bpy.ops.render.render(write_still=True)
|
|
||||||
print("Finished rendering:", OUTPUT_FILE)
|
|
||||||
@@ -1,595 +0,0 @@
|
|||||||
import bpy
|
|
||||||
import math
|
|
||||||
import mathutils
|
|
||||||
import json
|
|
||||||
from pathlib import Path
|
|
||||||
from typing import Any, Dict, Iterable, List, Optional, Tuple
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# PATHS
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
ROBOT_JSON_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\robot.json"
|
|
||||||
OUTPUT_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\render.png"
|
|
||||||
RENDER_WIDTH = 1200
|
|
||||||
RENDER_HEIGHT = 800
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# DEFAULT MATERIALS
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
DEFAULT_MATERIALS = {
|
|
||||||
"wood": {"baseColor": (0.72, 0.52, 0.33, 1.0), "roughness": 0.85, "metallic": 0.0},
|
|
||||||
"plaWhite": {"baseColor": (0.95, 0.95, 0.95, 1.0), "roughness": 0.45, "metallic": 0.0},
|
|
||||||
"steel": {"baseColor": (0.72, 0.72, 0.75, 1.0), "roughness": 0.25, "metallic": 1.0},
|
|
||||||
"powderCoatBlue": {"baseColor": (0.15, 0.25, 0.70, 1.0), "roughness": 0.55, "metallic": 0.0},
|
|
||||||
"defaultPlastic": {"baseColor": (0.95, 0.95, 0.95, 1.0), "roughness": 0.40, "metallic": 0.0},
|
|
||||||
"skeletonRed": {"baseColor": (0.85, 0.20, 0.20, 1.0), "roughness": 0.35, "metallic": 0.0},
|
|
||||||
"markerBlack": {"baseColor": (0.04, 0.04, 0.04, 1.0), "roughness": 0.80, "metallic": 0.0},
|
|
||||||
}
|
|
||||||
|
|
||||||
STATE_KEYS = ["x", "y", "z", "a", "b", "c", "e"]
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# JSON LOADING
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
with open(ROBOT_JSON_FILE, "r", encoding="utf-8") as f:
|
|
||||||
robot: Dict[str, Any] = json.load(f)
|
|
||||||
|
|
||||||
rendering_info = robot.get("renderingInfo", {})
|
|
||||||
metric = rendering_info.get("metric", "mm")
|
|
||||||
scale_factor = 0.001 if metric == "mm" else 1.0
|
|
||||||
|
|
||||||
def as_bool(value: Any, default: bool = False) -> bool:
|
|
||||||
if value is None:
|
|
||||||
return default
|
|
||||||
if isinstance(value, bool):
|
|
||||||
return value
|
|
||||||
if isinstance(value, str):
|
|
||||||
return value.strip().lower() in ("1", "true", "yes", "on")
|
|
||||||
return bool(value)
|
|
||||||
|
|
||||||
show_skeleton = as_bool(rendering_info.get("showSkeleton", False))
|
|
||||||
show_markers = as_bool(rendering_info.get("showMarkers", False))
|
|
||||||
|
|
||||||
state: Dict[str, float] = {k: 0.0 for k in STATE_KEYS}
|
|
||||||
for source_name in ("defaultPosition", "recognized", "movements"):
|
|
||||||
source = robot.get(source_name, {}) or {}
|
|
||||||
for k in STATE_KEYS:
|
|
||||||
v = source.get(k, None)
|
|
||||||
if v is not None:
|
|
||||||
try:
|
|
||||||
state[k] = float(v)
|
|
||||||
except Exception:
|
|
||||||
pass
|
|
||||||
|
|
||||||
links_def = robot.get("links", {})
|
|
||||||
if not isinstance(links_def, dict):
|
|
||||||
raise ValueError("robot.json must contain a top-level 'links' object")
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# HELPERS
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
def mm_to_m(value: float) -> float:
|
|
||||||
return value * scale_factor
|
|
||||||
|
|
||||||
def resolve_scalar(value: Any, state_map: Dict[str, float]) -> float:
|
|
||||||
if value is None:
|
|
||||||
return 0.0
|
|
||||||
if isinstance(value, (int, float)):
|
|
||||||
return float(value)
|
|
||||||
if isinstance(value, str):
|
|
||||||
key = value.strip().lower()
|
|
||||||
if key in state_map:
|
|
||||||
return float(state_map[key])
|
|
||||||
try:
|
|
||||||
return float(key)
|
|
||||||
except ValueError:
|
|
||||||
return 0.0
|
|
||||||
return 0.0
|
|
||||||
|
|
||||||
def resolve_vector(value: Any, state_map: Dict[str, float], default_len: int = 3) -> Tuple[float, ...]:
|
|
||||||
if value is None:
|
|
||||||
return tuple(0.0 for _ in range(default_len))
|
|
||||||
if isinstance(value, (int, float, str)):
|
|
||||||
return (resolve_scalar(value, state_map),)
|
|
||||||
if isinstance(value, (list, tuple)):
|
|
||||||
resolved = [resolve_scalar(v, state_map) for v in value]
|
|
||||||
if len(resolved) < default_len:
|
|
||||||
resolved.extend([0.0] * (default_len - len(resolved)))
|
|
||||||
return tuple(resolved[:default_len])
|
|
||||||
return tuple(0.0 for _ in range(default_len))
|
|
||||||
|
|
||||||
def resolve_vec3_m(value: Any, state_map: Dict[str, float]) -> Tuple[float, float, float]:
|
|
||||||
vec = list(resolve_vector(value, state_map, default_len=3))
|
|
||||||
while len(vec) < 3:
|
|
||||||
vec.append(0.0)
|
|
||||||
x, y, z = vec[:3]
|
|
||||||
return mm_to_m(x), mm_to_m(y), mm_to_m(z)
|
|
||||||
|
|
||||||
def normalize_axis(axis: Iterable[Any]) -> mathutils.Vector:
|
|
||||||
ax = mathutils.Vector((float(axis[0]), float(axis[1]), float(axis[2])))
|
|
||||||
return ax.normalized() if ax.length > 0 else mathutils.Vector((1.0, 0.0, 0.0))
|
|
||||||
|
|
||||||
def euler_deg_xyz(values: Any) -> Tuple[float, float, float]:
|
|
||||||
vec = list(resolve_vector(values, state, default_len=3))
|
|
||||||
while len(vec) < 3:
|
|
||||||
vec.append(0.0)
|
|
||||||
return math.radians(vec[0]), math.radians(vec[1]), math.radians(vec[2])
|
|
||||||
|
|
||||||
def create_or_get_material(name: str, fallback: str = "defaultPlastic") -> bpy.types.Material:
|
|
||||||
info = rendering_info.get("materials", {}) or {}
|
|
||||||
spec = None
|
|
||||||
|
|
||||||
if isinstance(info, dict):
|
|
||||||
spec = info.get(name)
|
|
||||||
|
|
||||||
if isinstance(spec, dict):
|
|
||||||
base = DEFAULT_MATERIALS.get(name, DEFAULT_MATERIALS[fallback]).copy()
|
|
||||||
if "baseColor" in spec:
|
|
||||||
color = tuple(spec["baseColor"])
|
|
||||||
base["baseColor"] = (*color[:3], 1.0) if len(color) == 3 else tuple(color[:4])
|
|
||||||
if "roughness" in spec:
|
|
||||||
base["roughness"] = float(spec["roughness"])
|
|
||||||
if "metallic" in spec:
|
|
||||||
base["metallic"] = float(spec["metallic"])
|
|
||||||
spec = base
|
|
||||||
else:
|
|
||||||
spec = DEFAULT_MATERIALS.get(name, DEFAULT_MATERIALS[fallback])
|
|
||||||
|
|
||||||
if name in bpy.data.materials:
|
|
||||||
mat = bpy.data.materials[name]
|
|
||||||
else:
|
|
||||||
mat = bpy.data.materials.new(name=name)
|
|
||||||
|
|
||||||
mat.use_nodes = True
|
|
||||||
bsdf = mat.node_tree.nodes.get("Principled BSDF")
|
|
||||||
if bsdf is not None:
|
|
||||||
bsdf.inputs["Base Color"].default_value = spec["baseColor"]
|
|
||||||
bsdf.inputs["Roughness"].default_value = spec["roughness"]
|
|
||||||
bsdf.inputs["Metallic"].default_value = spec["metallic"]
|
|
||||||
return mat
|
|
||||||
|
|
||||||
def import_stl(filepath: str) -> List[bpy.types.Object]:
|
|
||||||
path = Path(filepath).resolve()
|
|
||||||
if not path.exists():
|
|
||||||
raise FileNotFoundError(f"STL file not found:\n{path}")
|
|
||||||
|
|
||||||
before = set(bpy.data.objects)
|
|
||||||
bpy.ops.wm.stl_import(filepath=str(path))
|
|
||||||
after = [obj for obj in bpy.data.objects if obj not in before]
|
|
||||||
return after
|
|
||||||
|
|
||||||
def create_empty(name: str) -> bpy.types.Object:
|
|
||||||
empty = bpy.data.objects.new(name, None)
|
|
||||||
bpy.context.collection.objects.link(empty)
|
|
||||||
return empty
|
|
||||||
|
|
||||||
def safe_parent(child: bpy.types.Object, parent: Optional[bpy.types.Object]):
|
|
||||||
if parent is not None:
|
|
||||||
child.parent = parent
|
|
||||||
child.matrix_parent_inverse = parent.matrix_world.inverted()
|
|
||||||
|
|
||||||
def create_material_segment(name: str, color: Tuple[float, float, float], roughness: float = 0.35) -> bpy.types.Material:
|
|
||||||
if name in bpy.data.materials:
|
|
||||||
mat = bpy.data.materials[name]
|
|
||||||
else:
|
|
||||||
mat = bpy.data.materials.new(name=name)
|
|
||||||
mat.use_nodes = True
|
|
||||||
bsdf = mat.node_tree.nodes.get("Principled BSDF")
|
|
||||||
if bsdf is not None:
|
|
||||||
bsdf.inputs["Base Color"].default_value = (color[0], color[1], color[2], 1.0)
|
|
||||||
bsdf.inputs["Roughness"].default_value = roughness
|
|
||||||
bsdf.inputs["Metallic"].default_value = 0.0
|
|
||||||
return mat
|
|
||||||
|
|
||||||
def create_cylinder_between(
|
|
||||||
name: str,
|
|
||||||
