diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md index 0b35a7edc..64a89ceb7 100644 --- a/.github/ISSUE_TEMPLATE/bug_report.md +++ b/.github/ISSUE_TEMPLATE/bug_report.md @@ -23,8 +23,7 @@ If applicable, add screenshots to help explain your problem. **Desktop (please complete the following information):** - OS: [e.g. Ubuntu] - Version [e.g. 16.04] - - Blender version (see the splash screen on startup of Blender) - - Blender Python version (Open the Python Console Editor screen and check the output) + - debugging output (run `setup.py --info`) **Additional context** Add any other context about the problem here. diff --git a/.gitignore b/.gitignore index 778c63cec..a7571c55d 100644 --- a/.gitignore +++ b/.gitignore @@ -1,6 +1,6 @@ -python_dist_packages.conf +installation.conf *~ -.* +.^(travis).* *.orig *.blend1 *.pyc diff --git a/.travis.yml b/.travis.yml new file mode 100644 index 000000000..fcbd7bd77 --- /dev/null +++ b/.travis.yml @@ -0,0 +1,54 @@ +# this is essential to make python work out of the box +language: python + +dist: xenial + +# safelist +branches: + only: + - master + +# Define which python version to build against. +# As blender comes bundled with it's own python you can use just one version if you like +python: + - "3.5.7" + +before_install: + # update apt-gets repository sources + - sudo apt-get update -qq + + # install blender from official sources. + # This will most propably install an outdated blender version, + # but it will resolve all system dependencies blender has to be able to run. + - sudo apt-get install blender + +install: + # create temp directory where we store a recent blender version + - mkdir tmp && cd tmp + + # download the blender version you want to test against + - wget http://mirror.cs.umn.edu/blender.org/release/Blender2.79/blender-2.79-linux-glibc219-x86_64.tar.bz2 + + # Extract the archive + - tar jxf blender-2.79-linux-glibc219-x86_64.tar.bz2 + + # rename the extracted folder to "blender" for easier reference + - mv blender-2.79-linux-glibc219-x86_64 blender + + # remove the archive, we do not need it anymore + - rm blender-2.79-linux-glibc219-x86_64.tar.bz2 + + # go back to root directory + - cd .. + + # now create a symlink to the addon within blenders addons directory + # this is important, because otherwhise blender would not be able to load the addon + # - sudo ln -s ${PWD}/phobos ${PWD}/tmp/blender/2.79/scripts/addons/phobos + + # instead we use the setup.py to install the addon to the folder + - python ${PWD}/setup.py -t ${PWD}/tmp/blender/2.79/scripts/addons/phobos -b ${PWD}/tmp/blender + - ls ${PWD}/tmp/blender/2.79/scripts/addons/phobos + +# Finally start our test runner passing it the blender executable from the downloaded blender release +script: python testrunner.py ./tmp/blender/blender + diff --git a/COPYING b/COPYING deleted file mode 100644 index 94a9ed024..000000000 --- a/COPYING +++ /dev/null @@ -1,674 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The GNU General Public License is a free, copyleft license for -software and other kinds of works. - - The licenses for most software and other practical works are designed -to take away your freedom to share and change the works. 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Combined Libraries. - - You may place library facilities that are a work based on the -Library side by side in a single library together with other library -facilities that are not Applications and are not covered by this -License, and convey such a combined library under terms of your -choice, if you do both of the following: - - a) Accompany the combined library with a copy of the same work based - on the Library, uncombined with any other library facilities, - conveyed under the terms of this License. - - b) Give prominent notice with the combined library that part of it - is a work based on the Library, and explaining where to find the - accompanying uncombined form of the same work. - - 6. Revised Versions of the GNU Lesser General Public License. - - The Free Software Foundation may publish revised and/or new versions -of the GNU Lesser General Public License from time to time. Such new -versions will be similar in spirit to the present version, but may -differ in detail to address new problems or concerns. - - Each version is given a distinguishing version number. If the -Library as you received it specifies that a certain numbered version -of the GNU Lesser General Public License "or any later version" -applies to it, you have the option of following the terms and -conditions either of that published version or of any later version -published by the Free Software Foundation. If the Library as you -received it does not specify a version number of the GNU Lesser -General Public License, you may choose any version of the GNU Lesser -General Public License ever published by the Free Software Foundation. - - If the Library as you received it specifies that a proxy can decide -whether future versions of the GNU Lesser General Public License shall -apply, that proxy's public statement of acceptance of any version is -permanent authorization for you to choose that version for the -Library. diff --git a/LICENSE b/LICENSE new file mode 100644 index 000000000..ec4b73ba2 --- /dev/null +++ b/LICENSE @@ -0,0 +1,26 @@ +Copyright 2019 University of Bremen & DFKI GmbH Robotics Innovation Center + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this +list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, +this list of conditions and the following disclaimer in the documentation +and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its contributors +may be used to endorse or promote products derived from this software without +specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/Makefile b/Makefile index fb0787a96..f924b7aa8 100644 --- a/Makefile +++ b/Makefile @@ -1,33 +1,24 @@ # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- help: @echo 'Targets of Phobos:' - @echo ' help - Print this help information.' - @echo ' init - Install the Phobos requirements using pip.' - @echo ' install - Install the Phobos code to your Blender installation.' - @echo ' This also sets up the configuration folder for Phobos.' + @echo ' apidoc - Generates the Sphinx API documentation and moves' + @echo ' it to the gh-pages branch.' @echo ' clean - Removes the installation configuration file for Phobos.' @echo ' This does not remove the Phobos installation and configurations!' @echo ' format - Formats the python code in the folder using the black code' @echo ' formatter (github.com/ambv/black).' - @echo ' apidoc - Generates the Sphinx API documentation and moves it to the gh-pages' - @echo ' branch.' + @echo ' help - Print this help information.' + @echo ' init - Install the Phobos requirements using pip.' + @echo ' install - Install the Phobos code to your Blender installation.' + @echo ' This also sets up the configuration folder for Phobos.' + @echo ' version - Prints some help relating to drafting a new version.' init: pip install -r requirements.txt @@ -36,7 +27,7 @@ install: python3 setup.py clean: - rm python_dist_packages.conf + rm installation.conf format: # add docstrings and format to google style @@ -57,4 +48,12 @@ apidoc: mv doc/_build/html/* . @echo 'Please commit and push the changes to publish the new doc on https://dfki-ric.github.io/phobos' +version: + @echo 'Change version in:' + @echo ' - codemeta.json' + @echo ' - phobos/defs.py' + @echo ' - phobos/__init__.py' + @echo ' - doc/conf.py' + @echo ' - doc/index.rst' + .PHONY: init test install format apidoc help diff --git a/joss/PhobosUR5.png b/PhobosUR5.png similarity index 100% rename from joss/PhobosUR5.png rename to PhobosUR5.png diff --git a/README.md b/README.md index 229b24a16..f196aeebe 100644 --- a/README.md +++ b/README.md @@ -4,6 +4,7 @@ black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://gith [![license](https://img.shields.io/github/license/dfki-ric/phobos.svg?style=flat)](https://github.com/dfki-ric/phobos/blob/master/COPYING) [![made-with-python](https://img.shields.io/badge/Made%20with-Python-1f425f.svg)](https://www.python.org/) [![made-with-sphinx-doc](https://img.shields.io/badge/Made%20with-Sphinx-1f425f.svg)](https://www.sphinx-doc.org/) +[![Build Status](https://travis-ci.org/dfki-ric/phobos.svg?branch=master)](https://travis-ci.org/dfki-ric/phobos) ![Phobos](https://github.com/dfki-ric/phobos/wiki/img/phobos_logo_small.png) @@ -26,8 +27,7 @@ Bremen, together with the [Robotics Group](http://www.informatik.uni-bremen.de/robotik/index_en.php) of the [University of Bremen](http://www.uni-bremen.de/en.html). -Please contact [Simon V. -Reichel](https://robotik.dfki-bremen.de/de/ueber-uns/mitarbeiter/sire01.html) +Please contact [Kai von Szadkowski](https://robotik.dfki-bremen.de/de/ueber-uns/mitarbeiter/kavo01.html) for any inquiries, or any questions and feedback not suited for the issues page. @@ -99,5 +99,4 @@ avoiding confusion or obstruction of view when editing very complex models.* ## License -Phobos is distributed under the [GNU Lesser General Public -License](https://www.gnu.org/licenses/lgpl.html). +Phobos is distributed under the [3-Clause BSD License](https://opensource.org/licenses/BSD-3-Clause). diff --git a/codemeta.json b/codemeta.json index f759dd43d..e2cc5d33b 100644 --- a/codemeta.json +++ b/codemeta.json @@ -9,11 +9,11 @@ "identifier": "", "codeRepository": "https://github.com/dfki-ric/phobos", "datePublished": "2019-02-01", - "dateModified": "2019-02-01", + "dateModified": "2020-12-16", "dateCreated": "2019-02-01", "description": "A Blender addon to create and edit robot models in a WYSIWYG environment.", "keywords": "robotics, Blender, Python, URDF, SDF, model", - "license": "GNU LGPL v3.0", + "license": "BSD-3-Clause", "title": "Phobos", - "version": "v1.0.0 (Capricious Choutengan)" + "version": "1.0.1" } diff --git a/config/definitions/defaultControllers.yml b/config/definitions/defaultControllers.yml index 8b4173da9..efd050ffa 100644 --- a/config/definitions/defaultControllers.yml +++ b/config/definitions/defaultControllers.yml @@ -1,19 +1,9 @@ # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- # If you want to evaluate numeric expressions in this yaml file, just enclose your expression with diff --git a/config/definitions/defaultJoints.yml b/config/definitions/defaultJoints.yml index a56ab8197..64bfa8f68 100644 --- a/config/definitions/defaultJoints.yml +++ b/config/definitions/defaultJoints.yml @@ -1,19 +1,9 @@ # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- joints: diff --git a/config/definitions/defaultMaterials.yml b/config/definitions/defaultMaterials.yml index 8497aa527..2bd990bf4 100644 --- a/config/definitions/defaultMaterials.yml +++ b/config/definitions/defaultMaterials.yml @@ -1,19 +1,9 @@ # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- materials: diff --git a/config/definitions/defaultModel.yml b/config/definitions/defaultModel.yml index deea47f29..afaddcb90 100644 --- a/config/definitions/defaultModel.yml +++ b/config/definitions/defaultModel.yml @@ -1,19 +1,9 @@ # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- model: diff --git a/config/definitions/defaultMotors.yml b/config/definitions/defaultMotors.yml index 4917d662f..7c8c8c5d9 100644 --- a/config/definitions/defaultMotors.yml +++ b/config/definitions/defaultMotors.yml @@ -1,19 +1,9 @@ # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- # If you want to evaluate numeric expressions in this yaml file, just enclose your expression with diff --git a/config/definitions/defaultSensors.yml b/config/definitions/defaultSensors.yml index ee5f92e9d..b930d7246 100644 --- a/config/definitions/defaultSensors.yml +++ b/config/definitions/defaultSensors.yml @@ -1,19 +1,9 @@ # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- #If you want to evaluate numeric expressions in this yaml file, just enclose your expression with '&'. In that simple expressions you can use the python math module. @@ -326,6 +316,7 @@ sensors: - internal mars: type: NodeCOM + inertianame: $selected_objects:inertial id: $selected_objects:link Node_velocity: diff --git a/config/definitions/defaultSubmechanisms.yml b/config/definitions/defaultSubmechanisms.yml index 52910c537..ea02c41b4 100644 --- a/config/definitions/defaultSubmechanisms.yml +++ b/config/definitions/defaultSubmechanisms.yml @@ -1,19 +1,9 @@ # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- # This file holds definitions of (sub)mechanisms commonly used in the diff --git a/config/definitions/defaultSubmodels.yml b/config/definitions/defaultSubmodels.yml index 91ac55f7e..280485689 100644 --- a/config/definitions/defaultSubmodels.yml +++ b/config/definitions/defaultSubmodels.yml @@ -1,19 +1,9 @@ # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- # This file holds definitions of submodel types. diff --git a/doc/Makefile b/doc/Makefile index 0107c6671..a36b30584 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -1,5 +1,12 @@ -# Makefile for Sphinx documentation +# ------------------------------------------------------------------------------- +# This file is part of Phobos, a Blender Add-On to edit robot models. +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center # +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . +# ------------------------------------------------------------------------------- + +# Makefile for Sphinx documentation # You can set these variables from the command line. SPHINXOPTS = diff --git