595 lines
21 KiB
Python
595 lines
21 KiB
Python
import bpy
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import math
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import mathutils
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import json
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from pathlib import Path
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from typing import Any, Dict, Iterable, List, Optional, Tuple
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# ============================================================
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# PATHS
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# ============================================================
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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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RENDER_WIDTH = 1200
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RENDER_HEIGHT = 800
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# ============================================================
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# DEFAULT MATERIALS
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# ============================================================
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DEFAULT_MATERIALS = {
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"wood": {"baseColor": (0.72, 0.52, 0.33, 1.0), "roughness": 0.85, "metallic": 0.0},
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"plaWhite": {"baseColor": (0.95, 0.95, 0.95, 1.0), "roughness": 0.45, "metallic": 0.0},
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"steel": {"baseColor": (0.72, 0.72, 0.75, 1.0), "roughness": 0.25, "metallic": 1.0},
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"powderCoatBlue": {"baseColor": (0.15, 0.25, 0.70, 1.0), "roughness": 0.55, "metallic": 0.0},
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"defaultPlastic": {"baseColor": (0.95, 0.95, 0.95, 1.0), "roughness": 0.40, "metallic": 0.0},
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"skeletonRed": {"baseColor": (0.85, 0.20, 0.20, 1.0), "roughness": 0.35, "metallic": 0.0},
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"markerBlack": {"baseColor": (0.04, 0.04, 0.04, 1.0), "roughness": 0.80, "metallic": 0.0},
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}
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STATE_KEYS = ["x", "y", "z", "a", "b", "c", "e"]
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# ============================================================
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# JSON LOADING
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# ============================================================
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with open(ROBOT_JSON_FILE, "r", encoding="utf-8") as f:
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robot: Dict[str, Any] = json.load(f)
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rendering_info = robot.get("renderingInfo", {})
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metric = rendering_info.get("metric", "mm")
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scale_factor = 0.001 if metric == "mm" else 1.0
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def as_bool(value: Any, default: bool = False) -> bool:
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if value is None:
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return default
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if isinstance(value, bool):
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return value
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if isinstance(value, str):
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return value.strip().lower() in ("1", "true", "yes", "on")
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return bool(value)
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show_skeleton = as_bool(rendering_info.get("showSkeleton", False))
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show_markers = as_bool(rendering_info.get("showMarkers", False))
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state: Dict[str, float] = {k: 0.0 for k in STATE_KEYS}
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for source_name in ("defaultPosition", "recognized", "movements"):
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source = robot.get(source_name, {}) or {}
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for k in STATE_KEYS:
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v = source.get(k, None)
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if v is not None:
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try:
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state[k] = float(v)
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except Exception:
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pass
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links_def = robot.get("links", {})
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if not isinstance(links_def, dict):
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raise ValueError("robot.json must contain a top-level 'links' object")
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# ============================================================
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# HELPERS
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# ============================================================
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def mm_to_m(value: float) -> float:
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return value * scale_factor
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def resolve_scalar(value: Any, state_map: Dict[str, float]) -> float:
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if value is None:
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return 0.0
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if isinstance(value, (int, float)):
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return float(value)
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if isinstance(value, str):
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key = value.strip().lower()
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if key in state_map:
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return float(state_map[key])
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try:
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return float(key)
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except ValueError:
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return 0.0
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return 0.0
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def resolve_vector(value: Any, state_map: Dict[str, float], default_len: int = 3) -> Tuple[float, ...]:
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if value is None:
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return tuple(0.0 for _ in range(default_len))
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if isinstance(value, (int, float, str)):
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return (resolve_scalar(value, state_map),)
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if isinstance(value, (list, tuple)):
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resolved = [resolve_scalar(v, state_map) for v in value]
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if len(resolved) < default_len:
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resolved.extend([0.0] * (default_len - len(resolved)))
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return tuple(resolved[:default_len])