p1_local: Tuple[float, float, float],
|
|
||||||
p2_local: Tuple[float, float, float],
|
|
||||||
radius_m: float,
|
|
||||||
parent: bpy.types.Object,
|
|
||||||
material: bpy.types.Material
|
|
||||||
) -> bpy.types.Object:
|
|
||||||
v1 = mathutils.Vector(p1_local)
|
|
||||||
v2 = mathutils.Vector(p2_local)
|
|
||||||
delta = v2 - v1
|
|
||||||
length = delta.length
|
|
||||||
if length <= 1e-9:
|
|
||||||
length = 1e-6
|
|
||||||
delta = mathutils.Vector((0.0, 0.0, 1e-6))
|
|
||||||
|
|
||||||
bpy.ops.mesh.primitive_cylinder_add(radius=radius_m, depth=length)
|
|
||||||
obj = bpy.context.active_object
|
|
||||||
obj.name = name
|
|
||||||
safe_parent(obj, parent)
|
|
||||||
obj.location = (v1 + v2) * 0.5
|
|
||||||
obj.rotation_mode = "QUATERNION"
|
|
||||||
obj.rotation_quaternion = mathutils.Vector((0, 0, 1)).rotation_difference(delta.normalized())
|
|
||||||
if len(obj.data.materials) == 0:
|
|
||||||
obj.data.materials.append(material)
|
|
||||||
else:
|
|
||||||
obj.data.materials[0] = material
|
|
||||||
return obj
|
|
||||||
|
|
||||||
def derive_default_skeleton_from_size(size_mm: List[float]) -> Dict[str, Any]:
|
|
||||||
sx, sy, sz = (float(size_mm[0]), float(size_mm[1]), float(size_mm[2]))
|
|
||||||
ax = max((abs(sx), 0), (abs(sy), 1), (abs(sz), 2), key=lambda x: x[0])[1]
|
|
||||||
|
|
||||||
if ax == 0:
|
|
||||||
return {"from": [0, sy * 0.5, sz * 0.5], "to": [sx, sy * 0.5, sz * 0.5]}
|
|
||||||
if ax == 1:
|
|
||||||
return {"from": [sx * 0.5, 0, sz * 0.5], "to": [sx * 0.5, sy, sz * 0.5]}
|
|
||||||
return {"from": [sx * 0.5, sy * 0.5, 0], "to": [sx * 0.5, sy * 0.5, sz]}
|
|
||||||
|
|
||||||
def resolve_stl_path(stl_file: str) -> Path:
|
|
||||||
base_dir = Path(ROBOT_JSON_FILE).parent
|
|
||||||
candidates = [
|
|
||||||
base_dir / stl_file,
|
|
||||||
base_dir / "surfaces" / stl_file,
|
|
||||||
Path(stl_file),
|
|
||||||
]
|
|
||||||
for c in candidates:
|
|
||||||
p = c.resolve()
|
|
||||||
if p.exists():
|
|
||||||
return p
|
|
||||||
raise FileNotFoundError(
|
|
||||||
"STL file not found in any expected location:\n" +
|
|
||||||
"\n".join(str(c.resolve()) for c in candidates)
|
|
||||||
)
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# SCENE RESET
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
bpy.ops.object.select_all(action="SELECT")
|
|
||||||
bpy.ops.object.delete(use_global=False)
|
|
||||||
|
|
||||||
scene = bpy.context.scene
|
|
||||||
scene.unit_settings.system = "METRIC"
|
|
||||||
scene.unit_settings.length_unit = "MILLIMETERS"
|
|
||||||
scene.unit_settings.scale_length = scale_factor
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# WORLD / RENDER SETTINGS
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
world = scene.world or bpy.data.worlds.new("World")
|
|
||||||
scene.world = world
|
|
||||||
world.use_nodes = True
|
|
||||||
bg = world.node_tree.nodes["Background"]
|
|
||||||
bg.inputs[0].default_value = tuple(rendering_info.get("backgroundColor", [0.70, 0.85, 1.0])) + (1.0,)
|
|
||||||
bg.inputs[1].default_value = float(rendering_info.get("backgroundStrength", 0.20))
|
|
||||||
|
|
||||||
scene.render.engine = "CYCLES"
|
|
||||||
scene.view_settings.exposure = float(rendering_info.get("exposure", -1.5))
|
|
||||||
scene.cycles.samples = 64
|
|
||||||
scene.cycles.preview_samples = 32
|
|
||||||
scene.render.resolution_x = RENDER_WIDTH
|
|
||||||
scene.render.resolution_y = RENDER_HEIGHT
|
|
||||||
scene.render.resolution_percentage = 100
|
|
||||||
scene.render.image_settings.file_format = "PNG"
|
|
||||||
scene.render.filepath = OUTPUT_FILE
|
|
||||||
scene.render.film_transparent = False
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# FLOOR
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
bpy.ops.mesh.primitive_plane_add(size=2.0, location=(0, 0, mm_to_m(-28.0)))
|
|
||||||
floor = bpy.context.active_object
|
|
||||||
checker_mat = bpy.data.materials.new(name="Checkerboard")
|
|
||||||
checker_mat.use_nodes = True
|
|
||||||
nodes = checker_mat.node_tree.nodes
|
|
||||||
links = checker_mat.node_tree.links
|
|
||||||
nodes.clear()
|
|
||||||
|
|
||||||
output_node = nodes.new(type="ShaderNodeOutputMaterial")
|
|
||||||
bsdf_node = nodes.new(type="ShaderNodeBsdfPrincipled")
|
|
||||||
checker_node = nodes.new(type="ShaderNodeTexChecker")
|
|
||||||
mapping_node = nodes.new(type="ShaderNodeMapping")
|
|
||||||
texcoord_node = nodes.new(type="ShaderNodeTexCoord")
|
|
||||||
|
|
||||||
checker_node.inputs["Color1"].default_value = (0.82, 0.82, 0.82, 1.0)
|
|
||||||
checker_node.inputs["Color2"].default_value = (0.18, 0.18, 0.18, 1.0)
|
|
||||||
mapping_node.inputs["Scale"].default_value = (20.0, 20.0, 20.0)
|
|
||||||
|
|
||||||
links.new(texcoord_node.outputs["UV"], mapping_node.inputs["Vector"])
|
|
||||||
links.new(mapping_node.outputs["Vector"], checker_node.inputs["Vector"])
|
|
||||||
links.new(checker_node.outputs["Color"], bsdf_node.inputs["Base Color"])
|
|
||||||
links.new(bsdf_node.outputs["BSDF"], output_node.inputs["Surface"])
|
|
||||||
floor.data.materials.append(checker_mat)
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# CAMERA
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
cam_data = bpy.data.cameras.new("Camera")
|
|
||||||
cam_obj = bpy.data.objects.new("Camera", cam_data)
|
|
||||||
bpy.context.collection.objects.link(cam_obj)
|
|
||||||
|
|
||||||
cam_pos = resolve_vec3_m(rendering_info.get("cameraPosition", [-400, -700, 300]), state)
|
|
||||||
cam_target = resolve_vec3_m(rendering_info.get("cameraTarget", [0, 0, 0]), state)
|
|
||||||
cam_obj.location = cam_pos
|
|
||||||
cam_data.lens = 50
|
|
||||||
cam_vec = mathutils.Vector(cam_target) - mathutils.Vector(cam_pos)
|
|
||||||
if cam_vec.length == 0:
|
|
||||||
cam_vec = mathutils.Vector((1, 0, 0))
|
|
||||||
cam_obj.rotation_euler = cam_vec.to_track_quat("-Z", "Y").to_euler()
|
|
||||||
scene.camera = cam_obj
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# LIGHTS
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
sun_data = bpy.data.lights.new(name="Sun", type="SUN")
|
|
||||||
sun_obj = bpy.data.objects.new(name="Sun", object_data=sun_data)
|
|
||||||
bpy.context.collection.objects.link(sun_obj)
|
|
||||||
sun_pos = resolve_vec3_m(rendering_info.get("lightPosition", [-500, -500, 500]), state)
|
|
||||||
light_target = resolve_vec3_m(rendering_info.get("lightTarget", [0, 0, 0]), state)
|
|
||||||
sun_obj.location = sun_pos
|
|
||||||
light_vec = mathutils.Vector(light_target) - mathutils.Vector(sun_pos)
|
|
||||||
if light_vec.length == 0:
|
|
||||||
light_vec = mathutils.Vector((1, 0, -1))
|
|
||||||
sun_obj.rotation_euler = light_vec.to_track_quat("-Z", "Y").to_euler()
|
|
||||||
sun_data.energy = float(rendering_info.get("sunEnergy", 0.35))
|
|
||||||
|
|
||||||
area_data = bpy.data.lights.new(name="AreaLight", type="AREA")
|
|
||||||
area_obj = bpy.data.objects.new(name="AreaLight", object_data=area_data)
|
|
||||||
bpy.context.collection.objects.link(area_obj)
|
|
||||||
area_obj.location = (mm_to_m(-800), mm_to_m(-1200), mm_to_m(1500))
|
|
||||||
area_obj.rotation_euler = (math.radians(60), 0.0, math.radians(-20))
|
|
||||||
area_data.energy = float(rendering_info.get("areaEnergy", 120))
|
|
||||||
area_data.size = 2.0
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# ROBOT HIERARCHY
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
link_frames: Dict[str, bpy.types.Object] = {}
|
|
||||||
|
|
||||||
for link_name in links_def.keys():
|
|
||||||
link_frames[link_name] = create_empty(f"{link_name}_frame")
|
|
||||||
|
|
||||||
for link_name, link_info in links_def.items():
|
|
||||||
parent_name = link_info.get("parent")
|
|
||||||
parent_frame = link_frames.get(parent_name) if parent_name else None
|
|
||||||
size_mm = link_info.get("size", [100, 100, 100])
|
|
||||||
|
|
||||||
mount = create_empty(f"{link_name}_mount")
|
|
||||||
safe_parent(mount, parent_frame)
|
|
||||||
mount.location = resolve_vec3_m(link_info.get("mountPosition", [0, 0, 0]), state)
|
|
||||||
mount.rotation_euler = euler_deg_xyz(link_info.get("mountRotation", [0, 0, 0]))
|
|
||||||
|
|
||||||
joint_info = link_info.get("jointToParent", {}) or {}
|
|
||||||
joint = create_empty(f"{link_name}_joint")
|
|
||||||
safe_parent(joint, mount)
|
|
||||||
joint.location = resolve_vec3_m(joint_info.get("origin", [0, 0, 0]), state)