a/doc/conf.py b/doc/conf.py index 133bd128f..957a05b69 100644 --- a/doc/conf.py +++ b/doc/conf.py @@ -1,5 +1,13 @@ # -*- coding: utf-8 -*- + +# ------------------------------------------------------------------------------- +# This file is part of Phobos, a Blender Add-On to edit robot models. +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center # +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . +# ------------------------------------------------------------------------------- + # Phobos documentation build configuration file, created by # sphinx-quickstart on Wed Feb 28 08:59:46 2018. # @@ -63,7 +71,7 @@ # The short X.Y version. version = '1.0' # The full version, including alpha/beta/rc tags. -release = '1.0.0 "Capricious Choutengan"' +release = '1.0.1 "Capricious Choutengan"' # The language for content autogenerated by Sphinx. Refer to documentation # for a list of supported languages. diff --git a/manifest.xml b/manifest.xml index f58925287..29cb0a739 100644 --- a/manifest.xml +++ b/manifest.xml @@ -1,21 +1,12 @@ - + @@ -27,7 +18,7 @@ Kai/kai_alexander.von_szadkowski@dfki.de, Simon/simon.reichel@dfki.de Simon/simon.reichel@dfki.de - LPGL 3 + BSD-3-Clause https://robotik.dfki-bremen.de/en/research/softwaretools/phobos.html https://github.com/dfki-ric/phobos/wiki/img/phobos_logo_small.png diff --git a/joss/paper.bib b/paper.bib similarity index 90% rename from joss/paper.bib rename to paper.bib index d1a0d19cc..1e8b3a790 100644 --- a/joss/paper.bib +++ b/paper.bib @@ -7,7 +7,7 @@ @inproceedings{hyrodyn } @misc{phobosrepo, - title = {Phobos Github Repository}, + title = {{Phobos GitHub Repository}}, year = {2019}, howpublished = {\url{https://github.com/dfki-ric/phobos}} } diff --git a/joss/phobos_joss.md b/paper.md similarity index 98% rename from joss/phobos_joss.md rename to paper.md index 04316f354..1a3f98eb9 100644 --- a/joss/phobos_joss.md +++ b/paper.md @@ -39,7 +39,7 @@ consuming, challenging task for the modeler. Also, tiny mistakes in the model description can lead to huge differences in the modeled system. With increasing model complexity the model files become even more difficult to debug. -![[Universal Robots UR5](https://www.universal-robots.com/products/ur5-robot/) within ``Phobos``](PhobosUR5.png) +![Universal Robots UR5 (https://www.universal-robots.com/products/ur5-robot/) within ``Phobos``](PhobosUR5.png) ``Phobos`` is an add-on for the open-source 3D modeling software [Blender](https://www.blender.org/) that allows users to edit models of robots diff --git a/phobos/__init__.py b/phobos/__init__.py index 7496bdf49..2fa2c5ce8 100644 --- a/phobos/__init__.py +++ b/phobos/__init__.py @@ -1,22 +1,12 @@ -#!/usr/bin/python3.5 +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ @@ -33,7 +23,7 @@ # TODO double import of basemodule? import bpy import phobos - +import yaml def import_submodules(package, recursive=True, verbose=False): """Import all submodules of a module, recursively, including subpackages. @@ -81,8 +71,8 @@ def import_submodules(package, recursive=True, verbose=False): "name": "Phobos", "description": "A toolbox to enable editing of robot models in Blender.", "author": "Kai von Szadkowski, Ole Schwiegert, Stefan Rahms, Malte Langosz, Simon Reichel", - "version": (0, 7, 1), - "blender": (2, 69, 0), + "version": (1, 0, 1), + "blender": (2, 79, 0), "location": "Phobos adds a number of custom tool panels.", "warning": "", "wiki_url": "https://github.com/dfki-ric/phobos/wiki", @@ -92,18 +82,16 @@ def import_submodules(package, recursive=True, verbose=False): } # TODO rework yaml import: loading module twice if yaml is not found... -yamlconfpath = os.path.dirname(__file__) + "/python_dist_packages.conf" -if os.path.isfile(yamlconfpath): - f = open(yamlconfpath) - distpath = f.read().replace('\n', '') - f.close() - sys.path.insert(0, os.path.normpath(distpath)) - import yaml - - # OPT here we could add additional required imports -# stop execution, when yaml cannot be imported +installconfpath = os.path.dirname(__file__) + "/installation.conf" +if os.path.isfile(installconfpath): + with open(installconfpath, 'r') as conffile: + python_package_path = conffile.readline().split(' #')[0] + python_executable = conffile.readline().split(' #')[0] + blender_executable = conffile.readline().split(' #')[0] + python_version = conffile.readline().split(' #')[0] + blender_version = conffile.readline().split(' #')[0] else: - raise FileNotFoundError('No python_dist_packages.conf file found. Please reinstall phobos.') + raise FileNotFoundError('No .conf file found. Please reinstall phobos.') # Add custom YAML (de-)serializer diff --git a/phobos/defs.py b/phobos/defs.py index c40926c89..08d23b549 100644 --- a/phobos/defs.py +++ b/phobos/defs.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ @@ -32,7 +22,7 @@ import phobos.phobossystem as phobossystem # Phobos information -version = '0.7' +version = '1.0.1 "Capricious Choutengan"' repository = 'https://github.com/dfki-ric/phobos' # definitions of which elements are assigned to which default layers diff --git a/phobos/display.py b/phobos/display.py index 4dc6d760f..e5761dc45 100644 --- a/phobos/display.py +++ b/phobos/display.py @@ -1,21 +1,11 @@ -# TODO SHEBANG +#!/usr/bin/python # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import collections diff --git a/phobos/io/__init__.py b/phobos/io/__init__.py index b237755e4..34d0d55f8 100644 --- a/phobos/io/__init__.py +++ b/phobos/io/__init__.py @@ -1,21 +1,12 @@ -# TODO shebang +#!/usr/bin/python3 +# coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """Contains all kind of input/output modules which are required to import/export different formats. diff --git a/phobos/io/entities/__init__.py b/phobos/io/entities/__init__.py index 3edd3eeb7..4dafeda7a 100644 --- a/phobos/io/entities/__init__.py +++ b/phobos/io/entities/__init__.py @@ -1,22 +1,12 @@ -#!/usr/bin/python3.5 +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/io/entities/entities.py b/phobos/io/entities/entities.py index 8e72f54a7..acd8b41fc 100644 --- a/phobos/io/entities/entities.py +++ b/phobos/io/entities/entities.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import bpy diff --git a/phobos/io/entities/heightmap.py b/phobos/io/entities/heightmap.py index ea9bd65eb..28ec4a863 100644 --- a/phobos/io/entities/heightmap.py +++ b/phobos/io/entities/heightmap.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/io/entities/light.py b/phobos/io/entities/light.py index a43a26893..5775765c9 100644 --- a/phobos/io/entities/light.py +++ b/phobos/io/entities/light.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/io/entities/primitive.py b/phobos/io/entities/primitive.py index deb62e264..010b23e15 100644 --- a/phobos/io/entities/primitive.py +++ b/phobos/io/entities/primitive.