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return tuple(0.0 for _ in range(default_len))
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def resolve_vec3_m(value: Any, state_map: Dict[str, float]) -> Tuple[float, float, float]:
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vec = list(resolve_vector(value, state_map, default_len=3))
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while len(vec) < 3:
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vec.append(0.0)
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x, y, z = vec[:3]
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return mm_to_m(x), mm_to_m(y), mm_to_m(z)
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def normalize_axis(axis: Iterable[Any]) -> mathutils.Vector:
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ax = mathutils.Vector((float(axis[0]), float(axis[1]), float(axis[2])))
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return ax.normalized() if ax.length > 0 else mathutils.Vector((1.0, 0.0, 0.0))
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def euler_deg_xyz(values: Any) -> Tuple[float, float, float]:
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vec = list(resolve_vector(values, state, default_len=3))
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while len(vec) < 3:
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vec.append(0.0)
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return math.radians(vec[0]), math.radians(vec[1]), math.radians(vec[2])
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def create_or_get_material(name: str, fallback: str = "defaultPlastic") -> bpy.types.Material:
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info = rendering_info.get("materials", {}) or {}
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spec = None
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if isinstance(info, dict):
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spec = info.get(name)
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if isinstance(spec, dict):
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base = DEFAULT_MATERIALS.get(name, DEFAULT_MATERIALS[fallback]).copy()
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if "baseColor" in spec:
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color = tuple(spec["baseColor"])
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base["baseColor"] = (*color[:3], 1.0) if len(color) == 3 else tuple(color[:4])
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if "roughness" in spec:
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base["roughness"] = float(spec["roughness"])
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if "metallic" in spec:
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base["metallic"] = float(spec["metallic"])
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spec = base
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else:
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spec = DEFAULT_MATERIALS.get(name, DEFAULT_MATERIALS[fallback])
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if name in bpy.data.materials:
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mat = bpy.data.materials[name]
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else:
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mat = bpy.data.materials.new(name=name)
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mat.use_nodes = True
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bsdf = mat.node_tree.nodes.get("Principled BSDF")
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if bsdf is not None:
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bsdf.inputs["Base Color"].default_value = spec["baseColor"]
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bsdf.inputs["Roughness"].default_value = spec["roughness"]
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bsdf.inputs["Metallic"].default_value = spec["metallic"]
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return mat
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def import_stl(filepath: str) -> List[bpy.types.Object]:
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path = Path(filepath).resolve()
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if not path.exists():
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raise FileNotFoundError(f"STL file not found:\n{path}")
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before = set(bpy.data.objects)
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bpy.ops.wm.stl_import(filepath=str(path))
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after = [obj for obj in bpy.data.objects if obj not in before]
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return after
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def create_empty(name: str) -> bpy.types.Object:
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empty = bpy.data.objects.new(name, None)
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bpy.context.collection.objects.link(empty)
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return empty
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def safe_parent(child: bpy.types.Object, parent: Optional[bpy.types.Object]):
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if parent is not None:
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child.parent = parent
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child.matrix_parent_inverse = parent.matrix_world.inverted()
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def create_material_segment(name: str, color: Tuple[float, float, float], roughness: float = 0.35) -> bpy.types.Material:
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if name in bpy.data.materials:
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mat = bpy.data.materials[name]
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else:
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mat = bpy.data.materials.new(name=name)
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mat.use_nodes = True
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bsdf = mat.node_tree.nodes.get("Principled BSDF")
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if bsdf is not None:
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bsdf.inputs["Base Color"].default_value = (color[0], color[1], color[2], 1.0)
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bsdf.inputs["Roughness"].default_value = roughness
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bsdf.inputs["Metallic"].default_value = 0.0
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return mat
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def create_cylinder_between(
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name: str,
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p1_local: Tuple[float, float, float],
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p2_local: Tuple[float, float, float],
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radius_m: float,
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parent: bpy.types.Object,
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material: bpy.types.Material
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) -> bpy.types.Object:
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v1 = mathutils.Vector(p1_local)
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v2 = mathutils.Vector(p2_local)
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delta = v2 - v1
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length = delta.length
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if length <= 1e-9:
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length = 1e-6
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delta = mathutils.Vector((0.0, 0.0, 1e-6))