|
|
||||||
joint.rotation_euler = euler_deg_xyz(joint_info.get("rotation", [0, 0, 0]))
|
|
||||||
|
|
||||||
motion = create_empty(f"{link_name}_motion")
|
|
||||||
safe_parent(motion, joint)
|
|
||||||
|
|
||||||
joint_type = str(joint_info.get("type", "fixed")).lower()
|
|
||||||
control_var = str(joint_info.get("variable", joint_info.get("control", ""))).lower()
|
|
||||||
axis = joint_info.get("axis", [1, 0, 0])
|
|
||||||
|
|
||||||
if joint_type == "linear":
|
|
||||||
value_mm = state.get(control_var, 0.0) if control_var else 0.0
|
|
||||||
motion.location = normalize_axis(axis) * mm_to_m(value_mm)
|
|
||||||
elif joint_type == "revolute":
|
|
||||||
value_deg = state.get(control_var, 0.0) if control_var else 0.0
|
|
||||||
motion.rotation_mode = "QUATERNION"
|
|
||||||
motion.rotation_quaternion = mathutils.Quaternion(normalize_axis(axis), math.radians(value_deg))
|
|
||||||
|
|
||||||
link_frame = link_frames[link_name]
|
|
||||||
safe_parent(link_frame, motion)
|
|
||||||
|
|
||||||
# --------------------------------------------------------
|
|
||||||
# VISUAL MESHES
|
|
||||||
# --------------------------------------------------------
|
|
||||||
|
|
||||||
visual_root = create_empty(f"{link_name}_visual")
|
|
||||||
safe_parent(visual_root, link_frame)
|
|
||||||
|
|
||||||
model_list = link_info.get("model", [])
|
|
||||||
if not isinstance(model_list, list):
|
|
||||||
model_list = []
|
|
||||||
|
|
||||||
for idx, model_def in enumerate(model_list):
|
|
||||||
stl_file = model_def.get("stlFile")
|
|
||||||
if not stl_file:
|
|
||||||
continue
|
|
||||||
|
|
||||||
stl_path = resolve_stl_path(stl_file)
|
|
||||||
imported = import_stl(str(stl_path))
|
|
||||||
|
|
||||||
model_node = create_empty(f"{link_name}_model_{idx}")
|
|
||||||
safe_parent(model_node, visual_root)
|
|
||||||
model_node.location = resolve_vec3_m(model_def.get("originOfModel", [0, 0, 0]), state)
|
|
||||||
model_node.rotation_euler = euler_deg_xyz(model_def.get("rotationOfModelDegree", [0, 0, 0]))
|
|
||||||
|
|
||||||
material_name = model_def.get("material", "defaultPlastic")
|
|
||||||
material = create_or_get_material(material_name)
|
|
||||||
|
|
||||||
for obj in imported:
|
|
||||||
if obj.type != "MESH":
|
|
||||||
continue
|
|
||||||
safe_parent(obj, model_node)
|
|
||||||
obj.scale = (scale_factor, scale_factor, scale_factor)
|
|
||||||
if len(obj.data.materials) == 0:
|
|
||||||
obj.data.materials.append(material)
|
|
||||||
else:
|
|
||||||
obj.data.materials[0] = material
|
|
||||||
|
|
||||||
# --------------------------------------------------------
|
|
||||||
# SKELETON DEBUG
|
|
||||||
# --------------------------------------------------------
|
|
||||||
|
|
||||||
if show_skeleton:
|
|
||||||
skeleton_spec = link_info.get("skeleton")
|
|
||||||
if not isinstance(skeleton_spec, dict):
|
|
||||||
skeleton_spec = derive_default_skeleton_from_size(size_mm)
|
|
||||||
|
|
||||||
p1_mm = skeleton_spec.get("from", [0, 0, 0])
|
|
||||||
p2_mm = skeleton_spec.get("to", [0, 0, 0])
|
|
||||||
p1 = resolve_vec3_m(p1_mm, state)
|
|
||||||
p2 = resolve_vec3_m(p2_mm, state)
|
|
||||||
|
|
||||||
sk_radius_mm = float(skeleton_spec.get("radius", rendering_info.get("skeletonDefaults", {}).get("radius", 4)))
|
|
||||||
sk_color = skeleton_spec.get("color", rendering_info.get("skeletonDefaults", {}).get("color", [0.85, 0.20, 0.20]))
|
|
||||||
sk_mat = create_material_segment(f"{link_name}_skeletonMat", tuple(sk_color[:3]))
|
|
||||||
|
|
||||||
create_cylinder_between(
|
|
||||||
f"{link_name}_skeleton",
|
|
||||||
p1,
|
|
||||||
p2,
|
|
||||||
mm_to_m(sk_radius_mm),
|
|
||||||
link_frame,
|
|
||||||
sk_mat
|
|
||||||
)
|
|
||||||
|
|
||||||
# --------------------------------------------------------
|
|
||||||
# MARKERS
|
|
||||||
# --------------------------------------------------------
|
|
||||||
|
|
||||||
if show_markers:
|
|
||||||
marker_defaults = rendering_info.get("markerDefaults", {}) or {}
|
|
||||||
marker_mat = create_or_get_material("markerBlack")
|
|
||||||
|
|
||||||
for m in link_info.get("markers", []):
|
|
||||||
if not isinstance(m, dict):
|
|
||||||
continue
|
|
||||||
|
|
||||||
marker_name = m.get("name", f"{link_name}_marker_{m.get('id', 'x')}")
|
|
||||||
marker_size_mm = float(m.get("size", marker_defaults.get("size", 25)))
|
|
||||||
marker_pos = resolve_vec3_m(m.get("position", [0, 0, 0]), state)
|
|
||||||
marker_rot = euler_deg_xyz(m.get("rotation", [0, 0, 0]))
|
|
||||||
|
|
||||||
bpy.ops.mesh.primitive_plane_add(size=mm_to_m(marker_size_mm))
|
|
||||||
marker_obj = bpy.context.active_object
|
|
||||||
marker_obj.name = marker_name
|
|
||||||
safe_parent(marker_obj, link_frame)
|
|
||||||
marker_obj.location = marker_pos
|
|
||||||
marker_obj.rotation_euler = marker_rot
|
|
||||||
if len(marker_obj.data.materials) == 0:
|
|
||||||
marker_obj.data.materials.append(marker_mat)
|
|
||||||
else:
|
|
||||||
marker_obj.data.materials[0] = marker_mat
|
|
||||||
# ============================================================
|
|
||||||
# DEBUG WORLD AXES
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
def create_axis_arrow(
|
|
||||||
name,
|
|
||||||
direction,
|
|
||||||
color,
|
|
||||||
length_mm=200,
|
|
||||||
radius_mm=2,
|
|
||||||
cone_radius_mm=5,
|
|
||||||
cone_length_mm=20
|
|
||||||
):
|
|
||||||
length = mm_to_m(length_mm)
|
|
||||||
radius = mm_to_m(radius_mm)
|
|
||||||
cone_radius = mm_to_m(cone_radius_mm)
|
|
||||||
cone_length = mm_to_m(cone_length_mm)
|
|
||||||
|
|
||||||
dir_vec = mathutils.Vector(direction).normalized()
|
|
||||||
|
|
||||||
# --------------------------------------------------------
|
|
||||||
# CYLINDER
|
|
||||||
# --------------------------------------------------------
|
|
||||||
|
|
||||||
bpy.ops.mesh.primitive_cylinder_add(
|
|
||||||
radius=radius,
|
|
||||||
depth=length - cone_length
|
|
||||||
)
|
|
||||||
|
|
||||||
cyl = bpy.context.active_object
|
|
||||||
cyl.name = f"{name}_shaft"
|
|
||||||
|
|
||||||
# Blender cylinder points along Z by default
|
|
||||||
cyl.rotation_mode = 'QUATERNION'
|
|
||||||
cyl.rotation_quaternion = (
|
|
||||||
mathutils.Vector((0, 0, 1))
|
|
||||||
.rotation_difference(dir_vec)
|
|
||||||
)
|
|
||||||
|
|
||||||
cyl.location = dir_vec * ((length - cone_length) * 0.5)
|
|
||||||
|
|
||||||
# --------------------------------------------------------
|
|
||||||
# CONE
|
|
||||||
# --------------------------------------------------------
|
|
||||||
|
|
||||||
bpy.ops.mesh.primitive_cone_add(
|
|
||||||
radius1=cone_radius,
|
|
||||||
depth=cone_length
|
|
||||||
)
|
|
||||||
|
|
||||||
cone = bpy.context.active_object
|
|
||||||
cone.name = f"{name}_tip"
|
|
||||||
|
|
||||||
cone.rotation_mode = 'QUATERNION'
|
|
||||||
cone.rotation_quaternion = (
|
|
||||||
mathutils.Vector((0, 0, 1))
|
|
||||||
.rotation_difference(dir_vec)
|
|
||||||
)
|
|
||||||
|
|
||||||
cone.location = dir_vec * (length - cone_length * 0.5)
|
|
||||||
|
|
||||||
# --------------------------------------------------------
|
|
||||||
# MATERIAL
|
|
||||||
# --------------------------------------------------------
|
|
||||||
|
|
||||||
mat = bpy.data.materials.new(name=f"{name}_material")
|
|
||||||
mat.use_nodes = True
|
|
||||||
|
|
||||||
bsdf = mat.node_tree.nodes["Principled BSDF"]
|
|
||||||
|
|
||||||
bsdf.inputs["Base Color"].default_value = (
|
|
||||||
color[0],
|
|
||||||
color[1],
|
|
||||||
color[2],
|
|
||||||
1.0
|
|
||||||
)
|
|
||||||
|
|
||||||
bsdf.inputs["Roughness"].default_value = 0.3
|
|
||||||
bsdf.inputs["Metallic"].default_value = 0.0
|
|
||||||
|
|
||||||
cyl.data.materials.append(mat)
|
|
||||||
cone.data.materials.append(mat)
|
|
||||||
|
|
||||||
|
|
||||||
# ------------------------------------------------------------
|
|
||||||
# CREATE XYZ AXES
|
|
||||||
# ------------------------------------------------------------
|
|
||||||
|
|
||||||
# X = red
|
|
||||||
create_axis_arrow(
|
|
||||||
"AxisX",
|
|
||||||
(1, 0, 0),
|
|
||||||
(1, 0, 0)
|
|
||||||
)
|
|
||||||
|
|
||||||
# Y = green
|
|
||||||
create_axis_arrow(
|
|
||||||
"AxisY",
|
|
||||||
(0, 1, 0),
|
|
||||||
(0, 1, 0)
|
|
||||||
)
|
|
||||||
|
|
||||||
# Z = blue
|
|
||||||
create_axis_arrow(
|
|
||||||
"AxisZ",
|
|
||||||
(0, 0, 1),
|
|
||||||
(0, 0, 1)
|
|
||||||
)
