diff --git a/data/robot/robot.json b/data/robot/robot.json index 49b8b6c..d0628be 100644 --- a/data/robot/robot.json +++ b/data/robot/robot.json @@ -16,23 +16,75 @@ "renderingInfo": { "width": 1280, "height": 720, - "cameraPosition__1": [-10, -800, 500], - "cameraPosition__2": [-500, 300, 1200], - "cameraPosition__3": [-200, -900, 200], - "cameraPosition__4": [1200, 200, 300], - "cameraPosition_a":[-300, -800,500], - "cameraPosition":[300, -500,1450], - "cameraPosition_c":[600, -500,600], - "cameraTarget": [210, -200, 180], - "cameraUpVector": [0, 0, 1], - "lightPosition": [-500, -500, 500], - "lightTarget": [0, 0, 0], - "lightUpVector": [0, 0, 1], + "cameraPosition__1": [ + -10, + -800, + 500 + ], + "cameraPosition__2": [ + -500, + 300, + 1200 + ], + "cameraPosition__3": [ + -200, + -900, + 200 + ], + "cameraPosition__4": [ + 1200, + 200, + 300 + ], + "cameraPosition_a": [ + -300, + -800, + 500 + ], + "cameraPosition": [ + 300, + -900, + 400 + ], + "cameraPosition_c": [ + 600, + -500, + 600 + ], + "cameraTarget": [ + 210, + -100, + 150 + ], + "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, + "backgroundColor": [ + 0.7, + 0.85, + 1.0 + ], + "backgroundStrength": 0.2, "sunEnergy": 0.35, "areaEnergy": 120, "exposure": -1.5, @@ -41,62 +93,105 @@ "dofEnabled": true, "dofFStop": 11, "arucoDust": false, - "arucoDustStrength": 0.00005, + "arucoDustStrength": 5e-05, "localizedBlur": false, "localizedBlurStrength": 0.15, "vignette": true, "vignetteStrength": 0.08, - "sensorNoise": true, "sensorNoiseStrength": 0.01, - "lensDistortion": true, "lensDistortionStrength": 0.002, "materials": { "wood": { - "baseColor": [0.72, 0.52, 0.33], + "baseColor": [ + 0.72, + 0.52, + 0.33 + ], "roughness": 0.85, "metallic": 0.0 }, "plaWhite": { - "baseColor": [0.95, 0.95, 0.95], + "baseColor": [ + 0.95, + 0.95, + 0.95 + ], "roughness": 0.45, "metallic": 0.0 }, "steel": { - "baseColor": [0.72, 0.72, 0.75], + "baseColor": [ + 0.72, + 0.72, + 0.75 + ], "roughness": 0.25, "metallic": 1.0 }, "powderCoatBlue": { - "baseColor": [0.15, 0.25, 0.7], + "baseColor": [ + 0.15, + 0.25, + 0.7 + ], "roughness": 0.55, "metallic": 0.0 }, "defaultPlastic": { - "baseColor": [0.95, 0.95, 0.95], + "baseColor": [ + 0.95, + 0.95, + 0.95 + ], "roughness": 0.4, "metallic": 0.0 }, "skeletonRed": { - "baseColor": [0.85, 0.20, 0.20], + "baseColor": [ + 0.85, + 0.2, + 0.2 + ], "roughness": 0.35, "metallic": 0.0 }, "markerBlack": { - "baseColor": [0.04, 0.04, 0.04], - "roughness": 0.80, + "baseColor": [ + 0.04, + 0.04, + 0.04 + ], + "roughness": 0.8, "metallic": 0.0 } }, "skeletonDefaults": { "radius": 4, - "color": [0.85, 0.20, 0.20] + "color": [ + 0.85, + 0.2, + 0.2 + ] }, "markerDefaults": { "size": 25, "thickness": 1, - "color": [0.04, 0.04, 0.04] + "color": [ + 0.04, + 0.04, + 0.04 + ] + }, + "defaultPosition": { + "x": 80, + "y": 20, + "z": 80, + "a": -120, + "b": 23, + "c": 9, + "e": 3 } }, "defaultPosition__": { @@ -109,13 +204,13 @@ "e": 1 }, "defaultPosition": { - "x": 180, - "y": 86, - "z": -120, - "a": -60, - "b": 22, - "c": 91, - "e": 10 + "x": 120, + "y": 60, + "z": -110, + "a": 20, + "b": 30, + "c": 180, + "e": 4 }, "recognized": { "x": null, @@ -127,33 +222,29 @@ "e": null }, "constraint_rules": { - "rigid_distance": { "enabled": true, "mode": "mst", "weight": 1.0 }, - "joint_axis_projection": { "enabled": true, "max_pairs": 2, "weight": 0.35 }, - "chain_axis_projection": { "enabled": false, "max_depth": 3, "max_pairs": 2, "weight": 0.15 }, - "axis_alignment_threshold": 0.95 }, "observation_weighting": { - "enabled": true, - "distance_weight": true, - "marker_size_weight": true, - "view_angle_weight": true + "enabled": true, + "distance_weight": true, + "marker_size_weight": true, + "view_angle_weight": true }, 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"link": "FingerB", "position_m": [ - 0.33135876059532166, - -0.14928503334522247, - 0.13855642080307007 + 0.35388419032096863, + -0.17790545523166656, + 0.03092682547867298 ], "position_mm": [ - 331.35876059532166, - -149.28503334522247, - 138.55642080307007 + 353.8841903209686, + -177.90545523166656, + 30.92682547867298 ], "rotation_quaternion": [ - 0.7705803513526917, - 0.26156336069107056, - -0.26088663935661316, - 0.5193541049957275 + 0.4389708638191223, + -0.470956027507782, + -0.6229904890060425, + -0.4442836344242096 ], "normal": [ - -0.13038022816181183, - -0.6740962862968445, - 