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bpy.ops.mesh.primitive_cylinder_add(radius=radius_m, depth=length)
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obj = bpy.context.active_object
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obj.name = name
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safe_parent(obj, parent)
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obj.location = (v1 + v2) * 0.5
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obj.rotation_mode = "QUATERNION"
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obj.rotation_quaternion = mathutils.Vector((0, 0, 1)).rotation_difference(delta.normalized())
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if len(obj.data.materials) == 0:
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obj.data.materials.append(material)
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else:
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obj.data.materials[0] = material
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return obj
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def derive_default_skeleton_from_size(size_mm: List[float]) -> Dict[str, Any]:
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sx, sy, sz = (float(size_mm[0]), float(size_mm[1]), float(size_mm[2]))
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ax = max((abs(sx), 0), (abs(sy), 1), (abs(sz), 2), key=lambda x: x[0])[1]
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if ax == 0:
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return {"from": [0, sy * 0.5, sz * 0.5], "to": [sx, sy * 0.5, sz * 0.5]}
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if ax == 1:
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return {"from": [sx * 0.5, 0, sz * 0.5], "to": [sx * 0.5, sy, sz * 0.5]}
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return {"from": [sx * 0.5, sy * 0.5, 0], "to": [sx * 0.5, sy * 0.5, sz]}
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def resolve_stl_path(stl_file: str) -> Path:
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base_dir = Path(ROBOT_JSON_FILE).parent
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candidates = [
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base_dir / stl_file,
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base_dir / "surfaces" / stl_file,
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Path(stl_file),
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]
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for c in candidates:
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p = c.resolve()
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if p.exists():
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return p
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raise FileNotFoundError(
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"STL file not found in any expected location:\n" +
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"\n".join(str(c.resolve()) for c in candidates)
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)
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# ============================================================
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# SCENE RESET
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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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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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scene.unit_settings.scale_length = scale_factor
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# ============================================================
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# WORLD / RENDER SETTINGS
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# ============================================================
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world = scene.world or bpy.data.worlds.new("World")
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scene.world = world
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world.use_nodes = True
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bg = world.node_tree.nodes["Background"]
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bg.inputs[0].default_value = tuple(rendering_info.get("backgroundColor", [0.70, 0.85, 1.0])) + (1.0,)
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bg.inputs[1].default_value = float(rendering_info.get("backgroundStrength", 0.20))
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scene.render.engine = "CYCLES"
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scene.view_settings.exposure = float(rendering_info.get("exposure", -1.5))
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scene.cycles.samples = 64
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scene.cycles.preview_samples = 32
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scene.render.resolution_x = RENDER_WIDTH
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scene.render.resolution_y = RENDER_HEIGHT
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scene.render.resolution_percentage = 100
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scene.render.image_settings.file_format = "PNG"
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scene.render.filepath = OUTPUT_FILE
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scene.render.film_transparent = False
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# ============================================================
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# FLOOR
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# ============================================================
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bpy.ops.mesh.primitive_plane_add(size=2.0, location=(0, 0, mm_to_m(-28.0)))
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floor = bpy.context.active_object
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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_node.inputs["Color1"].default_value = (0.82, 0.82, 0.82, 1.0)
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checker_node.inputs["Color2"].default_value = (0.18, 0.18, 0.18, 1.0)
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mapping_node.inputs["Scale"].default_value = (20.0, 20.0, 20.0)
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links.new(texcoord_node.outputs["UV"], mapping_node.inputs["Vector"])
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links.new(mapping_node.outputs["Vector"], checker_node.inputs["Vector"])
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links.new(checker_node.outputs["Color"], bsdf_node.inputs["Base Color"])
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links.new(bsdf_node.outputs["BSDF"], output_node.inputs["Surface"])
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floor.data.materials.append(checker_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 = resolve_vec3_m(rendering_info.get("cameraPosition", [-400, -700, 300]), state)
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cam_target = resolve_vec3_m(rendering_info.get("cameraTarget", [0, 0, 0]), state)
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cam_obj.location = cam_pos
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cam_data.lens = 50
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cam_vec = mathutils.Vector(cam_target) - mathutils.Vector(cam_pos)
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if cam_vec.length == 0:
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cam_vec = mathutils.Vector((1, 0, 0))
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cam_obj.rotation_euler = cam_vec.to_track_quat("-Z", "Y").to_euler()
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scene.camera = cam_obj