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# RENDER
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
bpy.ops.render.render(write_still=True)
|
|
||||||
print("Finished rendering:", OUTPUT_FILE)
|
|
||||||
@@ -1,561 +0,0 @@
|
|||||||
import bpy
|
|
||||||
import math
|
|
||||||
import mathutils
|
|
||||||
import json
|
|
||||||
from pathlib import Path
|
|
||||||
from typing import Any, Dict, Iterable, List, Optional, Tuple
|
|
||||||
from mathutils import Matrix
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# PATHS
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
ROBOT_JSON_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\robot.json"
|
|
||||||
OUTPUT_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\render.png"
|
|
||||||
RENDER_WIDTH = 1200
|
|
||||||
RENDER_HEIGHT = 800
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# DEFAULT MATERIALS
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
DEFAULT_MATERIALS = {
|
|
||||||
"wood": {"baseColor": (0.72, 0.52, 0.33, 1.0), "roughness": 0.85, "metallic": 0.0},
|
|
||||||
"plaWhite": {"baseColor": (0.95, 0.95, 0.95, 1.0), "roughness": 0.45, "metallic": 0.0},
|
|
||||||
"steel": {"baseColor": (0.72, 0.72, 0.75, 1.0), "roughness": 0.25, "metallic": 1.0},
|
|
||||||
"powderCoatBlue": {"baseColor": (0.15, 0.25, 0.70, 1.0), "roughness": 0.55, "metallic": 0.0},
|
|
||||||
"defaultPlastic": {"baseColor": (0.95, 0.95, 0.95, 1.0), "roughness": 0.40, "metallic": 0.0},
|
|
||||||
"skeletonRed": {"baseColor": (0.85, 0.20, 0.20, 1.0), "roughness": 0.35, "metallic": 0.0},
|
|
||||||
"markerBlack": {"baseColor": (0.04, 0.04, 0.04, 1.0), "roughness": 0.80, "metallic": 0.0},
|
|
||||||
}
|
|
||||||
|
|
||||||
STATE_KEYS = ["x", "y", "z", "a", "b", "c", "e"]
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# JSON LOADING
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
with open(ROBOT_JSON_FILE, "r", encoding="utf-8") as f:
|
|
||||||
robot: Dict[str, Any] = json.load(f)
|
|
||||||
|
|
||||||
rendering_info = robot.get("renderingInfo", {})
|
|
||||||
metric = rendering_info.get("metric", "mm")
|
|
||||||
scale_factor = 0.001 if metric == "mm" else 1.0
|
|
||||||
|
|
||||||
def as_bool(value: Any, default: bool = False) -> bool:
|
|
||||||
if value is None:
|
|
||||||
return default
|
|
||||||
if isinstance(value, bool):
|
|
||||||
return value
|
|
||||||
if isinstance(value, str):
|
|
||||||
return value.strip().lower() in ("1", "true", "yes", "on")
|
|
||||||
return bool(value)
|
|
||||||
|
|
||||||
show_skeleton = as_bool(rendering_info.get("showSkeleton", False))
|
|
||||||
show_markers = as_bool(rendering_info.get("showMarkers", False))
|
|
||||||
|
|
||||||
state: Dict[str, float] = {k: 0.0 for k in STATE_KEYS}
|
|
||||||
for source_name in ("defaultPosition", "recognized", "movements"):
|
|
||||||
source = robot.get(source_name, {}) or {}
|
|
||||||
for k in STATE_KEYS:
|
|
||||||
v = source.get(k, None)
|
|
||||||
if v is not None:
|
|
||||||
try:
|
|
||||||
state[k] = float(v)
|
|
||||||
except Exception:
|
|
||||||
pass
|
|
||||||
|
|
||||||
links_def = robot.get("links", {})
|
|
||||||
if not isinstance(links_def, dict):
|
|
||||||
raise ValueError("robot.json must contain a top-level 'links' object")
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# HELPERS
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
def mm_to_m(value: float) -> float:
|
|
||||||
return value * scale_factor
|
|
||||||
|
|
||||||
def resolve_scalar(value: Any, state_map: Dict[str, float]) -> float:
|
|
||||||
if value is None:
|
|
||||||
return 0.0
|
|
||||||
if isinstance(value, (int, float)):
|
|
||||||
return float(value)
|
|
||||||
if isinstance(value, str):
|
|
||||||
key = value.strip().lower()
|
|
||||||
if key in state_map:
|
|
||||||
return float(state_map[key])
|
|
||||||
try:
|
|
||||||
return float(key)
|
|
||||||
except ValueError:
|
|
||||||
return 0.0
|
|
||||||
return 0.0
|
|
||||||
|
|
||||||
def resolve_vector(value: Any, state_map: Dict[str, float], default_len: int = 3) -> Tuple[float, ...]:
|
|
||||||
if value is None:
|
|
||||||
return tuple(0.0 for _ in range(default_len))
|
|
||||||
if isinstance(value, (int, float, str)):
|
|
||||||
return (resolve_scalar(value, state_map),)
|
|
||||||
if isinstance(value, (list, tuple)):
|
|
||||||
resolved = [resolve_scalar(v, state_map) for v in value]
|
|
||||||
if len(resolved) < default_len:
|
|
||||||
resolved.extend([0.0] * (default_len - len(resolved)))
|
|
||||||
return tuple(resolved[:default_len])
|
|
||||||
return tuple(0.0 for _ in range(default_len))
|
|
||||||
|
|
||||||
def resolve_vec3_m(value: Any, state_map: Dict[str, float]) -> Tuple[float, float, float]:
|
|
||||||
vec = list(resolve_vector(value, state_map, default_len=3))
|
|
||||||
while len(vec) < 3:
|
|
||||||
vec.append(0.0)
|
|
||||||
x, y, z = vec[:3]
|
|
||||||
return mm_to_m(x), mm_to_m(y), mm_to_m(z)
|
|
||||||
|
|
||||||
def normalize_axis(axis: Iterable[Any]) -> mathutils.Vector:
|
|
||||||
ax = mathutils.Vector((float(axis[0]), float(axis[1]), float(axis[2])))
|
|
||||||
return ax.normalized() if ax.length > 0 else mathutils.Vector((1.0, 0.0, 0.0))
|
|
||||||
|
|
||||||
def euler_deg_xyz(values: Any) -> Tuple[float, float, float]:
|
|
||||||
vec = list(resolve_vector(values, state, default_len=3))
|
|
||||||
while len(vec) < 3:
|
|
||||||
vec.append(0.0)
|
|
||||||
return math.radians(vec[0]), math.radians(vec[1]), math.radians(vec[2])
|
|
||||||
|
|
||||||
def create_or_get_material(name: str, fallback: str = "defaultPlastic") -> bpy.types.Material:
|
|
||||||
info = rendering_info.get("materials", {}) or {}
|
|
||||||
spec = None
|
|
||||||
|
|
||||||
if isinstance(info, dict):
|
|
||||||
spec = info.get(name)
|
|
||||||
|
|
||||||
if isinstance(spec, dict):
|
|
||||||
base = DEFAULT_MATERIALS.get(name, DEFAULT_MATERIALS[fallback]).copy()
|
|
||||||
if "baseColor" in spec:
|
|
||||||
color = tuple(spec["baseColor"])
|
|
||||||
base["baseColor"] = (*color[:3], 1.0) if len(color) == 3 else tuple(color[:4])
|
|
||||||
if "roughness" in spec:
|
|
||||||
base["roughness"] = float(spec["roughness"])
|
|
||||||
if "metallic" in spec:
|
|
||||||
base["metallic"] = float(spec["metallic"])
|
|
||||||
spec = base
|
|
||||||
else:
|
|
||||||
spec = DEFAULT_MATERIALS.get(name, DEFAULT_MATERIALS[fallback])
|
|
||||||
|
|
||||||
if name in bpy.data.materials:
|
|
||||||
mat = bpy.data.materials[name]
|
|
||||||
else:
|
|
||||||
mat = bpy.data.materials.new(name=name)
|
|
||||||
|
|
||||||
mat.use_nodes = True
|
|
||||||
bsdf = mat.node_tree.nodes.get("Principled BSDF")
|
|
||||||
if bsdf is not None:
|
|
||||||
bsdf.inputs["Base Color"].default_value = spec["baseColor"]
|
|
||||||
bsdf.inputs["Roughness"].default_value = spec["roughness"]
|
|
||||||
bsdf.inputs["Metallic"].default_value = spec["metallic"]
|
|
||||||
return mat
|
|
||||||
|
|
||||||
def import_stl(filepath: str) -> List[bpy.types.Object]:
|
|
||||||
path = Path(filepath).resolve()
|
|
||||||
if not path.exists():
|
|
||||||
raise FileNotFoundError(f"STL file not found:\n{path}")
|
|
||||||
|
|
||||||
before = set(bpy.data.objects)
|
|
||||||
bpy.ops.wm.stl_import(filepath=str(path))
|
|
||||||
after = [obj for obj in bpy.data.objects if obj not in before]
|
|
||||||
return after
|
|
||||||
|
|
||||||
def create_empty(name: str) -> bpy.types.Object:
|
|
||||||
empty = bpy.data.objects.new(name, None)
|
|
||||||
bpy.context.collection.objects.link(empty)
|
|
||||||
return empty
|
|
||||||
|
|
||||||
def safe_parent(child: bpy.types.Object, parent: Optional[bpy.types.Object], keep_world: bool = False):
|
|
||||||
if parent is None:
|
|
||||||
return
|
|
||||||
world_matrix = child.matrix_world.copy()
|
|
||||||
child.parent = parent
|
|
||||||
if keep_world:
|
|
||||||
child.matrix_parent_inverse = parent.matrix_world.inverted()
|
|
||||||
child.matrix_world = world_matrix
|
|
||||||
else:
|
|
||||||
child.matrix_parent_inverse = Matrix.Identity(4)
|
|
||||||
|
|
||||||
def create_material_segment(name: str, color: Tuple[float, float, float], roughness: float = 0.35) -> bpy.types.Material:
|
|
||||||
if name in bpy.data.materials:
|
|
||||||
mat = bpy.data.materials[name]
|
|
||||||
else:
|
|
||||||
mat = bpy.data.materials.new(name=name)
|
|
||||||
mat.use_nodes = True
|
|
||||||
bsdf = mat.node_tree.nodes.get("Principled BSDF")
