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))