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# ============================================================
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# LIGHTS
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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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sun_pos = resolve_vec3_m(rendering_info.get("lightPosition", [-500, -500, 500]), state)
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light_target = resolve_vec3_m(rendering_info.get("lightTarget", [0, 0, 0]), state)
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sun_obj.location = sun_pos
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light_vec = mathutils.Vector(light_target) - mathutils.Vector(sun_pos)
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if light_vec.length == 0:
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light_vec = mathutils.Vector((1, 0, -1))
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sun_obj.rotation_euler = light_vec.to_track_quat("-Z", "Y").to_euler()
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sun_data.energy = float(rendering_info.get("sunEnergy", 0.35))
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area_data = bpy.data.lights.new(name="AreaLight", type="AREA")
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area_obj = bpy.data.objects.new(name="AreaLight", object_data=area_data)
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bpy.context.collection.objects.link(area_obj)
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area_obj.location = (mm_to_m(-800), mm_to_m(-1200), mm_to_m(1500))
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area_obj.rotation_euler = (math.radians(60), 0.0, math.radians(-20))
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area_data.energy = float(rendering_info.get("areaEnergy", 120))
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area_data.size = 2.0
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# ============================================================
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# ROBOT HIERARCHY
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# ============================================================
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link_frames: Dict[str, bpy.types.Object] = {}
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for link_name in links_def.keys():
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link_frames[link_name] = create_empty(f"{link_name}_frame")
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for link_name, link_info in links_def.items():
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parent_name = link_info.get("parent")
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parent_frame = link_frames.get(parent_name) if parent_name else None
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size_mm = link_info.get("size", [100, 100, 100])
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mount = create_empty(f"{link_name}_mount")
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safe_parent(mount, parent_frame)
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mount.location = resolve_vec3_m(link_info.get("mountPosition", [0, 0, 0]), state)
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mount.rotation_euler = euler_deg_xyz(link_info.get("mountRotation", [0, 0, 0]))
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joint_info = link_info.get("jointToParent", {}) or {}
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joint = create_empty(f"{link_name}_joint")
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safe_parent(joint, mount)
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joint.location = resolve_vec3_m(joint_info.get("origin", [0, 0, 0]), state)
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joint.rotation_euler = euler_deg_xyz(joint_info.get("rotation", [0, 0, 0]))
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motion = create_empty(f"{link_name}_motion")
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safe_parent(motion, joint)
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joint_type = str(joint_info.get("type", "fixed")).lower()
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control_var = str(joint_info.get("variable", joint_info.get("control", ""))).lower()
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axis = joint_info.get("axis", [1, 0, 0])
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if joint_type == "linear":
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value_mm = state.get(control_var, 0.0) if control_var else 0.0
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motion.location = normalize_axis(axis) * mm_to_m(value_mm)
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elif joint_type == "revolute":
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value_deg = state.get(control_var, 0.0) if control_var else 0.0
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motion.rotation_mode = "QUATERNION"
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motion.rotation_quaternion = mathutils.Quaternion(normalize_axis(axis), math.radians(value_deg))
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link_frame = link_frames[link_name]
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safe_parent(link_frame, motion)
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# --------------------------------------------------------
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# VISUAL MESHES
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# --------------------------------------------------------
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visual_root = create_empty(f"{link_name}_visual")
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safe_parent(visual_root, link_frame)
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model_list = link_info.get("model", [])
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if not isinstance(model_list, list):
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model_list = []
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for idx, model_def in enumerate(model_list):
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stl_file = model_def.get("stlFile")
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if not stl_file:
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continue
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stl_path = resolve_stl_path(stl_file)
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imported = import_stl(str(stl_path))
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model_node = create_empty(f"{link_name}_model_{idx}")
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safe_parent(model_node, visual_root)
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model_node.location = resolve_vec3_m(model_def.get("originOfModel", [0, 0, 0]), state)
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model_node.rotation_euler = euler_deg_xyz(model_def.get("rotationOfModelDegree", [0, 0, 0]))
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material_name = model_def.get("material", "defaultPlastic")
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material = create_or_get_material(material_name)
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for obj in imported:
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if obj.type != "MESH":
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continue
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safe_parent(obj, model_node)
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obj.scale = (scale_factor, scale_factor, scale_factor)
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if len(obj.data.materials) == 0:
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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) |