|
|
||||||
if bsdf is not None:
|
|
||||||
bsdf.inputs["Base Color"].default_value = (color[0], color[1], color[2], 1.0)
|
|
||||||
bsdf.inputs["Roughness"].default_value = roughness
|
|
||||||
bsdf.inputs["Metallic"].default_value = 0.0
|
|
||||||
return mat
|
|
||||||
|
|
||||||
def create_cylinder_between(
|
|
||||||
name: str,
|
|
||||||
p1_local: Tuple[float, float, float],
|
|
||||||
p2_local: Tuple[float, float, float],
|
|
||||||
radius_m: float,
|
|
||||||
parent: bpy.types.Object,
|
|
||||||
material: bpy.types.Material
|
|
||||||
) -> bpy.types.Object:
|
|
||||||
v1 = mathutils.Vector(p1_local)
|
|
||||||
v2 = mathutils.Vector(p2_local)
|
|
||||||
delta = v2 - v1
|
|
||||||
length = delta.length
|
|
||||||
if length <= 1e-9:
|
|
||||||
length = 1e-6
|
|
||||||
delta = mathutils.Vector((0.0, 0.0, 1e-6))
|
|
||||||
|
|
||||||
bpy.ops.mesh.primitive_cylinder_add(radius=radius_m, depth=length)
|
|
||||||
obj = bpy.context.active_object
|
|
||||||
obj.name = name
|
|
||||||
safe_parent(obj, parent, keep_world=False)
|
|
||||||
obj.location = (v1 + v2) * 0.5
|
|
||||||
obj.rotation_mode = "QUATERNION"
|
|
||||||
obj.rotation_quaternion = mathutils.Vector((0, 0, 1)).rotation_difference(delta.normalized())
|
|
||||||
if len(obj.data.materials) == 0:
|
|
||||||
obj.data.materials.append(material)
|
|
||||||
else:
|
|
||||||
obj.data.materials[0] = material
|
|
||||||
return obj
|
|
||||||
|
|
||||||
def derive_default_skeleton_from_size(size_mm: List[float]) -> Dict[str, Any]:
|
|
||||||
sx, sy, sz = (float(size_mm[0]), float(size_mm[1]), float(size_mm[2]))
|
|
||||||
ax = max((abs(sx), 0), (abs(sy), 1), (abs(sz), 2), key=lambda x: x[0])[1]
|
|
||||||
|
|
||||||
if ax == 0:
|
|
||||||
return {"from": [0, sy * 0.5, sz * 0.5], "to": [sx, sy * 0.5, sz * 0.5]}
|
|
||||||
if ax == 1:
|
|
||||||
return {"from": [sx * 0.5, 0, sz * 0.5], "to": [sx * 0.5, sy, sz * 0.5]}
|
|
||||||
return {"from": [sx * 0.5, sy * 0.5, 0], "to": [sx * 0.5, sy * 0.5, sz]}
|
|
||||||
|
|
||||||
def resolve_stl_path(stl_file: str) -> Path:
|
|
||||||
base_dir = Path(ROBOT_JSON_FILE).parent
|
|
||||||
candidates = [
|
|
||||||
base_dir / stl_file,
|
|
||||||
base_dir / "surfaces" / stl_file,
|
|
||||||
Path(stl_file),
|
|
||||||
]
|
|
||||||
for c in candidates:
|
|
||||||
p = c.resolve()
|
|
||||||
if p.exists():
|
|
||||||
return p
|
|
||||||
raise FileNotFoundError(
|
|
||||||
"STL file not found in any expected location:\n" +
|
|
||||||
"\n".join(str(c.resolve()) for c in candidates)
|
|
||||||
)
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# SCENE RESET
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
bpy.ops.object.select_all(action="SELECT")
|
|
||||||
bpy.ops.object.delete(use_global=False)
|
|
||||||
|
|
||||||
scene = bpy.context.scene
|
|
||||||
scene.unit_settings.system = "METRIC"
|
|
||||||
scene.unit_settings.length_unit = "MILLIMETERS"
|
|
||||||
scene.unit_settings.scale_length = scale_factor
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# WORLD / RENDER SETTINGS
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
world = scene.world or bpy.data.worlds.new("World")
|
|
||||||
scene.world = world
|
|
||||||
world.use_nodes = True
|
|
||||||
bg = world.node_tree.nodes["Background"]
|
|
||||||
bg.inputs[0].default_value = tuple(rendering_info.get("backgroundColor", [0.70, 0.85, 1.0])) + (1.0,)
|
|
||||||
bg.inputs[1].default_value = float(rendering_info.get("backgroundStrength", 0.20))
|
|
||||||
|
|
||||||
scene.render.engine = "CYCLES"
|
|
||||||
scene.view_settings.exposure = float(rendering_info.get("exposure", -1.5))
|
|
||||||
scene.cycles.samples = 16
|
|
||||||
scene.cycles.preview_samples = 32
|
|
||||||
scene.render.resolution_x = RENDER_WIDTH
|
|
||||||
scene.render.resolution_y = RENDER_HEIGHT
|
|
||||||
scene.render.resolution_percentage = 100
|
|
||||||
scene.render.image_settings.file_format = "PNG"
|
|
||||||
scene.render.filepath = OUTPUT_FILE
|
|
||||||
scene.render.film_transparent = False
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# FLOOR
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
bpy.ops.mesh.primitive_plane_add(size=2.0, location=(0, 0, mm_to_m(-28.0)))
|
|
||||||
floor = bpy.context.active_object
|
|
||||||
checker_mat = bpy.data.materials.new(name="Checkerboard")
|
|
||||||
checker_mat.use_nodes = True
|
|
||||||
nodes = checker_mat.node_tree.nodes
|
|
||||||
links = checker_mat.node_tree.links
|
|
||||||
nodes.clear()
|
|
||||||
|
|
||||||
output_node = nodes.new(type="ShaderNodeOutputMaterial")
|
|
||||||
bsdf_node = nodes.new(type="ShaderNodeBsdfPrincipled")
|
|
||||||
checker_node = nodes.new(type="ShaderNodeTexChecker")
|
|
||||||
mapping_node = nodes.new(type="ShaderNodeMapping")
|
|
||||||
texcoord_node = nodes.new(type="ShaderNodeTexCoord")
|
|
||||||
|
|
||||||
checker_node.inputs["Color1"].default_value = (0.82, 0.82, 0.82, 1.0)
|
|
||||||
checker_node.inputs["Color2"].default_value = (0.18, 0.18, 0.18, 1.0)
|
|
||||||
mapping_node.inputs["Scale"].default_value = (20.0, 20.0, 20.0)
|
|
||||||
|
|
||||||
links.new(texcoord_node.outputs["UV"], mapping_node.inputs["Vector"])
|
|
||||||
links.new(mapping_node.outputs["Vector"], checker_node.inputs["Vector"])
|
|
||||||
links.new(checker_node.outputs["Color"], bsdf_node.inputs["Base Color"])
|
|
||||||
links.new(bsdf_node.outputs["BSDF"], output_node.inputs["Surface"])
|
|
||||||
floor.data.materials.append(checker_mat)
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# CAMERA
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
cam_data = bpy.data.cameras.new("Camera")
|
|
||||||
cam_obj = bpy.data.objects.new("Camera", cam_data)
|
|
||||||
bpy.context.collection.objects.link(cam_obj)
|
|
||||||
|
|
||||||
cam_pos = resolve_vec3_m(rendering_info.get("cameraPosition", [-400, -700, 300]), state)
|
|
||||||
cam_target = resolve_vec3_m(rendering_info.get("cameraTarget", [0, 0, 0]), state)
|
|
||||||
cam_obj.location = cam_pos
|
|
||||||
cam_data.lens = 50
|
|
||||||
cam_vec = mathutils.Vector(cam_target) - mathutils.Vector(cam_pos)
|
|
||||||
if cam_vec.length == 0:
|
|
||||||
cam_vec = mathutils.Vector((1, 0, 0))
|
|
||||||
cam_obj.rotation_euler = cam_vec.to_track_quat("-Z", "Y").to_euler()
|
|
||||||
scene.camera = cam_obj
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# LIGHTS
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
sun_data = bpy.data.lights.new(name="Sun", type="SUN")
|
|
||||||
sun_obj = bpy.data.objects.new(name="Sun", object_data=sun_data)
|
|
||||||
bpy.context.collection.objects.link(sun_obj)
|
|
||||||
sun_pos = resolve_vec3_m(rendering_info.get("lightPosition", [-500, -500, 500]), state)
|
|
||||||
light_target = resolve_vec3_m(rendering_info.get("lightTarget", [0, 0, 0]), state)
|
|
||||||
sun_obj.location = sun_pos
|
|
||||||
light_vec = mathutils.Vector(light_target) - mathutils.Vector(sun_pos)
|
|
||||||
if light_vec.length == 0:
|
|
||||||
light_vec = mathutils.Vector((1, 0, -1))
|
|
||||||
sun_obj.rotation_euler = light_vec.to_track_quat("-Z", "Y").to_euler()
|
|
||||||
sun_data.energy = float(rendering_info.get("sunEnergy", 0.35))
|
|
||||||
|
|
||||||
area_data = bpy.data.lights.new(name="AreaLight", type="AREA")
|
|
||||||
area_obj = bpy.data.objects.new(name="AreaLight", object_data=area_data)
|
|
||||||
bpy.context.collection.objects.link(area_obj)
|
|
||||||
area_obj.location = (mm_to_m(-800), mm_to_m(-1200), mm_to_m(1500))
|
|
||||||
area_obj.rotation_euler = (math.radians(60), 0.0, math.radians(-20))
|
|
||||||
area_data.energy = float(rendering_info.get("areaEnergy", 120))
|
|
||||||
area_data.size = 2.0
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# ROBOT HIERARCHY
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
link_frames: Dict[str, bpy.types.Object] = {}
|
|
||||||
for link_name in links_def.keys():
|
|
||||||
link_frames[link_name] = create_empty(f"{link_name}_frame")
|
|
||||||
|
|
||||||
for link_name, link_info in links_def.items():
|
|
||||||
parent_name = link_info.get("parent")
|
|
||||||
parent_frame = link_frames.get(parent_name) if parent_name else None
|
|
||||||
size_mm = link_info.get("size", [100, 100, 100])
|
|
||||||
|
|
||||||
# mount: static position/rotation in parent coordinates
|
|
||||||
mount = create_empty(f"{link_name}_mount")
|
|
||||||