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/io/entities/sdf.py b/phobos/io/entities/sdf.py index bbf04448f..969d7b5ae 100644 --- a/phobos/io/entities/sdf.py +++ b/phobos/io/entities/sdf.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import os diff --git a/phobos/io/entities/smurf.py b/phobos/io/entities/smurf.py index f200cc87b..8986d86e7 100644 --- a/phobos/io/entities/smurf.py +++ b/phobos/io/entities/smurf.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import os diff --git a/phobos/io/entities/srdf.py b/phobos/io/entities/srdf.py index a654180b1..5d4149620 100644 --- a/phobos/io/entities/srdf.py +++ b/phobos/io/entities/srdf.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/io/entities/submechanisms.py b/phobos/io/entities/submechanisms.py index 7befbdfd9..8cb3cb4bc 100644 --- a/phobos/io/entities/submechanisms.py +++ b/phobos/io/entities/submechanisms.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- from phobos.phoboslog import log diff --git a/phobos/io/entities/thumbnail.py b/phobos/io/entities/thumbnail.py index 81597a888..f50cbf0de 100644 --- a/phobos/io/entities/thumbnail.py +++ b/phobos/io/entities/thumbnail.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import bpy diff --git a/phobos/io/entities/urdf.py b/phobos/io/entities/urdf.py index 9f1f68eb5..f882fdbdc 100644 --- a/phobos/io/entities/urdf.py +++ b/phobos/io/entities/urdf.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- from os import path diff --git a/phobos/io/entities/yaml.py b/phobos/io/entities/yaml.py index c00e2ffa4..283d4e47a 100644 --- a/phobos/io/entities/yaml.py +++ b/phobos/io/entities/yaml.py @@ -1,21 +1,12 @@ -# TODO add shebang and intro documentation +#!/usr/bin/python3 +# coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import yaml diff --git a/phobos/io/libraries/__init__.py b/phobos/io/libraries/__init__.py index 78b668cf7..93197630a 100644 --- a/phobos/io/libraries/__init__.py +++ b/phobos/io/libraries/__init__.py @@ -1,22 +1,12 @@ -#!/usr/bin/python3.5 +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/io/libraries/mechanisms.py b/phobos/io/libraries/mechanisms.py index 70c2716d6..9989097d0 100644 --- a/phobos/io/libraries/mechanisms.py +++ b/phobos/io/libraries/mechanisms.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ @@ -61,7 +51,13 @@ def compileMechanismList(): log("Compiling mechanism list from local library...", "INFO") - imagefolderpath = os.path.join(bUtils.getPhobosConfigPath(), 'images', 'mechanisms') + try: + phobosconfig = bUtils.getPhobosConfigPath() + except KeyError: + log('Can not create mechanism preview. Phobos not registered.', 'DEBUG') + return + + imagefolderpath = os.path.join(phobosconfig, 'images', 'mechanisms') if imagefolderpath == '' or not os.path.exists(imagefolderpath): log('Visual mechanism representations could not be found.') return diff --git a/phobos/io/libraries/models.py b/phobos/io/libraries/models.py index eca6aaf3a..8d1dbcef2 100644 --- a/phobos/io/libraries/models.py +++ b/phobos/io/libraries/models.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import os @@ -86,7 +76,12 @@ def compileModelList(): model_previews.clear() model_data.clear() - rootpath = bUtils.getPhobosPreferences().modelsfolder + try: + rootpath = bUtils.getPhobosPreferences().modelsfolder + except KeyError: + log('Can not create mechanism preview. Phobos not registered.', 'DEBUG') + return + if rootpath == '' or not os.path.exists(rootpath): log('Model library folder does not exist.') return diff --git a/phobos/io/meshes/__init__.py b/phobos/io/meshes/__init__.py index e59452965..20f833650 100644 --- a/phobos/io/meshes/__init__.py +++ b/phobos/io/meshes/__init__.py @@ -1,22 +1,12 @@ -#!/usr/bin/python3.5 +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/io/meshes/meshes.py b/phobos/io/meshes/meshes.py index 5dbc3300b..6dec0c160 100644 --- a/phobos/io/meshes/meshes.py +++ b/phobos/io/meshes/meshes.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/io/scenes/__init__.py b/phobos/io/scenes/__init__.py index 9f6668744..4bc46085f 100644 --- a/phobos/io/scenes/__init__.py +++ b/phobos/io/scenes/__init__.py @@ -1,22 +1,12 @@ -#!/usr/bin/python3.5 +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/io/scenes/mars.py b/phobos/io/scenes/mars.py index 47d568e2e..282c846cb 100644 --- a/phobos/io/scenes/mars.py +++ b/phobos/io/scenes/mars.py @@ -1,24 +1,14 @@ -# TODO this is not used? remove it or make an idea pool somewhere... +#!/usr/bin/python3 +# coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- - # def round_float(float_as_str, decimal=6): # """Casts 'float_as_str' to float and round to 'decimal' decimal places. The possible exception # **ValueError** is not handled in the function itself! diff --git a/phobos/io/scenes/sdfworld.py b/phobos/io/scenes/sdfworld.py index 0c6f89c2a..fba03d335 100644 --- a/phobos/io/scenes/sdfworld.py +++ b/phobos/io/scenes/sdfworld.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import yaml diff --git a/phobos/io/scenes/smurfs.py b/phobos/io/scenes/smurfs.py index 7c71d5497..eca9d62a9 100644 --- a/phobos/io/scenes/smurfs.py +++ b/phobos/io/scenes/smurfs.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import yaml diff --git a/phobos/model/__init__.py b/phobos/model/__init__.py index 7a09e458a..2d76e21dc 100644 --- a/phobos/model/__init__.py +++ b/phobos/model/__init__.py @@ -1,19 +1,11 @@ -# TODO SHEBANG +#!/usr/bin/python3 +# coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- + diff --git a/phobos/model/controllers.py b/phobos/model/controllers.py index 65ad9b58e..35cee7e1e 100644 --- a/phobos/model/controllers.py +++ b/phobos/model/controllers.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import bpy diff --git a/phobos/model/geometries.py b/phobos/model/geometries.py index 2262551d3..2551725f1 100644 --- a/phobos/model/geometries.py +++ b/phobos/model/geometries.py @@ -1,21 +1,12 @@ -# TODO add shebang and document introduction +#!/usr/bin/python3 +# coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import os diff --git a/phobos/model/inertia.py b/phobos/model/inertia.py index 2634877b7..f896a9a87 100644 --- a/phobos/model/inertia.py +++ b/phobos/model/inertia.