Draft: v2.1.0

README.md

@@ -28,6 +28,10 @@ Please contact [Henning Wiedemann](https://robotik.dfki-bremen.de/de/ueber-uns/m
 for any inquiries, or any questions and feedback not suited for the issues
 page.
 
+## Version 2.1.0
+Version 2.1.0 refactors especially the phobos-ci usage and improves the configurability by config inheritance. However these are breaking changes to the pipeline configuration. See PR #364 for more details on the changes.
+
+
 ## Version 2.0.0
 With version 2.0.0 we did a refactoring of Phobos and its now possible to use phobos as a normal python package and command line tool (see below).
 

codemeta.json

@@ -12,12 +12,12 @@
   "identifier": "",
   "codeRepository": "https://github.com/dfki-ric/phobos",
   "datePublished": "2019-02-01",
-  "dateModified": "2022-08-30",
+  "dateModified": "2024-07-03",
   "dateCreated": "2019-02-01",
   "description": "Phobos is a python tool for processing simulation models. It comes with a Blender addon to create, edit and annotate robot models in a WYSIWYG environment and a python package/CLI tool to do this automated.",
   "keywords": "robotics, Blender, Python, URDF, SDF, model, MARS, SMURF, CLI",
   "license": "BSD-3-Clause",
   "title": "Phobos",
-  "version": "2.0.0",
+  "version": "2.1.0",
   "citation": "https://doi.org/10.21105/joss.01326"
 }

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/__init__.py

@@ -23,7 +23,7 @@
     pass
 
 # Phobos information
-version = '2.0.0 "Perilled Pangolin"'
+version = '2.1.0 "Perilled Pangolin"'
 repository = 'https://github.com/dfki-ric/phobos'
 
 bl_info = {

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/blender/operators/editing.py

@@ -2337,7 +2337,7 @@ def execute(self, context):
         return {'FINISHED'}
 
 #
-# # [TODO v2.0.0] REVIEW this
+# # [TODO v2.2.0] REVIEW this
 # def addControllerFromYaml(controller_dict, annotations, selected_objs, active_obj, *args):
 #     """Execution function for the temporary operator to add controllers from yaml files.
 #
@@ -2382,7 +2382,7 @@ def execute(self, context):
 #     return controller_objs, annotation_objs, []
 #
 #
-# # [TODO v2.0.0] REVIEW this
+# # [TODO v2.2.0] REVIEW this
 # class AddControllerOperator(Operator):
 #     """Add a controller at the position of the selected object."""
 #
@@ -2535,7 +2535,7 @@ def execute(self, context):
 #         return {'FINISHED'}
 #
 #
-# # [TODO v2.0.0] REVIEW this
+# # [TODO v2.2.0] REVIEW this
 # def getControllerParameters(name):
 #     """Returns the controller parameters for the controller type with the provided
 #     name.
@@ -2552,7 +2552,7 @@ def execute(self, context):
 #         return []
 #
 #
-# # [TODO v2.0.0] REVIEW this
+# # [TODO v2.2.0] REVIEW this
 # def getDefaultControllerParameters(scene, context):
 #     """Returns the default controller parameters for the controller of the active
 #     object.
@@ -2571,7 +2571,7 @@ def execute(self, context):
 #         return None
 #
 
-# [TODO v2.0.0] REVIEW this
+# [TODO v2.2.0] REVIEW this
 class CreateMimicJointOperator(Operator):
     """Make a number of joints follow a specified joint"""
 
@@ -2768,7 +2768,7 @@ def invoke(self, context, event):
         return {'RUNNING_MODAL'}
 
 
-# [TODO v2.0.0] REVIEW this
+# [TODO v2.2.0] REVIEW this
 class AddSubmodel(Operator):
     """Add a submodel instance to the scene"""
 
@@ -2897,7 +2897,7 @@ def execute(self, context):
         return {'FINISHED'}
 
 
-# [TODO v2.0.0] REVIEW this
+# [TODO v2.2.0] REVIEW this
 class DefineSubmodel(Operator):
     """Define a new submodel from objects"""
 
@@ -3273,7 +3273,7 @@ def execute(self, context):
 
 
 
-# [TODO v2.0.0] REVIEW this
+# [TODO v2.2.0] REVIEW this
 class MergeLinks(Operator):
     """Merge links"""
 

phobos/blender/phobosgui.py

@@ -849,7 +849,7 @@ def draw(self, context):
 )
 
 
-# [TODO v2.0.0] Improve e.g. add edit tools
+# [TODO v2.2.0] Improve e.g. add edit tools
 class PhobosPropertyInformationPanel(bpy.types.Panel):
     """Contains all properties sorted in different categories"""