safe_parent(mount, parent_frame, keep_world=False)
|
|
||||||
mount.location = resolve_vec3_m(link_info.get("mountPosition", [0, 0, 0]), state)
|
|
||||||
mount.rotation_euler = euler_deg_xyz(link_info.get("mountRotation", [0, 0, 0]))
|
|
||||||
|
|
||||||
# joint: sits inside the mount, defines pivot/orientation
|
|
||||||
joint_info = link_info.get("jointToParent", {}) or {}
|
|
||||||
joint = create_empty(f"{link_name}_joint")
|
|
||||||
safe_parent(joint, mount, keep_world=False)
|
|
||||||
joint.location = resolve_vec3_m(joint_info.get("origin", [0, 0, 0]), state)
|
|
||||||
joint.rotation_euler = euler_deg_xyz(joint_info.get("rotation", [0, 0, 0]))
|
|
||||||
|
|
||||||
# motion: only this node gets the commanded position/angle
|
|
||||||
motion = create_empty(f"{link_name}_motion")
|
|
||||||
safe_parent(motion, joint, keep_world=False)
|
|
||||||
|
|
||||||
joint_type = str(joint_info.get("type", "fixed")).lower()
|
|
||||||
control_var = str(joint_info.get("variable", joint_info.get("control", ""))).lower()
|
|
||||||
axis = joint_info.get("axis", [1, 0, 0])
|
|
||||||
|
|
||||||
if joint_type == "linear":
|
|
||||||
value_mm = state.get(control_var, 0.0) if control_var else 0.0
|
|
||||||
motion.location = normalize_axis(axis) * mm_to_m(value_mm)
|
|
||||||
elif joint_type == "revolute":
|
|
||||||
value_deg = state.get(control_var, 0.0) if control_var else 0.0
|
|
||||||
motion.rotation_mode = "QUATERNION"
|
|
||||||
motion.rotation_quaternion = mathutils.Quaternion(normalize_axis(axis), math.radians(value_deg))
|
|
||||||
|
|
||||||
# link frame: everything belonging to this link follows motion
|
|
||||||
link_frame = link_frames[link_name]
|
|
||||||
safe_parent(link_frame, motion, keep_world=False)
|
|
||||||
|
|
||||||
# --------------------------------------------------------
|
|
||||||
# VISUAL MESHES
|
|
||||||
# --------------------------------------------------------
|
|
||||||
|
|
||||||
visual_root = create_empty(f"{link_name}_visual")
|
|
||||||
safe_parent(visual_root, link_frame, keep_world=False)
|
|
||||||
|
|
||||||
model_list = link_info.get("model", [])
|
|
||||||
if not isinstance(model_list, list):
|
|
||||||
model_list = []
|
|
||||||
|
|
||||||
for idx, model_def in enumerate(model_list):
|
|
||||||
stl_file = model_def.get("stlFile")
|
|
||||||
if not stl_file:
|
|
||||||
continue
|
|
||||||
|
|
||||||
stl_path = resolve_stl_path(stl_file)
|
|
||||||
imported = import_stl(str(stl_path))
|
|
||||||
|
|
||||||
model_node = create_empty(f"{link_name}_model_{idx}")
|
|
||||||
safe_parent(model_node, visual_root, keep_world=False)
|
|
||||||
model_node.location = resolve_vec3_m(model_def.get("originOfModel", [0, 0, 0]), state)
|
|
||||||
model_node.rotation_euler = euler_deg_xyz(model_def.get("rotationOfModelDegree", [0, 0, 0]))
|
|
||||||
|
|
||||||
material_name = model_def.get("material", "defaultPlastic")
|
|
||||||
material = create_or_get_material(material_name)
|
|
||||||
|
|
||||||
for obj in imported:
|
|
||||||
if obj.type != "MESH":
|
|
||||||
continue
|
|
||||||
safe_parent(obj, model_node, keep_world=True)
|
|
||||||
obj.scale = (scale_factor, scale_factor, scale_factor)
|
|
||||||
if len(obj.data.materials) == 0:
|
|
||||||
obj.data.materials.append(material)
|
|
||||||
else:
|
|
||||||
obj.data.materials[0] = material
|
|
||||||
|
|
||||||
# --------------------------------------------------------
|
|
||||||
# SKELETON DEBUG
|
|
||||||
# --------------------------------------------------------
|
|
||||||
|
|
||||||
if show_skeleton:
|
|
||||||
skeleton_spec = link_info.get("skeleton")
|
|
||||||
if not isinstance(skeleton_spec, dict):
|
|
||||||
skeleton_spec = derive_default_skeleton_from_size(size_mm)
|
|
||||||
|
|
||||||
p1_mm = skeleton_spec.get("from", [0, 0, 0])
|
|
||||||
p2_mm = skeleton_spec.get("to", [0, 0, 0])
|
|
||||||
p1 = resolve_vec3_m(p1_mm, state)
|
|
||||||
p2 = resolve_vec3_m(p2_mm, state)
|
|
||||||
|
|
||||||
sk_radius_mm = float(
|
|
||||||
skeleton_spec.get(
|
|
||||||
"radius",
|
|
||||||
rendering_info.get("skeletonDefaults", {}).get("radius", 4)
|
|
||||||
)
|
|
||||||
)
|
|
||||||
sk_color = skeleton_spec.get(
|
|
||||||
"color",
|
|
||||||
rendering_info.get("skeletonDefaults", {}).get("color", [0.85, 0.20, 0.20])
|
|
||||||
)
|
|
||||||
sk_mat = create_material_segment(f"{link_name}_skeletonMat", tuple(sk_color[:3]))
|
|
||||||
|
|
||||||
create_cylinder_between(
|
|
||||||
f"{link_name}_skeleton",
|
|
||||||
p1,
|
|
||||||
p2,
|
|
||||||
mm_to_m(sk_radius_mm),
|
|
||||||
link_frame,
|
|
||||||
sk_mat
|
|
||||||
)
|
|
||||||
|
|
||||||
# --------------------------------------------------------
|
|
||||||
# MARKERS
|
|
||||||
# --------------------------------------------------------
|
|
||||||
|
|
||||||
if show_markers:
|
|
||||||
marker_defaults = rendering_info.get("markerDefaults", {}) or {}
|
|
||||||
marker_mat = create_or_get_material("markerBlack")
|
|
||||||
|
|
||||||
for m in link_info.get("markers", []):
|
|
||||||
if not isinstance(m, dict):
|
|
||||||
continue
|
|
||||||
|
|
||||||
marker_name = m.get("name", f"{link_name}_marker_{m.get('id', 'x')}")
|
|
||||||
marker_size_mm = float(m.get("size", marker_defaults.get("size", 25)))
|
|
||||||
marker_pos = resolve_vec3_m(m.get("position", [0, 0, 0]), state)
|
|
||||||
marker_rot = euler_deg_xyz(m.get("rotation", [0, 0, 0]))
|
|
||||||
|
|
||||||
bpy.ops.mesh.primitive_plane_add(size=mm_to_m(marker_size_mm))
|
|
||||||
marker_obj = bpy.context.active_object
|
|
||||||
marker_obj.name = marker_name
|
|
||||||
safe_parent(marker_obj, link_frame, keep_world=False)
|
|
||||||
marker_obj.location = marker_pos
|
|
||||||
marker_obj.rotation_euler = marker_rot
|
|
||||||
if len(marker_obj.data.materials) == 0:
|
|
||||||
marker_obj.data.materials.append(marker_mat)
|
|
||||||
else:
|
|
||||||
marker_obj.data.materials[0] = marker_mat
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# DEBUG WORLD AXES
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
def create_axis_arrow(
|
|
||||||
name,
|
|
||||||
direction,
|
|
||||||
color,
|
|
||||||
length_mm=200,
|
|
||||||
radius_mm=2,
|
|
||||||
cone_radius_mm=5,
|
|
||||||
cone_length_mm=20
|
|
||||||
):
|
|
||||||
length = mm_to_m(length_mm)
|
|
||||||
radius = mm_to_m(radius_mm)
|
|
||||||
cone_radius = mm_to_m(cone_radius_mm)
|
|
||||||
cone_length = mm_to_m(cone_length_mm)
|
|
||||||
|
|
||||||
dir_vec = mathutils.Vector(direction).normalized()
|
|
||||||
|
|
||||||
bpy.ops.mesh.primitive_cylinder_add(
|
|
||||||
radius=radius,
|
|
||||||
depth=length - cone_length
|
|
||||||
)
|
|
||||||
|
|
||||||
cyl = bpy.context.active_object
|
|
||||||
cyl.name = f"{name}_shaft"
|
|
||||||
cyl.rotation_mode = 'QUATERNION'
|
|
||||||
cyl.rotation_quaternion = mathutils.Vector((0, 0, 1)).rotation_difference(dir_vec)
|
|
||||||
cyl.location = dir_vec * ((length - cone_length) * 0.5)
|
|
||||||
|
|
||||||
bpy.ops.mesh.primitive_cone_add(
|
|
||||||
radius1=cone_radius,
|
|
||||||
depth=cone_length
|
|
||||||
)
|
|
||||||
|
|
||||||
cone = bpy.context.active_object
|
|
||||||
cone.name = f"{name}_tip"
|
|
||||||
cone.rotation_mode = 'QUATERNION'
|
|
||||||
cone.rotation_quaternion = mathutils.Vector((0, 0, 1)).rotation_difference(dir_vec)
|
|
||||||
cone.location = dir_vec * (length - cone_length * 0.5)
|
|
||||||
|
|
||||||
mat = bpy.data.materials.new(name=f"{name}_material")
|
|
||||||
mat.use_nodes = True
|
|
||||||
bsdf = mat.node_tree.nodes["Principled BSDF"]
|
|
||||||
bsdf.inputs["Base Color"].default_value = (color[0], color[1], color[2], 1.0)
|
|
||||||
bsdf.inputs["Roughness"].default_value = 0.3
|
|
||||||
bsdf.inputs["Metallic"].default_value = 0.0
|
|
||||||
|
|
||||||
cyl.data.materials.append(mat)
|
|
||||||
cone.data.materials.append(mat)
|
|
||||||
|
|
||||||
create_axis_arrow("AxisX", (1, 0, 0), (1, 0, 0))
|
|
||||||
create_axis_arrow("AxisY", (0, 1, 0), (0, 1, 0))
|
|
||||||
create_axis_arrow("AxisZ", (0, 0, 1), (0, 0, 1))
|
|
||||||
|
|
||||||
# ============================================================
|
|
||||||
# RENDER
|
|
||||||
# ============================================================
|
|
||||||
|
|
||||||
bpy.ops.render.render(write_still=True)
|
|
||||||
print("Finished rendering:", OUTPUT_FILE)
|
|
||||||
BIN
render_v01c.png
BIN
render_v01c.png
Binary file not shown.