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ @@ -530,6 +520,10 @@ def fuse_inertia_data(inertials): """ + from phobos.utils.io import getExpSettings + + expsetting = 10**(-getExpSettings().decimalPlaces) + # Find objects who have some inertial data for obj in inertials: if not any([True for key in obj.keys() if key.startswith('inertial/')]): @@ -537,7 +531,7 @@ def fuse_inertia_data(inertials): # Check for an empty list -> No inertials to fuse if not inertials: - return None, None, None + return 1e-3, [0.0, 0.0, 0.0], numpy.diag([1e-3, 1e-3, 1e-3]) fused_inertia = numpy.zeros((3, 3)) fused_com = numpy.zeros((1, 3)) @@ -547,9 +541,9 @@ def fuse_inertia_data(inertials): fused_mass, fused_com = combine_com_3x3(inertials) # Check for conformity - if fused_mass <= 0.0: + if fused_mass <= expsetting: log(" Correcting fused mass : negative semidefinite value.", 'WARNING') - fused_mass = 1e-3 if fused_mass < 1e-3 else fused_mass + fused_mass = expsetting if fused_mass < expsetting else fused_mass # TODO Maybe we can reuse the functions defined here. # Calculate the fused inertias @@ -572,19 +566,19 @@ def fuse_inertia_data(inertials): fused_inertia += numpy.dot(numpy.dot(current_Rotation.T, current_Inertia), current_Rotation) # Check the inertia - if any(element <= 1e-3 for element in fused_inertia.diagonal()): + if any(element <= expsetting for element in fused_inertia.diagonal()): log(" Correting fused inertia : negative semidefinite diagonal entries.", 'WARNING') for i in range(3): - fused_inertia[i, i] = 1e-3 if fused_inertia[i, i] <= 1e-3 else fused_inertia[i, i] + fused_inertia[i, i] = expsetting if fused_inertia[i, i] <= expsetting else fused_inertia[i, i] - if any(element <= 1e-3 for element in numpy.linalg.eigvals(fused_inertia)): + if any(element <= expsetting for element in numpy.linalg.eigvals(fused_inertia)): log(" Correcting fused inertia : negative semidefinite eigenvalues", 'WARNING') S, V = numpy.linalg.eig(fused_inertia) - S[S <= 0.0] = 1e-3 + S[S <= expsetting] = expsetting fused_inertia = V.dot(numpy.diag(S).dot(V.T)) # Add minimum value for the inertia for i in range(3): - fused_inertia[i, i] = 1e-3 if fused_inertia[i, i] <= 1e-3 else fused_inertia[i, i] + fused_inertia[i, i] += expsetting if fused_inertia[i, i] <= expsetting else fused_inertia[i, i] return fused_mass, fused_com, fused_inertia diff --git a/phobos/model/joints.py b/phobos/model/joints.py index d39d8123c..b6eea0f32 100644 --- a/phobos/model/joints.py +++ b/phobos/model/joints.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/model/lights.py b/phobos/model/lights.py index d9de0fb7c..105ba1e36 100644 --- a/phobos/model/lights.py +++ b/phobos/model/lights.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import bpy diff --git a/phobos/model/links.py b/phobos/model/links.py index 19d7eff4f..d5350183a 100644 --- a/phobos/model/links.py +++ b/phobos/model/links.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/model/materials.py b/phobos/model/materials.py index a9a12d98c..c4cbda395 100644 --- a/phobos/model/materials.py +++ b/phobos/model/materials.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/model/models.py b/phobos/model/models.py index 4b0616364..63e046c3d 100644 --- a/phobos/model/models.py +++ b/phobos/model/models.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import os diff --git a/phobos/model/motors.py b/phobos/model/motors.py index 3aa351c49..ec3dfb152 100644 --- a/phobos/model/motors.py +++ b/phobos/model/motors.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import bpy @@ -146,6 +136,18 @@ def deriveMotor(obj, jointdict=None): props['joint'] = nUtils.getObjectName(obj.parent, phobostype='joint') + # check for a mimic motor + for k in (obj.parent).keys(): + # Check for mimic motor + if "mimic" in k: + # Find the name + mimic_driver = sUtils.getObjectByName((obj.parent)['joint/mimic_joint'], phobostypes = ['link']) + c_motor = sUtils.getImmediateChildren(mimic_driver, phobostypes = ['motor']) + props['mimic_motor'] = nUtils.getObjectName(c_motor[0], phobostype = 'motor') + props['mimic_multiplier'] = (obj.parent)['joint/mimic_multiplier'] + props['mimic_offset'] = (obj.parent)['joint/mimic_offset'] + break + # try to derive the motor controller controllerobjs = [control for control in obj.children if control.phobostype == 'controller'] if controllerobjs: diff --git a/phobos/model/poses.py b/phobos/model/poses.py index 1dc1eda26..890ba6a1d 100644 --- a/phobos/model/poses.py +++ b/phobos/model/poses.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/model/sensors.py b/phobos/model/sensors.py index 34c7ed70f..09a842f7d 100644 --- a/phobos/model/sensors.py +++ b/phobos/model/sensors.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import bpy diff --git a/phobos/operators/__init__.py b/phobos/operators/__init__.py index e56460413..a416e139c 100644 --- a/phobos/operators/__init__.py +++ b/phobos/operators/__init__.py @@ -1,20 +1,10 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- diff --git a/phobos/operators/editing.py b/phobos/operators/editing.py index d43bad523..ea7ec1a7b 100644 --- a/phobos/operators/editing.py +++ b/phobos/operators/editing.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/operators/generic.py b/phobos/operators/generic.py index daf4e5356..a02b0e290 100644 --- a/phobos/operators/generic.py +++ b/phobos/operators/generic.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/operators/io.py b/phobos/operators/io.py index 44aae2c07..83acad92e 100644 --- a/phobos/operators/io.py +++ b/phobos/operators/io.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/operators/naming.py b/phobos/operators/naming.py index 00e35795c..771ee7b02 100644 --- a/phobos/operators/naming.py +++ b/phobos/operators/naming.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/operators/poses.py b/phobos/operators/poses.py index 3d948a285..20420d87f 100644 --- a/phobos/operators/poses.py +++ b/phobos/operators/poses.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/operators/selection.py b/phobos/operators/selection.py index a950c75fe..fee384ffb 100644 --- a/phobos/operators/selection.py +++ b/phobos/operators/selection.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/phobosgui.py b/phobos/phobosgui.py index 75ce70731..6cd3e3e80 100644 --- a/phobos/phobosgui.py +++ b/phobos/phobosgui.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import sys @@ -153,7 +143,7 @@ def draw(self, context): box = layout.box() row = box.row() row.label(text="Logging") - box.prop(self, "logfile", text="log file path") + box.prop(self, "logfile", text="log file") box.prop(self, "logtofile", text="write to logfile") box.prop(self, "logtoterminal", text="write to terminal") box.prop(self, "loglevel", text="log level") diff --git a/phobos/phoboslog.py b/phobos/phoboslog.py index 2d5aa7364..d0b404ea5 100644 --- a/phobos/phoboslog.py +++ b/phobos/phoboslog.