Draft: v2.1.0

install_requirements.py

@@ -31,7 +31,7 @@
 
 extra_requirements = {
  "pybullet": "pybullet", # optional for blender
- "open3d": "open3d", # optional for blender
+ "open3d": "open3d", # optional for blender, used for mesh adaption by trimesh
  "python-fcl": "python-fcl", # optional for blender
 }
 
@@ -41,7 +41,11 @@ def install_requirement(package_name, upgrade_pip=False, lib=None, ensure_pip=Tr
  lib = bpy.utils.user_resource("SCRIPTS", path="modules")
  if ensure_pip:
  # Ensure pip is installed
- subprocess.check_call([sys.executable, "-m", "ensurepip", "--user"])
+ try:
+ subprocess.check_call([sys.executable, "-m", "ensurepip", "--user"])
+ except subprocess.CalledProcessError:
+ print("WARNING: We couldn't do ensurepip, we try to continue anyways")
+ pass
  # Update pip (not mandatory)
  if upgrade_pip:
  print(" Upgrading pip...")
@@ -60,7 +64,11 @@ def check_requirements(optional=False, extra=False, force=False, upgrade_pip=Fal
  return
  print("Checking requirements:")
  # Ensure pip is installed
- subprocess.check_call([sys.executable, "-m", "ensurepip", "--user"])
+ try:
+ subprocess.check_call([sys.executable, "-m", "ensurepip", "--user"])
+ except subprocess.CalledProcessError:
+ print("WARNING: We couldn't do ensurepip, we try to continue anyways")
+ pass
  reqs = [requirements]
  if optional:
  reqs += [optional_requirements]

manifest.xml

@@ -34,7 +34,7 @@
  <depend package="pyyaml"/><!-- optional="1"/>-->
  <!-- Only used for kccd collision export -->
  <depend package="control/kccdtools" optional="1"/>
- <!-- Only necessary when using the blender add-on-->
+ <!-- Only necessary when using the blender add-on or for collision mesh processing-->
  <depend package="blender" optional="1"/>
  <!-- Only used for certain tests-->
  <depend package="control/hyrodyn" optional="1" />

phobos/blender/io/phobos2blender.py

@@ -96,9 +96,14 @@ def createGeometry(viscol, geomsrc, linkobj=None):
  newgeom = bUtils.createPrimitive(viscol.name, geometry_type, dimensions, phobostype=geomsrc, pmaterial="phobos_collision")
  newgeom.select_set(True)
  else:
+ # [TODO] we need to handle here the primitive alternatives that are available when loading from smurf
+ # They can be returned as second return value to make clear that they are different
+ # Also they should get another colored material
+ # When we do this we should add support to edit and create such primitive alternatives
+ # Also they will currently not be exported.
  log(
  "Unknown geometry type of "
- + type(geometry)
+ + str(type(geometry))
  + viscol.name
  + '. Placing empty coordinate system.',
  "ERROR",
@@ -216,6 +221,11 @@ def createLink(link):
  geometries.append((geom, viscol))
  for viscol in link.collisions:
  geom = createGeometry(viscol, "collision")
+ if geom is None:
+ # [TODO] this happens when we load from SMURF if this collision has primitives defined but no mesh
+ # we need to display those primitive alternatives in Blender, too.
+ # Yet, we are completely ignoring them
+ continue
  bound_box = (
  max(bound_box[0], max([c[0] for c in geom.bound_box])),
  max(bound_box[1], max([c[1] for c in geom.bound_box])),

phobos/commandline_logging.py

@@ -1,9 +1,10 @@
 import logging
 import sys
+import os
 
 SUPPORTED_LEVELS = ["DEBUG", "INFO", "WARNING", "ERROR"]
 LOGGER_NAME = "phobos_log"
-BASE_LOG_LEVEL = "WARNING"
+BASE_LOG_LEVEL = os.getenv("PHOBOS_LOG_LEVEL", "WARNING")
 LOG_FILE_CONVENTION = None
 
 #The background is set with 40 plus the number of the color, and the foreground with 30

phobos/core/multiple.py

@@ -7,6 +7,9 @@
 from ..io.smurf_reflection import SmurfBase
 from ..io.xml_factory import plural as _plural, singular as _singular
 
+from ..commandline_logging import get_logger
+log = get_logger(__name__)
+
 __IMPORTS__ = [x for x in dir() if not x.startswith("__")]
 