|
Before Width: | Height: | Size: 1.4 MiB |
35
robot.json
35
robot.json
@@ -80,8 +80,8 @@
|
|||||||
"defaultPosition": {
|
"defaultPosition": {
|
||||||
"x": 150,
|
"x": 150,
|
||||||
"y": 30,
|
"y": 30,
|
||||||
"z": -30,
|
"z": -40,
|
||||||
"a": 90,
|
"a": 260,
|
||||||
"b": 0,
|
"b": 0,
|
||||||
"c": 0,
|
"c": 0,
|
||||||
"e": 0
|
"e": 0
|
||||||
@@ -320,23 +320,24 @@
|
|||||||
"radius": 4,
|
"radius": 4,
|
||||||
"color": [0.95, 0.85, 0.20]
|
"color": [0.95, 0.85, 0.20]
|
||||||
},
|
},
|
||||||
"markers":[
|
"model": [
|
||||||
{
|
|
||||||
"id": 17,
|
|
||||||
"name": "aruco_17",
|
|
||||||
"position": [0, -150, 0],
|
|
||||||
"normal": [-1, 0, 0],
|
|
||||||
"size": 25,
|
|
||||||
"spin": 0
|
|
||||||
},
|
|
||||||
{
|
{
|
||||||
"id": 18,
|
"stlFile": "surfaces/Unterarm.stl",
|
||||||
"name": "aruco_18",
|
"originOfModel": [0,-250,0],
|
||||||
"position": [0, -180, 0],
|
"rotationOfModelDegree": [180, 0, -90],
|
||||||
"normal": [1, 0, 0],
|
"material": "defaultPlastic"
|
||||||
"size": 25,
|
|
||||||
"spin": 0
|
|
||||||
}
|
}
|
||||||
|
],
|
||||||
|
"markers":[
|
||||||
|
|
||||||
|
{"id":228, "position":[-24.75, -112, 24.75],"normal":[-1,0,1], "relPosSource":["Fusion","Fusion","Fusion"]},
|
||||||
|
{"id": 122, "name": "aruco_122", "position":[-24.75, -182, 24.75],"normal":[-1,0,1], "relPosSource":["Fusion","Fusion","Fusion"]},
|
||||||
|
{"id": 122, "name": "aruco_122", "position":[-35,-112,0], "normal":[-1,0,0], "relPosSource":["Fusion","Fusion","Fusion"]},
|
||||||
|
{"id": 124, "name": "aruco_124", "position":[-35,-219,0], "normal":[-1,0,0], "relPosSource":["Fusion","Fusion","Fusion"]},
|
||||||
|
{"id":223,"name": "aruco_223", "position":[-28.67,-112,-20.08], "normal":[-28.67,0,-20.08], "relPosSource":["Fusion","Fusion","Fusion"]},
|
||||||
|
{"id":218,"name": "aruco_218", "position":[35,-112,0], "normal":[1,0,0], "relPosSource":["Fusion","Fusion","Fusion"]},
|
||||||
|
{"id":219, "name": "aruco_219", "position":[35,-219,0], "normal":[1,0,0], "relPosSource":["Fusion","Fusion","Fusion"]}
|
||||||
|
|
||||||
]
|
]
|
||||||
},
|
},
|
||||||
"Hand": {
|
"Hand": {
|
||||||
|
|||||||
138
robot_v01a.json
138
robot_v01a.json
@@ -1,138 +0,0 @@
|
|||||||
{
|
|
||||||
"vision_config": {
|
|
||||||
"MarkerType": "DICT_4X4_250",
|
|
||||||
"MarkerSize": 0.025
|
|
||||||
},
|
|
||||||
"renderingInfo": {
|
|
||||||
"cameraPosition": [-400, -700, 300],
|
|
||||||
"cameraTarget": [300, 0, 90],
|
|
||||||
"cameraUpVector": [0, 0, 1],
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|
||||||
"lightPosition": [-500, -500, 500],
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|
||||||
"lightTarget": [0, 0, 0],
|
|
||||||
"lightUpVector": [0, 0, 1],
|
|
||||||
"metric": "mm",
|
|
||||||
"showSkeleton": true,
|
|
||||||
"materials": {
|
|
||||||
"wood": {
|
|
||||||
"baseColor": [0.72, 0.52, 0.33],
|
|
||||||
"roughness": 0.85,
|
|
||||||
"metallic": 0.0
|
|
||||||
},
|
|
||||||
"plaWhite": {
|
|
||||||
"baseColor": [0.95, 0.95, 0.95],
|
|
||||||
"roughness": 0.45,
|
|
||||||
"metallic": 0.0
|
|
||||||
},
|
|
||||||
"steel": {
|
|
||||||
"baseColor": [0.72, 0.72, 0.75],
|
|
||||||
"roughness": 0.25,
|
|
||||||
"metallic": 1.0
|
|
||||||
},
|
|
||||||
"powderCoatBlue": {
|
|
||||||
"baseColor": [0.15, 0.25, 0.7],
|
|
||||||
"roughness": 0.55,
|
|
||||||
"metallic": 0.0
|
|
||||||
},
|
|
||||||
"marbleStone": {
|
|
||||||
"baseColor": [0.85, 0.85, 0.87],
|
|
||||||
"roughness": 0.95,
|
|
||||||
"metallic": 0.0
|
|
||||||
},
|
|
||||||
"defaultPlastic": {
|
|
||||||
"baseColor": [0.95, 0.95, 0.95],
|
|
||||||
"roughness": 0.4,
|
|
||||||
"metallic": 0.0
|
|
||||||
}
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"defaultPosition": {
|
|
||||||
"x": 0,
|
|
||||||
"y": 0,
|
|
||||||
"z": 0,
|
|
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"a": 0,
|
|
||||||
"b": 0,
|
|
||||||
"c": 0,
|
|
||||||
"e": 0
|
|
||||||
},
|
|
||||||
"recognized": {
|
|
||||||
"x": null,
|
|
||||||
"y": null,
|
|
||||||
"z": null,
|
|
||||||
"a": null,
|
|
||||||
"b": null,
|
|
||||||
"c": null,
|
|
||||||
"e": null
|
|
||||||
},
|
|
||||||
"movements": {
|
|
||||||
"x": null,
|
|
||||||
"y": null,
|
|
||||||
"z": null,
|
|
||||||
"a": null,
|
|
||||||
"b": null,
|
|
||||||
"c": null,
|
|
||||||
"e": null
|
|
||||||
},
|
|
||||||
"links": {
|
|
||||||
"Board": {
|
|
||||||
"parent": null,
|
|
||||||
"mountPosition": [0, 0, 0],
|
|
||||||
"mountRotation": [0, 0, 0],
|
|
||||||
"model": [
|
|
||||||
{
|
|
||||||
"stlFile": "surfaces/Board.stl",
|
|
||||||
"originOfModel": [0, 0, 0],
|
|
||||||
"rotationOfModelDegree": [0, 0, -90],
|
|
||||||
"material": "wood"
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"stlFile": "surfaces/BoardRail.stl",
|
|
||||||
"originOfModel": [0, 0, 0],
|
|
||||||
"rotationOfModelDegree": [0, 0, -90],
|
|
||||||
"material": "steel"
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"Base": {
|
|
||||||
"parent": "Board",
|
|
||||||
"mountPosition": [0, 0, 0],
|
|
||||||
"mountRotation": [0, 0, 0],
|
|
||||||
"model": [
|
|
||||||
{
|
|
||||||
"stlFile": "surfaces/Base.stl",
|
|
||||||
"originOfModel": [0, 0, 0],
|
|
||||||
"rotationOfModelDegree": [0, 0, 0],
|
|
||||||
"material": "plaWhite"
|
|
||||||
}
|
|
||||||
],
|
|
||||||
"jointToParent": {
|
|
||||||
"name": "Slider",
|
|
||||||
"type": "linear",
|
|
||||||
"axis": [1, 0, 0],
|
|
||||||
"origin": [0, 0, 0],
|
|
||||||
"rotation": [0, 0, 0],
|
|
||||||
"variable": "x"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"Arm1": {
|
|
||||||
"parent": "Base",
|
|
||||||
"mountPosition": [0, 0, 0],
|
|
||||||
"mountRotation": [0, 0, 0],
|
|
||||||
"model": [
|
|
||||||
{
|
|
||||||
"stlFile": "surfaces/Holm.stl",
|
|
||||||
"originOfModel": [0, 0, 0],
|
|
||||||
"rotationOfModelDegree": [0, 0, 0],
|
|
||||||
"material": "powderCoatBlue"
|
|
||||||
}
|
|
||||||
],
|
|
||||||
"jointToParent": {
|
|
||||||
"name": "Joint1",
|
|
||||||
"type": "revolute",
|
|
||||||
"axis": [1, 0, 0],
|
|
||||||
"origin": [0, 0, 0],
|
|
||||||
"rotation": [0, 0, 0],
|
|
||||||
"variable": "a"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
313
robot_v01c.json
313
robot_v01c.json
@@ -1,313 +0,0 @@
|
|||||||
{
|
|
||||||
"coordinateSystem": {
|
|
||||||
"handedness": "right",
|
|
||||||
"x": "right",
|
|
||||||
"y": "backward",
|
|
||||||
"z": "up"
|
|
||||||
},
|
|
||||||
"units": {
|
|
||||||
"length": "mm",
|
|
||||||
"rotation": "degree"
|
|
||||||
},
|
|
||||||
"vision_config": {
|
|
||||||
"MarkerType": "DICT_4X4_250",
|
|
||||||
"MarkerSize": 0.025
|
|
||||||
},
|
|
||||||
"renderingInfo": {
|
|
||||||
"cameraPosition": [-150, -800, 600],
|
|
||||||
"cameraTarget": [200, 0, 60],
|
|
||||||
"cameraUpVector": [0, 0, 1],
|
|
||||||
"lightPosition": [-500, -500, 500],
|
|
||||||
"lightTarget": [0, 0, 0],
|
|
||||||
"lightUpVector": [0, 0, 1],
|
|
||||||
"metric": "mm",
|
|
||||||
"showSkeleton": true,
|
|
||||||
"showMarkers": true,
|
|
||||||
"backgroundColor": [0.70, 0.85, 1.0],
|
|
||||||
"backgroundStrength": 0.20,
|
|
||||||
"sunEnergy": 0.35,
|
|
||||||
"areaEnergy": 120,
|
|
||||||
"exposure": -1.5,
|
|
||||||
"materials": {
|
|
||||||
"wood": {
|
|
||||||
"baseColor": [0.72, 0.52, 0.33],
|
|
||||||
"roughness": 0.85,
|
|
||||||
"metallic": 0.0
|
|
||||||
},
|
|
||||||
"plaWhite": {
|
|
||||||
"baseColor": [0.95, 0.95, 0.95],
|
|
||||||
"roughness": 0.45,
|
|
||||||
"metallic": 0.0
|
|
||||||
},
|
|
||||||
"steel": {
|
|
