1046 lines
35 KiB
Python
1046 lines
35 KiB
Python
from unicodedata import name
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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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from mathutils import Matrix
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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\data\robot\robot.json"
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OUTPUT_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\data\simulation\debug\render.png"
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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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marker_export = []
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print("2 LOADING")
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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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RENDER_WIDTH = int(rendering_info.get("width", 1200))
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RENDER_HEIGHT = int(rendering_info.get("height", 800))
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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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lens_dirt = as_bool(rendering_info.get("lensDirt", False))
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lens_dirt_strength = float(rendering_info.get("lensDirtStrength", 0.08))
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dof_enabled = as_bool(rendering_info.get("dofEnabled", True))
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dof_fstop = float(rendering_info.get("dofFStop", 7.5))
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aruco_dust = as_bool(rendering_info.get("arucoDust", False))
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aruco_dust_strength = float(rendering_info.get("arucoDustStrength", 0.0005))
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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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if name == "wood" and mat.node_tree.nodes.get("WoodGrainMix") is None:
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nodes = mat.node_tree.nodes
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links = mat.node_tree.links
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texcoord = nodes.new("ShaderNodeTexCoord")
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mapping = nodes.new("ShaderNodeMapping")
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noise = nodes.new("ShaderNodeTexNoise")
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wave = nodes.new("ShaderNodeTexWave")
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ramp = nodes.new("ShaderNodeValToRGB")
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mix = nodes.new("ShaderNodeMixRGB")
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texcoord.name = "WoodTexCoord"
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mapping.name = "WoodMapping"
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noise.name = "WoodNoise"
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wave.name = "WoodWave"
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ramp.name = "WoodRamp"
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mix.name = "WoodGrainMix"
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texcoord.location = (-900, 0)
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mapping.location = (-700, 0)
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noise.location = (-700, -220)
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wave.location = (-500, 0)
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ramp.location = (-260, 0)
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mix.location = (-60, 0)
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# statt extrem hoch:
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mapping.inputs["Scale"].default_value = (1000.0, 1000.0, 1000.0)
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wave.inputs["Scale"].default_value = 1.0
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noise.inputs["Scale"].default_value = 6.0
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wave.inputs["Distortion"].default_value = 3.0
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# und wichtig: Wave Fac statt Color verwenden
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links.new(wave.outputs["Fac"], ramp.inputs["Fac"])
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bump = nodes.new("ShaderNodeBump")
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bump.location = (120, -160)
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bump.inputs["Strength"].default_value = 0.4
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links.new(ramp.outputs["Color"], bump.inputs["Height"])
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links.new(bump.outputs["Normal"], bsdf.inputs["Normal"])
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ramp.color_ramp.elements[0].position = 0.53
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ramp.color_ramp.elements[1].position = 0.58
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mix.blend_type = "MIX"
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mix.inputs["Fac"].default_value = 0.08
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mix.inputs["Color1"].default_value = spec["baseColor"]
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mix.inputs["Color2"].default_value = (0.74, 0.58, 0.50, 1.0)
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links.new(texcoord.outputs["Object"], mapping.inputs["Vector"])
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links.new(mapping.outputs["Vector"], noise.inputs["Vector"])
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links.new(noise.outputs["Fac"], wave.inputs["Distortion"])
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links.new(mapping.outputs["Vector"], wave.inputs["Vector"])
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links.new(wave.outputs["Color"], ramp.inputs["Fac"])
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links.new(ramp.outputs["Color"], mix.inputs["Fac"])
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links.new(mix.outputs["Color"], bsdf.inputs["Base Color"])
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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(path)
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before = {obj.name for obj in bpy.data.objects}
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try:
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bpy.ops.wm.stl_import(filepath=str(path))
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except Exception as e:
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raise RuntimeError(f"STL import failed: {path}") from e
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imported = [
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obj
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for obj in bpy.data.objects
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if obj.name not in before
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]
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return imported
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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], keep_world: bool = False):
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if parent is None:
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return
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world_matrix = child.matrix_world.copy()
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child.parent = parent
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if keep_world:
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child.matrix_parent_inverse = parent.matrix_world.inverted()
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child.matrix_world = world_matrix
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else:
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child.matrix_parent_inverse = Matrix.Identity(4)
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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, keep_world=False)
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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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print("3 SETUP")
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# ============================================================
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# SCENE RESET
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# ============================================================
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for obj in list(bpy.data.objects):
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bpy.data.objects.remove(obj, do_unlink=True)
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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 = 32
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scene.cycles.preview_samples = 32
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scene.cycles.use_adaptive_sampling = True
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scene.cycles.adaptive_threshold = 0.02
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scene.cycles.use_denoising = True
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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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print("4 SCENE")
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# ============================================================
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# FLOOR
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# ============================================================
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mesh = bpy.data.meshes.new("FloorMesh")
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verts = [
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(-1,-1,0),
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( 1,-1,0),
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( 1, 1,0),
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(-1, 1,0),
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]
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faces = [(0,1,2,3)]
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mesh.from_pydata(verts, [], faces)
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mesh.update()
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floor = bpy.data.objects.new("Floor", mesh)
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bpy.context.collection.objects.link(floor)
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floor.location = (
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0,
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0,
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mm_to_m(-28.0)
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)
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floor_tex_path = Path(ROBOT_JSON_FILE).parent / "surfaces" / "boden.jpg"
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if floor_tex_path.exists():
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floor_mat = bpy.data.materials.new(name="FloorPhoto")
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floor_mat.use_nodes = True
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nodes = floor_mat.node_tree.nodes
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links = floor_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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texcoord_node = nodes.new(type="ShaderNodeTexCoord")
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mapping_node = nodes.new(type="ShaderNodeMapping")
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image_node = nodes.new(type="ShaderNodeTexImage")
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image_node.image = bpy.data.images.load(str(floor_tex_path), check_existing=True)
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image_node.interpolation = "Cubic"
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links.new(texcoord_node.outputs["UV"], mapping_node.inputs["Vector"])
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links.new(mapping_node.outputs["Vector"], image_node.inputs["Vector"])
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links.new(image_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(floor_mat)
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else:
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# Fallback: dein bisheriges Checkerboard behalten
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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"])
|
|
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)
|