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import inspect @@ -74,7 +64,7 @@ def decorate(level): return level -def log(message, level="INFO", prefix="", guionly=False, end='\n'): +def log(message, level="INFO", prefix="", guionly=False, logfile=True, end='\n'): """Logs a given message to the blender console/logging file and if log level is low enough. The origin can be defined as string or an object. The message is logged by the operator @@ -85,6 +75,7 @@ def log(message, level="INFO", prefix="", guionly=False, end='\n'): level(str, optional): valid log level for the message as defined by :data:`.LOGLEVELS` (Default value = "INFO") prefix(str, optional): any string that should be printed before the message (Default value = "") guionly(bool, optional): if True, only prints to GUI (Default value = False) + logfile(bool, optional): if False, suppress message in logfile (Default value = True) end(str, optional): string to be used at the end of the resulting print statement (Default value = '\\n') Returns: @@ -124,14 +115,14 @@ def log(message, level="INFO", prefix="", guionly=False, end='\n'): terminalmsg = Col.OKBLUE.value + message + Col.ENDC.value # log to file if activated - if prefs.logtofile and not guionly: + if prefs.logtofile and logfile and not guionly: try: with open(prefs.logfile, "a") as logfile: logfile.write(msg + end) except (FileNotFoundError, IsADirectoryError): - log("Invalid log file path, cannot write to log file!", 'ERROR', guionly=True) + log("Invalid log file path, cannot write to log file!", 'ERROR', logfile=False) except (IOError, OSError): - log("Cannot write to log file!", 'ERROR', guionly=True) + log("Cannot write to log file!", 'ERROR', logfile=False) # log to terminal or Blender if prefs.logtoterminal and not guionly: diff --git a/phobos/phobossystem.py b/phobos/phobossystem.py index 00c611872..5dc08f187 100644 --- a/phobos/phobossystem.py +++ b/phobos/phobossystem.py @@ -1,21 +1,12 @@ -# TODO SHEBANG +#!/usr/bin/python3 +# coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import sys diff --git a/phobos/utils/__init__.py b/phobos/utils/__init__.py index e56460413..a416e139c 100644 --- a/phobos/utils/__init__.py +++ b/phobos/utils/__init__.py @@ -1,20 +1,10 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- diff --git a/phobos/utils/blender.py b/phobos/utils/blender.py index f3aa178d3..78e9da156 100644 --- a/phobos/utils/blender.py +++ b/phobos/utils/blender.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/utils/editing.py b/phobos/utils/editing.py index fb7b4cdbc..24351eef4 100644 --- a/phobos/utils/editing.py +++ b/phobos/utils/editing.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/utils/general.py b/phobos/utils/general.py index ba0429555..01d6855a1 100644 --- a/phobos/utils/general.py +++ b/phobos/utils/general.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/utils/git.py b/phobos/utils/git.py index 4ba26ba97..e2d75213d 100644 --- a/phobos/utils/git.py +++ b/phobos/utils/git.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import subprocess diff --git a/phobos/utils/io.py b/phobos/utils/io.py index 6f9540312..b9ff8b2ee 100644 --- a/phobos/utils/io.py +++ b/phobos/utils/io.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import shutil @@ -63,20 +53,20 @@ def xmlline(ind, tag, names, values): return ''.join(line) -def l2str(items, start=0, end=-1): +def l2str(items, start=0, end=None): """Generates string from (part of) a list. Args: items(list): List from which the string is derived (elements need to implement str()) start(int, optional): Inclusive start index for iteration (Default value = 0) - end(int, optional): Exclusive end index for iteration (Default value = -1) + end(int, optional): Exclusive end index for iteration (Default value = None) Returns: : str - Generated string. """ start = max(start, 0) - end = end if end >= 0 else len(items) + end = end if end else len(items) return ' '.join([str(i) for i in items[start:end]]) diff --git a/phobos/utils/naming.py b/phobos/utils/naming.py index 297f94cb4..56054e5e8 100644 --- a/phobos/utils/naming.py +++ b/phobos/utils/naming.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ @@ -118,15 +108,16 @@ def getObjectName(obj, phobostype=None): def isValidModelname(name): - """Returns if a name contains characters other than alphanumeric, '_' and '-' + """Returns if a name contains characters other than alphanumeric, '_' and '-'. + Also, empyt strings are not valid model names. Args: - name: + name (str): potential name for a model Returns: - + bool -- True if the name is a valid model name according to convention, False if not. """ - return not re.search(r'[^A-Za-z0-9_\-\\]', name) + return not re.search(r'[^A-Za-z0-9_\-\\]', name) and len(name) > 0 def getModelName(obj): diff --git a/phobos/utils/selection.py b/phobos/utils/selection.py index f1fcb9fa2..95e2bcbc9 100644 --- a/phobos/utils/selection.py +++ b/phobos/utils/selection.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ diff --git a/phobos/utils/validation.py b/phobos/utils/validation.py index 1159c43b9..665b2aa60 100644 --- a/phobos/utils/validation.py +++ b/phobos/utils/validation.py @@ -1,22 +1,12 @@ -#!/usr/bin/python +#!/usr/bin/python3 # coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- from copy import deepcopy as dc @@ -640,6 +630,8 @@ def validateInertiaData(obj, *args, adjust=False): errors = [] + expsetting = 10**(-getExpSettings().decimalPlaces) + # check dictionary parameters (most of the time pre object creation) if isinstance(obj, dict): missing = [] @@ -703,7 +695,7 @@ def validateInertiaData(obj, *args, adjust=False): inertia = numpy.around( numpy.array(inertiaListToMatrix(inertia)), decimals=getExpSettings().decimalPlaces ) - if any(element <= 0.0 for element in inertia.diagonal()): + if any(element <= expsetting for element in inertia.diagonal()): errors.append( ValidateMessage( "Negative semidefinite main diagonal in inertia data!", @@ -715,7 +707,7 @@ def validateInertiaData(obj, *args, adjust=False): ) # Calculate the determinant if consistent, quick check - if numpy.linalg.det(inertia) <= 0.0: + if numpy.linalg.det(inertia) <= expsetting: errors.append( ValidateMessage( "Negative semidefinite determinant in inertia data! Checking singular values.", @@ -727,10 +719,10 @@ def validateInertiaData(obj, *args, adjust=False): ) # Calculate the eigenvalues if not consistent - if any(element <= 0.0 for element in numpy.linalg.eigvals(inertia)): + if any(element <= expsetting for element in numpy.linalg.eigvals(inertia)): # Apply singular value decomposition and correct the values S, V = numpy.linalg.eig(inertia) - S[S <= 0.0] = 1e-3 + S[S <= expsetting] = expsetting inertia = V.dot(numpy.diag(S).dot(V.T)) errors.append( ValidateMessage( @@ -752,7 +744,7 @@ def validateInertiaData(obj, *args, adjust=False): {} if not adjust else {'log_info': "Adjusted to 1e-3."}, ) ) - mass = 1e-3 + mass = expsetting inertia = inertiaMatrixToList(inertia) diff --git a/requirements.txt b/requirements.txt index 50e6f00e5..c82997ec2 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,19 +1,9 @@ # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- # The following python packages need to be installed diff --git a/setup.py b/setup.py old mode 100644 new mode 100755 index 9714554f6..33bcfea09 --- a/setup.py +++ b/setup.py @@ -1,21 +1,11 @@ -#!