||||||
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|
|
||||||
"roughness": 0.25,
|
|
||||||
"metallic": 1.0
|
|
||||||
},
|
|
||||||
"powderCoatBlue": {
|
|
||||||
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|
|
||||||
"roughness": 0.55,
|
|
||||||
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|
|
||||||
},
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
"metallic": 0.0
|
|
||||||
},
|
|
||||||
"skeletonRed": {
|
|
||||||
"baseColor": [0.85, 0.20, 0.20],
|
|
||||||
"roughness": 0.35,
|
|
||||||
"metallic": 0.0
|
|
||||||
},
|
|
||||||
"markerBlack": {
|
|
||||||
"baseColor": [0.04, 0.04, 0.04],
|
|
||||||
"roughness": 0.80,
|
|
||||||
"metallic": 0.0
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"skeletonDefaults": {
|
|
||||||
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|
|
||||||
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|
|
||||||
},
|
|
||||||
"markerDefaults": {
|
|
||||||
"size": 25,
|
|
||||||
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|
|
||||||
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|
|
||||||
}
|
|
||||||
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|
|
||||||
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|
|
||||||
"x": 50,
|
|
||||||
"y": 30,
|
|
||||||
"z": -60,
|
|
||||||
"a": 220,
|
|
||||||
"b": 30,
|
|
||||||
"c": 70,
|
|
||||||
"e": 0
|
|
||||||
},
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
},
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
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|
|
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|
|
||||||
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|
|
||||||
"e": null
|
|
||||||
},
|
|
||||||
"links": {
|
|
||||||
"Board": {
|
|
||||||
"parent": null,
|
|
||||||
"size": [1000, 200, 25],
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
"from": [0, 0, 16],
|
|
||||||
"to": [1000, 0, 16],
|
|
||||||
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|
|
||||||
"color": [0.85, 0.20, 0.20]
|
|
||||||
},
|
|
||||||
"markers": [
|
|
||||||
],
|
|
||||||
"model": [
|
|
||||||
{
|
|
||||||
"stlFile": "surfaces/Board.stl",
|
|
||||||
"originOfModel": [0, 0, 0],
|
|
||||||
"rotationOfModelDegree": [0, 0, -90],
|
|
||||||
"material": "wood"
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"stlFile": "surfaces/BoardRail.stl",
|
|
||||||
"originOfModel": [0, 0, 0],
|
|
||||||
"rotationOfModelDegree": [0, 0, -90],
|
|
||||||
"material": "steel"
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"Base": {
|
|
||||||
"parent": "Board",
|
|
||||||
"size": [150, 200, 150],
|
|
||||||
"mountPosition": [0, 0, 0],
|
|
||||||
"mountRotation": [0, 0, 0],
|
|
||||||
"jointToParent": {
|
|
||||||
"name": "Slider",
|
|
||||||
"type": "linear",
|
|
||||||
"axis": [1, 0, 0],
|
|
||||||
"origin": [0, 0, 16],
|
|
||||||
"rotation": [0, 0, 0],
|
|
||||||
"variable": "x"
|
|
||||||
},
|
|
||||||
"skeleton": {
|
|
||||||
"from": [0, 108, 45],
|
|
||||||
"to": [110, 108, 45],
|
|
||||||
"radius": 4,
|
|
||||||
"color": [0.20, 0.80, 0.20]
|
|
||||||
},
|
|
||||||
"markers": [
|
|
||||||
],
|
|
||||||
"model": [
|
|
||||||
{
|
|
||||||
"stlFile": "surfaces/Base.stl",
|
|
||||||
"originOfModel": [-30, 0, -35],
|
|
||||||
"rotationOfModelDegree": [0, 0, 0],
|
|
||||||
"material": "plaWhite"
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"Arm1": {
|
|
||||||
"parent": "Base",
|
|
||||||
"size": [70, 250, 70],
|
|
||||||
"mountPosition": [0, 0, 0],
|
|
||||||
"mountRotation": [0, 0, 0],
|
|
||||||
"jointToParent": {
|
|
||||||
"name": "Joint1",
|
|
||||||
"type": "revolute",
|
|
||||||
"axis": [-1, 0, 0],
|
|
||||||
"origin": [110, 108, 45],
|
|
||||||
"rotation": [0, 0, 0],
|
|
||||||
"variable": "y"
|
|
||||||
},
|
|
||||||
"skeleton": {
|
|
||||||
"from": [0, 0, 0],
|
|
||||||
"to": [0, -250, 0],
|
|
||||||
"radius": 4,
|
|
||||||
"color": [0.20, 0.20, 0.90]
|
|
||||||
},
|
|
||||||
"markers": [
|
|
||||||
{
|
|
||||||
"id": 198,
|
|
||||||
"name": "aruco_198",
|
|
||||||
"position": [-89.5, -160, 35],
|
|
||||||
"normal": [0, 0, 1],
|
|
||||||
"size": 25
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": 229,
|
|
||||||
"name": "aruco_229",
|
|
||||||
"position": [-89.5, -250, 35],
|
|
||||||
"normal": [0, 0, 1],
|
|
||||||
"size": 25
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": 242,
|
|
||||||
"name": "aruco_242",
|
|
||||||
"position": [-89.5, -250, -35],
|
|
||||||
"normal": [0, 0, -1],
|
|
||||||
"size": 25
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": 243,
|
|
||||||
"name": "aruco_243",
|
|
||||||
"position": [-89.5, -285, 0],
|
|
||||||
"normal": [0, -1, 0],
|
|
||||||
"size": 25
|
|
||||||
}
|
|
||||||
],
|
|
||||||
"model": [
|
|
||||||
{
|
|
||||||
"stlFile": "surfaces/Holm.stl",
|
|
||||||
"originOfModel__": [-25,29,-28.5],
|
|
||||||
"originOfModel": [-29,25,28.5],
|
|
||||||
"rotationOfModelDegree__": [0, 0, 0],
|
|
||||||
"rotationOfModelDegree": [180, 0, -90],
|
|
||||||
"material": "powderCoatBlue"
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"Ellbow": {
|
|
||||||
"parent": "Arm1",
|
|
||||||
|
|
||||||
"mountPosition": [0, 0, 0],
|
|
||||||
"mountRotation": [0, 0, 0],
|
|
||||||
|
|
||||||
"jointToParent": {
|
|
||||||
"name": "Joint2",
|
|
||||||
"type": "revolute",
|
|
||||||
"axis": [-1, 0, 0],
|
|
||||||
"origin": [0, -250, 0],
|
|
||||||
"rotation": [0, 0, 0],
|
|
||||||
"variable": "z"
|
|
||||||
},
|
|
||||||
|
|
||||||
"skeleton": {
|
|
||||||
"from": [0, 0, 0],
|
|
||||||
"to": [70, 0, 0],
|
|
||||||
"radius": 4,
|
|
||||||
"color": [0.90, 0.20, 0.20]
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"Arm2": {
|
|
||||||
"parent": "Ellbow",
|
|
||||||
|
|
||||||
"mountPosition": [0, 0, 0],
|
|
||||||
"mountRotation": [0, 0, 0],
|
|
||||||
|
|
||||||
"jointToParent": {
|
|
||||||
"name": "Joint3",
|
|
||||||
"type": "revolute",
|
|
||||||
"axis": [0, -1, 0],
|
|
||||||
"origin": [70, 0, 0],
|
|
||||||
"rotation": [0, 0, 0],
|
|
||||||
"variable": "a"
|
|
||||||
},
|
|
||||||
|
|
||||||
"skeleton": {
|
|
||||||
"from": [0, 0, 0],
|
|
||||||
"to": [0, -250, 0],
|
|
||||||
"radius": 4,
|
|
||||||
"color": [0.95, 0.85, 0.20]
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"Hand": {
|
|
||||||
"parent": "Arm2",
|
|
||||||
|
|
||||||
"mountPosition": [0, 0, 0],
|
|
||||||
"mountRotation": [0, 0, 0],
|
|
||||||
|
|
||||||
"jointToParent": {
|
|
||||||
"name": "Joint4",
|
|
||||||
"type": "revolute",
|
|
||||||
"axis": [1, 0, 0],
|
|
||||||
"origin": [0, -250, 0],
|
|
||||||
"rotation": [0, 0, 0],
|
|
||||||
"variable": "b"
|
|
||||||
},
|
|
||||||
|
|
||||||
"skeleton": {
|
|
||||||
"from": [0, 0, 0],
|
|
||||||
"to": [0, -35, 0],
|
|
||||||
"radius": 4,
|
|
||||||
"color": [0.95, 0.55, 0.15]
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"Palm": {
|
|
||||||
"parent": "Hand",
|
|
||||||
|
|
||||||
"mountPosition": [0, 0, 0],
|
|
||||||
"mountRotation": [0, 0, 0],
|
|
||||||
|
|
||||||
"jointToParent": {
|
|
||||||
"name": "Joint3",
|
|
||||||
"type": "revolute",
|
|
||||||
"axis": [0, -1, 0],
|
|
||||||
"origin": [0, 0, 0],
|
|
||||||
"rotation": [0, 0, 0],
|
|
||||||
"variable": "c"
|
|
||||||
},
|
|
||||||
|
|
||||||
"skeleton": {
|
|
||||||
"from": [-50, -35, 0],
|
|
||||||
"to": [50, -35, 0],
|
|
||||||
"radius": 7,
|
|
||||||
"color": [0.95, 0.20, 0.20]
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
Reference in New Issue
Block a user