0.7270455956459045 + -0.1284732073545456, + 0.9670407772064209, + -0.21983331441879272 ] }, { @@ -2318,25 +2318,25 @@ "id": 44, "link": "FingerB", "position_m": [ - 0.3688197433948517, - -0.12042809277772903, - 0.12374269217252731 + 0.32767537236213684, + -0.21213732659816742, + 0.0553557313978672 ], "position_mm": [ - 368.8197433948517, - -120.42809277772903, - 123.74269217252731 + 327.67537236213684, + -212.13732659816742, + 55.3557313978672 ], "rotation_quaternion": [ - 0.16055524349212646, - 0.42056193947792053, - -0.8736730813980103, - 0.1845129281282425 + 0.23388497531414032, + 0.7835131287574768, + 0.5606216192245483, + -0.13079914450645447 ], "normal": [ - -0.12534736096858978, - -0.4574548006057739, - -0.8803540468215942 + 0.05727626383304596, + -0.5131615400314331, + -0.8563787937164307 ] }, { @@ -2344,25 +2344,25 @@ "id": 45, "link": "FingerB", "position_m": [ - 0.3332028090953827, - -0.1501261293888092, - 0.11452052742242813 + 0.35379403829574585, + -0.19850373268127441, + 0.01837557554244995 ], "position_mm": [ - 333.2028090953827, - -150.1261293888092, - 114.52052742242813 + 353.79403829574585, + -198.5037326812744, + 18.37557554244995 ], "rotation_quaternion": [ - 0.17917531728744507, - 0.4258763790130615, - -0.7947980761528015, - -0.39347371459007263 + 0.6868346929550171, + 0.43043267726898193, + 0.5849026441574097, + -0.029576977714896202 ], "normal": [ - -0.6199586987495422, - 0.4728512465953827, - -0.6261492967605591 + 0.7780009508132935, + -0.6258714199066162, + -0.05476672202348709 ] } ] \ No newline at end of file diff --git a/data/simulation/debug/render.png b/data/simulation/debug/render.png index b658fba..8c4aeaa 100644 Binary files a/data/simulation/debug/render.png and b/data/simulation/debug/render.png differ diff --git a/data/simulation/debug/render_01-KW-S0206_Mai-31-084612-2026_Conflict.png b/data/simulation/debug/render_01-KW-S0206_Mai-31-084612-2026_Conflict.png new file mode 100644 index 0000000..eaaf3ad Binary files /dev/null and b/data/simulation/debug/render_01-KW-S0206_Mai-31-084612-2026_Conflict.png differ diff --git a/run/run_GenerateOnePicture_T14.bat b/run/run_GenerateOnePicture_T14.bat new file mode 100644 index 0000000..b3cd804 --- /dev/null +++ b/run/run_GenerateOnePicture_T14.bat @@ -0,0 +1 @@ +"C:\Program Files\Blender Foundation\Blender 4.5\blender.exe" -b --python "C:/Users/ckend/SynologyDrive/2026-AppServer-AppRobot/appRobotRendering/setup/generateSets/render_robot.py" --log-level 2 \ No newline at end of file diff --git a/run/run_sceneGenerator.bat b/run/run_sceneGenerator.bat new file mode 100644 index 0000000..14742bc --- /dev/null +++ b/run/run_sceneGenerator.bat @@ -0,0 +1 @@ +python3 ../setup/generateSets/render_Loop.py \ No newline at end of file diff --git a/setup/generateSets/render_Loop.py b/setup/generateSets/render_Loop.py new file mode 100644 index 0000000..6ac10cf --- /dev/null +++ b/setup/generateSets/render_Loop.py @@ -0,0 +1,153 @@ +import json +import os +import subprocess +import shutil +from pathlib import Path +import argparse + +def update_robot_json(robot_json_file, camera_position, camera_target, default_position): + """Aktualisiert die cameraPosition und defaultPosition in der robot.json-Datei.""" + try: + with open(robot_json_file, 'r') as f: + data = json.load(f) + + data['renderingInfo']['cameraPosition'] = camera_position + data['renderingInfo']['cameraTarget'] = camera_target + data['defaultPosition'] = default_position + + with open(robot_json_file, 'w') as f: + json.dump(data, f, indent=2) + except FileNotFoundError: + print(f"Fehler: Datei {robot_json_file} nicht gefunden.") + return False + except json.JSONDecodeError: + print(f"Fehler: JSON-Datei {robot_json_file} ist ungültig.") + return False + return True + +def run_blender(blender_executable, script_path, log_level): + """Führt Blender mit dem angegebenen Skript aus.""" + try: + command = [ + blender_executable, + "-b", + "--python", + script_path, + "--log-level", + str(log_level) + ] + subprocess.run(command, check=True, capture_output=True, text=True) + return True + except subprocess.CalledProcessError as e: + print(f"Blender-Skript fehlgeschlagen:\n{e.stderr}") + return False + +def copy_and_rename_file(source_file, destination_dir, new_filename): + """Kopiert die erstellte Bilddatei in den Zielordner und benennt sie um.""" + destination_path = os.path.join(destination_dir, new_filename) + try: + shutil.copy2(source_file, destination_path) # copy2 behält Metadaten + return True + except FileNotFoundError: + print(f"Fehler: Quelldatei {source_file} nicht gefunden.") + return False + except Exception as e: + print(f"Fehler beim Kopieren/Umbenennen der Datei: {e}") + return False + +def main(): + USER_HOME = Path.home() + ROBOT_JSON_FILE = str(USER_HOME / "SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering" / "data" / "robot" / "robot.json") + OUTPUT_DIR = str(USER_HOME / "SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering" / "data" / "simulation" / "debug" ) + BLENDER_EXE = str("C:/Program Files/Blender Foundation/Blender 4.5/blender.exe") + RENDER_PY= str(USER_HOME /"SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering"/ "setup"/"generateSets"/"render_robot.py") + RENDER_PNG=str(USER_HOME /"SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering"/"data"/"simulation"/"debug"/"render.png") + OUTPUT_SET = str(USER_HOME / "SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering" / "data" / "simulation" ) + + parser = argparse.ArgumentParser(description="Automatisiert die Roboter-Rendering-Pipeline.") + parser.add_argument("robot_json", nargs="?", + default=ROBOT_JSON_FILE, help="Pfad zur robot.json-Datei.") + parser.add_argument("blender_executable",nargs="?", + default=BLENDER_EXE, help="Pfad zur Blender-Executable.") + parser.add_argument("render_script", + default=RENDER_PY, + help="Pfad zum render_robot.py-Skript.",nargs="?") + parser.add_argument("render_png",nargs="?", + default=RENDER_PNG,help="script erzeugte png") + parser.add_argument("output_dir", nargs="?", + default=OUTPUT_DIR, help="Zielordner für die gerenderten Blender Bilder.") + parser.add_argument("output_set", nargs="?", + default=OUTPUT_SET, help="Zielordner in dem die Sets abgelegt werden") + parser.add_argument("--log_level", type=int, default=2, help="Log-Level für Blender (Standard: 2).") + args = parser.parse_args() + + # Kamerapositions-Dictionary + camera_positions = { + "a": [-300, -800, 800], + "b": [300, -900, 1200], + "c": [300, -900, 400], + "d": [700, -800, 400], + "e": [1200, -900, 400], + "f": [500, -300, 1400], + "g": [-200, 200, 1400], + } + camera_targets = { + "a": [210, -100, 180], + "b": [310, -80, 180], + "c": [210, -100, 150], + "d": [210, -100, 150], + "e": [210, -100, 50], + "f": [200, -200, 180], + "g": [200, -200, 180], + } + + # Robot-Pose-Dictionary + robot_poses = { + #"4": {"x": 70, "y": 50,"z": -70,"a": 120,"b": 50,"c": 30,"e": 20}, + #"5": {"x": 180,"y": 86,"z": -120,"a": -60,"b": 22,"c": 91,"e": 10}, + #"6": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3}, + #"7": {"x": 30, "y": -2, "z": 95, "a": 20, "b": 23, "c": 9, "e": 9}, + #"8": {"x": 50, "y": -2, "z": 95, "a": 20, "b": 60, "c": 9, "e": 3}, + "9": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8}, + "10": {"x": 120, "y": 60, "z": -110, "a": 20, "b": 30, "c": 180, "e": 4}, + #"11": {"x": 50, "y": 4, "z": 176, "a": 20, "b": 60, "c": 9, "e": 5}, + #"12": {"x": 50, "y": 0, "z": 178, "a": 210, "b": 80, "c": 90, "e": 6}, + } + + for pose_name, default_position in robot_poses.items(): + new_folder = Path(args.output_set) / f"Set{pose_name}" + os.makedirs(new_folder, exist_ok=True) + + + pose_file = new_folder / "pose.json" + pose_data = {"name": pose_name,"position": default_position, "camera_positions": camera_positions} + with open(pose_file, "w") as f: + json.dump(pose_data, f, indent=2) + + for frame_name, camera_position in camera_positions.items(): + + camera_target = camera_targets[frame_name] + + # 1. JSON aktualisieren + if not update_robot_json(args.robot_json, camera_position, camera_target, default_position): + continue # Gehe zum nächsten Schleifendurchlauf + + # 2. Blender-Skript ausführen + if not run_blender(args.blender_executable, args.render_script, args.log_level): + continue # Gehe zum nächsten Schleifendurchlauf + + # 3. Datei kopieren und umbenennen + new_filename = f"render_{frame_name}.png" + if not copy_and_rename_file(args.render_png, new_folder, new_filename): + continue # Gehe zum nächsten Schleifendurchlauf + + if not copy_and_rename_file(args.render_png.replace(".png",".npz"), new_folder, new_filename.replace(".png",".npz")): + continue # Gehe zum nächsten Schleifendurchlauf + + if not