/usr/bin/env python3.5 +#!/usr/bin/python # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- """ @@ -29,34 +19,21 @@ import os import os.path as path +import glob import sys import shutil +import argparse from distutils.dir_util import copy_tree -import importlib.util - -scriptinformation = """ -This is the setup script for Phobos. - -By default, it installs the Blender AddOn Phobos to the Blender configuration folder. -At the same time, the default configurations are copied to the user Phobos configuration -folder. - -Parameters: - - --help: Show this message and exit. - - --startup-preset: Copies the default Phobos Blender startup file to the Blender - configuration folder (replacing the existing startup file). -""" +from importlib import util # make installation originate from the path of this setup file -phoboshome = os.path.dirname(os.path.abspath(__file__)) +phoboshome = path.dirname(path.abspath(__file__)) # load the phobossystem as module from file -module_spec = importlib.util.spec_from_file_location( +module_spec = util.spec_from_file_location( 'phobossystem', path.join(phoboshome, 'phobos/phobossystem.py') ) -phobossystem = importlib.util.module_from_spec(module_spec) +phobossystem = util.module_from_spec(module_spec) module_spec.loader.exec_module(phobossystem) addonpath = path.join(phobossystem.getScriptsPath(), 'addons', 'phobos') blenderconfigpath = phobossystem.getBlenderConfigPath() @@ -76,47 +53,136 @@ def updateFolderContents(src, dst): if __name__ == '__main__': - # check whether the right python version is used - pyver = sys.version_info - print( - 'You started this script with python version: {}.{}'.format( - str(pyver.major), str(pyver.minor) - ) - ) - print('Make sure Blender uses the same version!') - - if '--help' in sys.argv: - print(scriptinformation) + + parser = argparse.ArgumentParser(description=''' + This is the setup script for Phobos. + + By default, it installs the Blender AddOn Phobos to the Blender configuration folder. + At the same time, the default configurations are copied to the user Phobos configuration + folder.''') + parser.add_argument('-p', '--startup-preset', dest='startup_preset', + action='store_true', default=False, + help='''Copies the default Phobos Blender startup file to the Blender + 'configuration folder (replacing the existing startup file).''') + parser.add_argument('-t', '--install-to', dest='install_to', metavar='DIR', default=None, + help='install addon to the specified directory') + parser.add_argument('-b', '--blender', metavar='DIR', dest='blender_path', + default=None, help='use the specified Blender folder (instead of asking)') + parser.add_argument('-i', '--info', dest='print_info', action='store_true', + default=False, help='print debugging info (such as blender version etc.)') + + globals().update(vars(parser.parse_args())) + + # look for existing installation configuration + if path.isfile(path.join(phoboshome, 'installation.conf')): + print('installation.conf found! Configuration done.') + with open(path.join(phoboshome, 'installation.conf'), 'r') as conffile: + python_package_path = conffile.readline().split(' #')[0] + if not blender_path: + blender_path = conffile.readline().split(' #')[0] + else: + conffile.readline() + python_executable = conffile.readline().split(' #')[0] + blender_executable = conffile.readline().split(' #')[0] + python_version = conffile.readline().split(' #')[0] + blender_version = conffile.readline().split(' #')[0] + # check for existing YAML installation + else: + if not blender_path: + blender_path = path.expanduser(input('Where is Blender installed to? ')) + blender_version = glob.glob(path.join(blender_path, '[0-9].[0-9][0-9]')) + if not blender_version or not path.isdir(blender_version[0]): + print("Could not identify the blender subfolder.") + print("Installation aborted!") + sys.exit(1) + blender_version = path.basename(blender_version[0]) + blender_executable = path.join(blender_path, 'blender') + if not path.isfile(blender_executable): + print("Could not find Blender executable.\nInstallation aborted.") + sys.exit(1) + + bpython_files = glob.glob(path.join( + blender_path, blender_version, 'python', 'bin', 'py*')) + if not bpython_files: + print("Could not find python executable in blender installation.") + print("Installation aborted!") + sys.exit(1) + python_executable = bpython_files[0] + python_version = path.basename(python_executable).strip('m').strip('python') + python_package_path = path.normpath((path.join( + blender_path, blender_version, 'python', 'lib', 'python' + python_version, + 'site-packages'))) + + print('Installing PIP...') + os.system(python_executable + ' -m ensurepip') + os.system(python_executable + ' -m pip install --upgrade pip') + print("... successful.\n") + + print('Installing YAML...') + os.system(python_executable + ' -m pip install PyYaml') + os.system(python_executable + ' -m pip install --upgrade PyYaml') + print("... successful.\n") + + # write python dist packages path into config file + with open(path.join(phoboshome, 'installation.conf'), 'w') as distconffile: + distconffile.truncate() + distconffile.write(python_package_path + ' # Python package installation path\n') + distconffile.write(blender_path + ' # Blender installation path\n') + distconffile.write(python_executable + ' # python executable\n') + distconffile.write(blender_executable + ' # Blender executable\n') + distconffile.write(python_version + ' # Python version\n') + distconffile.write(blender_version + ' # Blender version\n') + + if print_info: + print(''' +Debug information for Phobos: + - Blender version {} (installed in {}) + - Python version {} (located in {}) + - Python site packages are in {}: + - {} + '''.format(blender_version, blender_path, python_version, + python_executable, python_package_path, + '\n - '.join(package for package in os.listdir(python_package_path)))) sys.exit(0) + if install_to: + addonpath = install_to + # install addon - if os.path.exists(addonpath): + if path.exists(addonpath): shutil.rmtree(addonpath) # always clean install folder - copied_files = updateFolderContents(os.path.join(phoboshome, 'phobos'), addonpath) + print('Removed older installation.') + + copied_files = updateFolderContents(path.join(phoboshome, 'phobos'), addonpath) if not copied_files: - print( - 'Something went wrong with copying the addon files to your Blender installation.\n', - 'Aborting installation.', - ) - sys.exit(0) + print('Something went wrong with copying the addon files to your Blender installation.