 
@@ -37,7 +40,7 @@ def __init__(self, name=None, world=None, model=None, file=None, origin=None, fr
  for frame in _plural(frames):
  self._frames.append(frame)
  self.anchor = anchor
- self.parent = parent.upper()
+ self.parent = parent
  self.child = child
  SmurfBase.__init__(self, name=name, returns=["name", "type", "parent", "position", "rotation", "anchor", "root", "file", "child"], **kwargs)
  self.excludes += ["origin", "model"]
@@ -105,7 +108,7 @@ def position(self):
  def position(self, val):
  if self.origin is None:
  self.origin = representation.Pose()
- self.origin.xyz = [val["x"], val["y"], val["z"]]
+ self.origin.position = val
 
  @property
  def rotation(self):
@@ -169,10 +172,11 @@ def __init__(self, name=None, inputfile=None, entities=None, frames=None, **kwar
  Representation.__init__(self)
  SmurfBase.__init__(self, returns=["entities"], **kwargs)
  self.name = name
+ self.inputfile = inputfile
  self.entities = _plural(entities)
- self.inputfile = os.path.abspath(inputfile)
  self._frames = _plural(frames)
- if self.inputfile is not None:
+ if self.inputfile is not None: 
+ self.inputfile = os.path.abspath(inputfile)
  ext = self.inputfile.lower().rsplit(".", 1)[-1]
  if ext == "sdf":
  # [Todo v2.1.0]
@@ -199,6 +203,7 @@ def add_robot(self, name, robot, origin=None, anchor=None):
  def add_entity(self, entity):
  assert isinstance(entity, Entity)
  assert self.get_aggregate("entities", str(entity)) is None, f"There is already an entity with the name {str(entity)}"
+ log.debug("Adding entity "+ entity.name)
  self.entities.append(entity)
 
  def get_aggregate(self, typeName, elem):
@@ -296,13 +301,13 @@ def assemble(self, root_entity=None):
  continue
  if entity._anchor == "PARENT":
  assert "::" in entity.parent, "Please specify the parent in the way entity::link. Received: "+entity.parent
- parent_entity, parent_link = entity.parent.split("::", 1)
+ parent_entity, parent_link_name = entity.parent.split("::", 1)
  else:
  assert "::" in entity._anchor, "Please specify the anchor in the way entity::link or use the parent keyword. Received: "+entity._anchor
- parent_entity, parent_link = entity._anchor.split("::", 1)
+ parent_entity, parent_link_name = entity._anchor.split("::", 1)
  if parent_entity in [str(e) for e in entities_in_tree]:
- parent_link = assembly.get_link(parent_entity+"_"+parent_link)
- assert parent_link is not None
+ parent_link = assembly.get_link(parent_entity+"_"+parent_link_name, verbose=True)
+ assert parent_link is not None, f"parent link {parent_entity}_{parent_link_name} not found "+str(entity)
  if isinstance(root_entity.model, Robot):
  attach_model = entity.model.duplicate()
  assembly.unlink_from_world()
@@ -317,13 +322,13 @@ def assemble(self, root_entity=None):
  # make sure that we have a consistent downward tree
  attach_model.exchange_root(child_link)
  attach_model.unlink_from_world()
- attach_model.rename_all(prefix=entity.name + "_")
+ attach_model.rename_all(prefix=entity.name + "_", do_not_double=False)
  origin = entity.origin.duplicate()
  origin.relative_to = str(entity.origin.relative_to).replace("::", "_", 1)
  assembly.attach(
  other=attach_model,
  joint=representation.Joint(
- name=str(parent_entity)+"2"+str(entity),
+ name=str(parent_entity)+"_2_"+str(entity),
  parent=parent_link,
  child=child_link,
  type="fixed",
@@ -334,6 +339,7 @@ def assemble(self, root_entity=None):
  attached += 1
 
  assembly.link_entities()
+ assert assembly.verify_meshes()
  return assembly
 
  def export_sdf(self, use_includes=True):
@@ -376,4 +382,4 @@ def expot_smurfs(self, outputfile):
  if not os.path.exists(os.path.dirname(outputfile)):
  os.makedirs(os.path.dirname(outputfile), exist_ok=True)
  with open(outputfile, "w") as f:
- f.write(dump_json(out))
+ f.write(dump_json(out))