copy_and_rename_file(args.render_png.replace("render.png","markers.json"), new_folder, new_filename.replace(".png",".json")): + continue # Gehe zum nächsten Schleifendurchlauf + + print(f"Rendering für Frame {frame_name}, Set {pose_name} erfolgreich abgeschlossen.") + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/setup/generateSets/render_robot.py b/setup/generateSets/render_robot.py index a60bea3..5cf3620 100644 --- a/setup/generateSets/render_robot.py +++ b/setup/generateSets/render_robot.py @@ -15,6 +15,18 @@ from mathutils import Matrix ROBOT_JSON_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\data\robot\robot.json" OUTPUT_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\data\simulation\debug\render.png" +from pathlib import Path + +# Holt dynamisch den Pfad zum aktuellen Benutzerverzeichnis (z.B. C:\Users\Name) +USER_HOME = Path.home() + +# Kombiniert den Benutzerpfad mit dem spezifischen Ordnerpfad und konvertiert direkt zu str +ROBOT_JSON_FILE = str(USER_HOME / "SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering" / "data" / "robot" / "robot.json") +OUTPUT_FILE = str(USER_HOME / "SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering" / "data" / "simulation" / "debug" / "render.png") + +print("Using robot JSON file:", ROBOT_JSON_FILE) +print("Using output file:", OUTPUT_FILE) + # ============================================================ # DEFAULT MATERIALS # ============================================================ @@ -83,6 +95,8 @@ links_def = robot.get("links", {}) if not isinstance(links_def, dict): raise ValueError("robot.json must contain a top-level 'links' object") + + # ============================================================ # HELPERS # ============================================================ @@ -345,8 +359,11 @@ 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.samples = 32 scene.cycles.preview_samples = 32 +scene.cycles.use_adaptive_sampling = True +scene.cycles.adaptive_threshold = 0.02 +scene.cycles.use_denoising = True scene.render.resolution_x = RENDER_WIDTH scene.render.resolution_y = RENDER_HEIGHT scene.render.resolution_percentage = 100 @@ -931,6 +948,52 @@ 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)) + +# ============================================================ +# AUTO GPU DETECTION (robust, plattformübergreifend) +# ============================================================ + +def enable_best_device(scene): + prefs = bpy.context.preferences + cycles_prefs = prefs.addons['cycles'].preferences + + # Prioritäten (schnell → weniger schnell) + backends = ['OPTIX', 'CUDA', 'HIP', 'METAL', 'ONEAPI'] + + selected_backend = None + + for backend in backends: + try: + cycles_prefs.compute_device_type = backend + cycles_prefs.get_devices() + + devices = cycles_prefs.devices + + # Prüfen, ob eine GPU dabei ist + gpu_devices = [d for d in devices if d.type != 'CPU'] + + if gpu_devices: + selected_backend = backend + + # Aktiviere alle Geräte (GPU + optional CPU fallback) + for d in devices: + d.use = True + + break + except Exception: + continue + + if selected_backend: + print(f"[Render] Using GPU via {selected_backend}") + scene.cycles.device = 'GPU' + else: + print("[Render] No GPU found, falling back to CPU") + scene.cycles.device = 'CPU' + + +enable_best_device(scene) + + # ============================================================ # RENDER # ============================================================ diff --git a/setup/generateSets/render_robot_5_1.py b/setup/generateSets/render_robot_5_1.py new file mode 100644 index 0000000..855d09e --- /dev/null +++ b/setup/generateSets/render_robot_5_1.py @@ -0,0 +1,1045 @@ +from unicodedata import name + +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\data\robot\robot.json" +OUTPUT_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\data\simulation\debug\render.png" + +# ============================================================ +# 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"] + +marker_export = [] + + +print("2 LOADING") +# ============================================================ +# 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 + +RENDER_WIDTH = int(rendering_info.get("width", 1200)) +RENDER_HEIGHT = int(rendering_info.get("height", 800)) + +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)) + +lens_dirt = as_bool(rendering_info.get("lensDirt", False)) +lens_dirt_strength = float(rendering_info.get("lensDirtStrength", 0.08)) + +dof_enabled = as_bool(rendering_info.get("dofEnabled", True)) +dof_fstop = float(rendering_info.get("dofFStop", 7.5)) + +aruco_dust = as_bool(rendering_info.get("arucoDust", False)) +aruco_dust_strength = float(rendering_info.get("arucoDustStrength", 0.0005)) + +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"] + + if name == "wood" and mat.node_tree.nodes.get("WoodGrainMix") is None: + nodes = mat.node_tree.nodes + links = mat.node_tree.links + + texcoord = nodes.new("ShaderNodeTexCoord") + mapping = nodes.new("ShaderNodeMapping") + noise = nodes.new("ShaderNodeTexNoise") + wave = nodes.new("ShaderNodeTexWave") + ramp = nodes.new("ShaderNodeValToRGB") + mix = nodes.new("ShaderNodeMixRGB") + + texcoord.name = "WoodTexCoord" + mapping.name = "WoodMapping" + noise.name = "WoodNoise" + wave.name = "WoodWave" + ramp.name = "WoodRamp" + mix.name = "WoodGrainMix" + + texcoord.location = (-900, 0) + mapping.location = (-700, 0) + noise.location = (-700, -220) + wave.location = (-500, 0) + ramp.location = (-260, 0) + mix.location = (-60, 0) + + # statt extrem hoch: + mapping.inputs["Scale"].default_value = (1000.0, 1000.0, 1000.0) + wave.inputs["Scale"].default_value = 1.0 + noise.inputs["Scale"].default_value = 6.0 + wave.inputs["Distortion"].default_value = 3.0 + + # und wichtig: Wave Fac statt Color verwenden + links.new(wave.outputs["Fac"], ramp.inputs["Fac"]) + + bump = nodes.new("ShaderNodeBump") + bump.location = (120, -160) + bump.inputs["Strength"].default_value = 0.4 + + links.new(ramp.outputs["Color"], bump.inputs["Height"]) + links.new(bump.outputs["Normal"], bsdf.inputs["Normal"]) + + ramp.color_ramp.elements[0].position = 0.53 + ramp.color_ramp.elements[1].position = 0.58 + + mix.blend_type = "MIX" + mix.inputs["Fac"].default_value = 0.08 + mix.inputs["Color1"].default_value = spec["baseColor"] + mix.inputs["Color2"].default_value = (0.74, 0.58, 0.50, 1.0) + + + links.new(texcoord.outputs["Object"], mapping.inputs["Vector"]) + links.new(mapping.outputs["Vector"], noise.inputs["Vector"]) + links.new(noise.outputs["Fac"], wave.inputs["Distortion"]) + links.new(mapping.outputs["Vector"], wave.inputs["Vector"]) + links.new(wave.outputs["Color"], ramp.inputs["Fac"]) + links.new(ramp.outputs["Color"], mix.inputs["Fac"]) + links.new(mix.outputs["Color"], bsdf.inputs["Base Color"]) + + return mat + +def import_stl(filepath: str) -> List[bpy.types.Object]: + path = Path(filepath).resolve() + + if not path.exists(): + raise FileNotFoundError(path) + + before = {obj.name for obj in bpy.data.objects} + + try: + bpy.ops.wm.stl_import(filepath=str(path)) + except Exception as e: + raise RuntimeError(f"STL import failed: {path}") from e + + imported = [ + obj + for obj in bpy.data.objects + if obj.name not in before + ] + + return imported + +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) + ) + +print("3 SETUP") +# ============================================================ +# SCENE RESET +# ============================================================ + + +for obj in list(bpy.data.objects): + bpy.data.objects.remove(obj, do_unlink=True) + +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 = 32 +scene.cycles.preview_samples = 32 +scene.cycles.use_adaptive_sampling = True +scene.cycles.adaptive_threshold = 0.02 +scene.cycles.use_denoising = True +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 + +print("4 SCENE") +# ============================================================ +# FLOOR +# ============================================================ + +mesh = bpy.data.meshes.new("FloorMesh") + +verts = [ + (-1,-1,0), + ( 1,-1,0), + ( 1, 1,0), + (-1, 1,0), +] + +faces = [(0,1,2,3)] + +mesh.from_pydata(verts, [], faces) +mesh.update() + +floor = bpy.data.objects.new("Floor", mesh) + +bpy.context.collection.objects.link(floor) + +floor.location = ( + 0, + 0, + mm_to_m(-28.0) +) + +floor_tex_path = Path(ROBOT_JSON_FILE).parent / "surfaces" / "boden.jpg" + +if floor_tex_path.exists(): + floor_mat = bpy.data.materials.new(name="FloorPhoto") + floor_mat.use_nodes = True + + nodes = floor_mat.node_tree.nodes + links = floor_mat.node_tree.links + nodes.clear() + + output_node = nodes.new(type="ShaderNodeOutputMaterial") + bsdf_node = nodes.new(type="ShaderNodeBsdfPrincipled") + texcoord_node = nodes.new(type="ShaderNodeTexCoord") + mapping_node = nodes.new(type="ShaderNodeMapping") + image_node = nodes.new(type="ShaderNodeTexImage") + + image_node.image = bpy.data.images.load(str(floor_tex_path), check_existing=True) + image_node.interpolation = "Cubic" + + links.new(texcoord_node.outputs["UV"], mapping_node.inputs["Vector"]) + links.new(mapping_node.outputs["Vector"], image_node.inputs["Vector"]) + links.new(image_node.outputs["Color"], bsdf_node.inputs["Base Color"]) + links.new(bsdf_node.outputs["BSDF"], output_node.inputs["Surface"]) + + floor.data.materials.append(floor_mat) +else: + # Fallback: dein bisheriges Checkerboard behalten + 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 + +if dof_enabled: + cam_data.dof.use_dof = True + cam_data.dof.focus_distance = (mathutils.Vector(cam_target) - mathutils.Vector(cam_pos)).length + cam_data.dof.aperture_fstop = dof_fstop +else: + cam_data.dof.use_dof = False + + +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 + +print("5 CAMERA") +# ============================================================ +# EXPORT CAMERA CALIBRATION (.npz) +# ============================================================ + +import numpy as np + +CALIBRATION_OUTPUT = str( + Path(OUTPUT_FILE).with_suffix(".npz") +) + +render = scene.render +cam = cam_obj.data + +width_px = render.resolution_x +height_px = render.resolution_y + +scale = render.resolution_percentage / 100.0 + +width_px *= scale +height_px *= scale + +sensor_width_mm = cam.sensor_width +sensor_height_mm = cam.sensor_height + +focal_mm = cam.lens + +# focal length in pixels +fx = (width_px * focal_mm) / sensor_width_mm +fy = (height_px * focal_mm) / sensor_height_mm + +cx = width_px / 2.0 +cy = height_px / 2.0 + +camera_matrix = np.array([ + [fx, 0, cx], + [0, fy, cy], + [0, 0, 1] +], dtype=np.float32) + +# ideal synthetic camera +dist_coeffs = np.zeros((5, 1), dtype=np.float32) + +np.savez( + CALIBRATION_OUTPUT, + + # common names + camera_matrix=camera_matrix, + dist_coeffs=dist_coeffs, + + # compatibility aliases + K=camera_matrix, + mtx=camera_matrix, + dist=dist_coeffs +) + +print("Saved camera calibration:", CALIBRATION_OUTPUT) +print(camera_matrix) + + +print("6 LIGHTS") +# ============================================================ +# 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 + # -------------------------------------------------------- + + import cv2 + import numpy as np + import tempfile + + def create_aruco_material(marker_id: int, marker_name: str): + dictionary = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_4X4_250) + + img = np.zeros((256, 256), dtype=np.uint8) + cv2.aruco.generateImageMarker(dictionary, marker_id, 256, img, 1) + + tmpfile = Path(tempfile.gettempdir()) / f"aruco_{marker_id}.png" + cv2.imwrite(str(tmpfile), img) + + image = bpy.data.images.load(str(tmpfile)) + + mat = bpy.data.materials.new(name=f"{marker_name}_mat") + mat.use_nodes = True + + nodes = mat.node_tree.nodes + links = mat.node_tree.links + nodes.clear() + + out = nodes.new(type="ShaderNodeOutputMaterial") + bsdf = nodes.new(type="ShaderNodeBsdfPrincipled") + tex = nodes.new(type="ShaderNodeTexImage") + + tex.image = image + + if aruco_dust: + noise = nodes.new("ShaderNodeTexNoise") + ramp = nodes.new("ShaderNodeValToRGB") + mix = nodes.new("ShaderNodeMixRGB") + + noise.location = (-600, -220) + ramp.location = (-360, -220) + mix.location = (-120, -120) + + noise.inputs["Scale"].default_value = 80.0 + noise.inputs["Detail"].default_value = 1.0 + + ramp.color_ramp.elements[0].position = 0.49 + ramp.color_ramp.elements[1].position = 0.51 + + mix.blend_type = "MIX" + mix.inputs["Fac"].default_value = aruco_dust_strength + mix.inputs["Color2"].default_value = (0.97, 0.97, 0.97, 1.0) + + + if aruco_dust: + links.new(tex.outputs["Color"], mix.inputs["Color1"]) + links.new(noise.outputs["Fac"], ramp.inputs["Fac"]) + links.new(ramp.outputs["Color"], mix.inputs["Fac"]) + links.new(mix.outputs["Color"], bsdf.inputs["Base Color"]) + else: + links.new(tex.outputs["Color"], bsdf.inputs["Base Color"]) + + links.new(bsdf.outputs["BSDF"], out.inputs["Surface"]) + + return mat + + + def normal_to_quaternion(normal_vec): + normal = mathutils.Vector(normal_vec).normalized() + + default_normal = mathutils.Vector((0, 0, 1)) + + return default_normal.rotation_difference(normal) + + + if show_markers: + + marker_defaults = rendering_info.get("markerDefaults", {}) or {} + + for m in link_info.get("markers", []): + + if not isinstance(m, dict): + continue + + marker_id = int(m.get("id", 0)) + + marker_name = m.get( + "name", + f"{link_name}_marker_{marker_id}" + ) + + marker_size_mm = float( + m.get( + "size", + marker_defaults.get("size", 25) + ) + ) + + marker_pos = resolve_vec3_m( + m.get("position", [0, 0, 0]), + state + ) + + normal = m.get("normal", [0, 0, 1]) + marker_spin_deg = float(m.get("spin", 0.0)) + + mesh = bpy.data.meshes.new(marker_name + "_mesh") + + s = mm_to_m(marker_size_mm) * 0.5 + + verts = [ + (-s,-s,0), + ( s,-s,0), + ( s, s,0), + (-s, s,0), + ] + faces = [(0,1,2,3)] + + mesh.from_pydata(verts, [], faces) + mesh.update() + + marker_obj = bpy.data.objects.new(marker_name,mesh) + + bpy.context.collection.objects.link(marker_obj) + marker_obj.name = marker_name + + safe_parent(marker_obj, link_frame, keep_world=False) + + marker_obj.rotation_mode = "QUATERNION" + #alt: base_quat = normal_to_quaternion(normal) + + normal = mathutils.Vector(m.get("normal", [0, 0, 1])) + if normal.length == 0: + normal = mathutils.Vector((0, 0, 1)) + normal.normalize() + + base_quat = normal_to_quaternion(normal) + + spin_quat = mathutils.Quaternion( + mathutils.Vector((0, 0, 1)), + math.radians(marker_spin_deg) + ) + + marker_obj.rotation_quaternion = ( + base_quat @ spin_quat + ) + + + # Marker-Normale im lokalen Link-Raum (aus Marker-Rotation) + normal_local = ( + marker_obj.rotation_quaternion + @ mathutils.Vector((0, 0, 1)) + ) + normal_local.normalize() + + # minimal vorziehen gegen Z-Fighting (lokaler Versatz) + marker_obj.location = ( + mathutils.Vector(marker_pos) + + normal_local * mm_to_m(0.5) + ) + + marker_mat = create_aruco_material( + marker_id, + marker_name + ) + + if len(marker_obj.data.materials) == 0: + marker_obj.data.materials.append(marker_mat) + else: + marker_obj.data.materials[0] = marker_mat + + # -------------------------------------------------------- + # -------------------------------------------------------- + # BACKING PLATE (white PLA behind marker) + # -------------------------------------------------------- + + plate_side_mm = 26.5 + plate_thickness_mm = 1.0 + gap_mm = 0.2 # kleiner Abstand gegen Z-Fighting + + mesh = bpy.data.meshes.new( + marker_name + "_plate_mesh" + ) + + verts = [ + (-0.5,-0.5,-0.5), + ( 0.5,-0.5,-0.5), + ( 0.5, 0.5,-0.5), + (-0.5, 0.5,-0.5), + (-0.5,-0.5, 0.5), + ( 0.5,-0.5, 0.5), + ( 0.5, 0.5, 0.5), + (-0.5, 0.5, 0.5), + ] + + faces = [ + (0,1,2,3), + (4,5,6,7), + (0,1,5,4), + (1,2,6,5), + (2,3,7,6), + (3,0,4,7), + ] + + mesh.from_pydata( + verts, + [], + faces + ) + + mesh.update() + + plate_obj = bpy.data.objects.new( + marker_name + "_plate", + mesh + ) + + bpy.context.collection.objects.link( + plate_obj + ) + plate_obj.name = marker_name + "_plate" + + safe_parent(plate_obj, link_frame, keep_world=False) + + # gleiche Orientierung wie der Marker + plate_obj.rotation_mode = "QUATERNION" + plate_obj.rotation_quaternion = marker_obj.rotation_quaternion.copy() + + # Normale des Markers im lokalen Link-Raum (aus Marker-Rotation) + normal_local = marker_obj.rotation_quaternion @ mathutils.Vector((0, 0, 1)) + normal_local.normalize() + + # Platte liegt "hinter" dem Marker (lokaler Versatz) + plate_obj.location = ( + marker_obj.location + - normal_local * mm_to_m((plate_thickness_mm * 0.5) + gap_mm) + ) + + # exakte Abmessungen: 26 x 26 x 1 mm + plate_obj.dimensions = ( + mm_to_m(plate_side_mm), + mm_to_m(plate_side_mm), + mm_to_m(plate_thickness_mm) + ) + + pla_mat = create_or_get_material("plaWhite") + if len(plate_obj.data.materials) == 0: + plate_obj.data.materials.append(pla_mat) + else: + plate_obj.data.materials[0] = pla_mat + + # Weltmatrix holen (inkl. ALLER Transformationen!) + mw = marker_obj.matrix_world + + world_pos = mw.translation + world_rot = mw.to_quaternion() + + # Optional: Normal in Weltkoordinaten + world_normal = (world_rot @ mathutils.Vector((0, 0, 1))).normalized() + + marker_export.append({ + "name": marker_name, + "id": marker_id, + "link": link_name, + + "position_m": [world_pos.x, world_pos.y, world_pos.z], + + # oft nützlich für Computer Vision: + "position_mm": [ + world_pos.x / scale_factor, + world_pos.y / scale_factor, + world_pos.z / scale_factor + ], + + "rotation_quaternion": [ + world_rot.w, + world_rot.x, + world_rot.y, + world_rot.z + ], + + "normal": [ + world_normal.x, + world_normal.y, + world_normal.z + ] + }) + + + +print("7 RENDER & EXPORT") +# ============================================================ +# 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) + + + +MARKER_OUTPUT = str(Path(OUTPUT_FILE).with_name("markers.json")) + +with open(MARKER_OUTPUT, "w", encoding="utf-8") as f: + json.dump(marker_export, f, indent=2) + +print("Saved marker positions:", MARKER_OUTPUT) diff --git a/setup/generateSets/runLoop.py b/setup/generateSets/runLoop.py deleted file mode 100644 index 48887bd..0000000 --- a/setup/generateSets/runLoop.py +++ /dev/null @@ -1,104 +0,0 @@ -import json -import os -import subprocess -import shutil -import argparse - -def update_robot_json(robot_json_file, camera_position, default_position): - """Aktualisiert die cameraPosition und defaultPosition in der robot.json-Datei.""" - try: - with open(robot_json_file, 'r') as f: - data = json.load(f) - - data['renderingInfo']['cameraPosition'] = camera_position - data['renderingInfo']['defaultPosition'] = default_position - - with open(robot_json_file, 'w') as f: - json.dump(data, f, indent=2) - except FileNotFoundError: - print(f"Fehler: Datei {robot_json_file} nicht gefunden.") - return False - except json.JSONDecodeError: - print(f"Fehler: JSON-Datei {robot_json_file} ist ungültig.") - return False - return True - -def run_blender(blender_executable, script_path, log_level): - """Führt Blender mit dem angegebenen Skript aus.""" - try: - command = [ - blender_executable, - "-b", - "--python", - script_path, - "--log-level", - str(log_level) - ] - subprocess.run(command, check=True, capture_output=True, text=True) - return True - except subprocess.CalledProcessError as e: - print(f"Blender-Skript fehlgeschlagen:\n{e.stderr}") - return False - -def copy_and_rename_file(source_file, destination_dir, new_filename): - """Kopiert die erstellte Bilddatei in den Zielordner und benennt sie um.""" - destination_path = os.path.join(destination_dir, new_filename) - try: - shutil.copy2(source_file, destination_path) # copy2 behält Metadaten - return True - except FileNotFoundError: - print(f"Fehler: Quelldatei {source_file} nicht gefunden.") - return False - except Exception as e: - print(f"Fehler beim Kopieren/Umbenennen der Datei: {e}") - return False - -def main(): - parser = argparse.ArgumentParser(description="Automatisiert die Roboter-Rendering-Pipeline.") - parser.add_argument("robot_json", help="Pfad zur robot.json-Datei.") - parser.add_argument("blender_executable", help="Pfad zur Blender-Executable.") - parser.add_argument("render_script", help="Pfad zum render_robot.py-Skript.") - parser.add_argument("output_dir", help="Zielordner für die gerenderten Bilder.") - parser.add_argument("--log_level", type=int, default=2, help="Log-Level für Blender (Standard: 2).") - args = parser.parse_args() - - # Kamerapositions-Dictionary - camera_positions = { - "a": [-300, -800, 500], - "b": [300, -700, 500], - "c": [600, -500, 600], - "d": [-10, -800, 500], - "e": [-500, 300, 1200], - "f": [1200, 200, 300] - } - - # Robot-Pose-Dictionary - robot_poses = { - "3": {"x": 10, "y": 4, "z": 20, "a": 10, "b": 2, "c": 9, "e": 1}, - "4": {"x": 40, "y": 48, "z": -30, "a": 30, "b": 23, "c": 9, "e": 8}, - "5": {"x": 80, "y": 93, "z": -120, "a": 120, "b": 23, "c": 9, "e": 3}, - "6": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3} - } - - for set_name, camera_position in camera_positions.items(): - for pose_name, default_position in robot_poses.items(): - - # 1. JSON aktualisieren - if not update_robot_json(args.robot_json, camera_position, default_position): - continue # Gehe zum nächsten Schleifendurchlauf - - # 2. Blender-Skript ausführen - if not run_blender(args.blender_executable, args.render_script, args.log_level): - continue # Gehe zum nächsten Schleifendurchlauf - - # 3. Datei kopieren und umbenennen - render_script_dir = os.path.dirname(args.render_script) - render_file = os.path.join(render_script_dir, "render.png") - new_filename = f"render_set{set_name}_{pose_name}.png" - if not copy_and_rename_file(render_file, args.output_dir, new_filename): - continue # Gehe zum nächsten Schleifendurchlauf - - print(f"Rendering für Set {set_name}, Pose {pose_name} erfolgreich abgeschlossen.") - -if __name__ == "__main__": - main() \ No newline at end of file