\n', + 'Aborting installation.') + sys.exit(1) + else: + print('Copied addon files to ' + addonpath + '.') + + shutil.copy2(path.join(phoboshome, 'installation.conf'), + path.join(addonpath, 'installation.conf')) - # install startup blend - if '--startup-preset' in sys.argv: - shutil.copy(os.path.join(phoboshome, 'config', 'startup.blend'), blenderconfigpath) + # install optional startup blend + if startup_preset: + shutil.copy(path.join(phoboshome, 'config', 'startup.blend'), blenderconfigpath) # install config files copied_files = updateFolderContents( - os.path.join(phoboshome, 'config'), phobossystem.getConfigPath() - ) + path.join(phoboshome, 'config'), phobossystem.getConfigPath()) if not copied_files: print('Something went wrong with copying config files.') - os.remove(os.path.join(phobossystem.getConfigPath(), 'startup.blend')) + os.remove(path.join(phobossystem.getConfigPath(), 'startup.blend')) # install templates templatespath = path.join(phobossystem.getScriptsPath(), 'templates_py') copied_files = updateFolderContents(path.join(phoboshome, 'templates_py'), templatespath) if not copied_files: - print('Something went wrong with copying operator presets.') + print('Something went wrong with copying operator presets.\nInstallation aborted.') + sys.exit(1) + + print('Installation successful!') # # install presets # presetspath = path.join(phobossystem.getScriptsPath(), 'presets', 'operator') @@ -124,77 +190,18 @@ def updateFolderContents(src, dst): # if not copied_files: # print('Something went wrong with copying operator presets.') - # look for existing yamlpath configuration - if path.isfile(path.join(phoboshome, 'python_dist_packages.conf')): - print('python_dist_packages.conf found! Configuration done.') - # check for existing YAML installation - else: - try: - import yaml - except ImportError: - print( - 'YAML installation not found. Please install it first:' - + '\n\n' - + ' pip3 install PyYaml\n\n' - ) - print( - 'Please make sure you followed the instructions on ' - + 'https://github.com/dfki-ric/phobos/wiki/Installation' - ) - print('YAML configuration aborted. Installation incomplete.') - sys.exit(0) - # OPT here we could add additional requirement checks - - import site - - # write python dist packages path into config file - with open(path.join(phoboshome, 'python_dist_packages.conf'), 'w') as distconffile: - distconffile.truncate() - distpath = site.getsitepackages()[0] - distconffile.write(path.normpath(distpath)) - - shutil.copy2( - path.join(phoboshome, 'python_dist_packages.conf'), - os.path.join(addonpath, 'python_dist_packages.conf'), - ) - - """ Thoughts on importing external packages: - Blender brings its own python - The system python version cannot be assumed to be the same as the internal in blender - thus linking to the systems site package version only works for the coincidence of equal versions -Possible solutions: - a) install packages of same python version as blender's internal to internal site packages - b) setup virtual environment somewhere in the system and add to blender python's path environment +Possible other solutions: + a) setup virtual environment somewhere in the system and add to blender python's path environment Solutions in detail: -a) Install into blender python - - This is generally possible by executing: - python3.5 -m pip install --target /path/to/blender packagename - example: - python3.5 -m pip install --target =/home/dfki.uni-bremen.de/kavonszadkowski/tools/blender-2.79/2.79/python/lib/python3.5/site-packages packagename - - The /path/to/blender can be retrieved from within blender by executing: - import site - sitepackagepath = site.getsitepackages()[0] - - This could be retrieved to this script by calling blender as follows: - blender -b -P script.py - - with script.py writing out the sitepackagepath and closing blender. - For this, however, the appropriate binary for blender is required, which would already suffice - to derive the path. - - Another alternative would thus be to try importing external packages upon phobos startup, and - run a shell command to install missing packages of the correct version to blender's - then-known-location by using - --target. - -b) This script could set up a virtual environment with the correct python version and install all +a) This script could set up a virtual environment with the correct python version and install all packages, then place a file containing the path of that environment to phobos, which would expand the path upon startup. In fact, the install file itself could set up the environment, asking the user where to put it. Alternatively and more simply, the environment could be created where the diff --git a/templates_py/phobos_convert_motor_pre_1_0.py b/templates_py/phobos_convert_motor_pre_1_0.py index 1d72911b1..bc34d76c0 100644 --- a/templates_py/phobos_convert_motor_pre_1_0.py +++ b/templates_py/phobos_convert_motor_pre_1_0.py @@ -1,3 +1,14 @@ +#!/usr/bin/python3 +# coding=utf-8 + +# ------------------------------------------------------------------------------- +# This file is part of Phobos, a Blender Add-On to edit robot models. +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . +# ------------------------------------------------------------------------------- + import bpy from phobos.utils.selection import selectObjects, getImmediateChildren @@ -22,8 +33,11 @@ def derive_oldMotor(obj): if oldProps in obj.keys(): if oldProps == 'motor/type' and obj[oldProps] == 'PID': new_motor.update({newProps: 'generic_bldc'}) + elif oldProps == 'motor/type' and obj[oldProps] == 'DC': + new_motor.update({newProps: 'generic_dc'}) else: new_motor.update({newProps: obj[oldProps]}) + if not 'motor/name' in new_motor.keys(): new_motor.update({'motor/name': obj.name + '_Motor'}) diff --git a/templates_py/phobos_convert_pre_1_0_models.py b/templates_py/phobos_convert_pre_1_0_models.py index 9ff260e6b..2396c8d5f 100644 --- a/templates_py/phobos_convert_pre_1_0_models.py +++ b/templates_py/phobos_convert_pre_1_0_models.py @@ -1,21 +1,12 @@ -# TODO SHEBANG +#!/usr/bin/python3 +# coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import bpy diff --git a/templates_py/phobos_merge_armatures.py b/templates_py/phobos_merge_armatures.py index a84bcc6ea..a8cf8c590 100644 --- a/templates_py/phobos_merge_armatures.py +++ b/templates_py/phobos_merge_armatures.py @@ -1,21 +1,12 @@ -# TODO SHEBANG +#!/usr/bin/python3 +# coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import bpy diff --git a/templates_py/phobos_merge_common_parent_visuals.py b/templates_py/phobos_merge_common_parent_visuals.py index 31c615161..0399e6df7 100644 --- a/templates_py/phobos_merge_common_parent_visuals.py +++ b/templates_py/phobos_merge_common_parent_visuals.py @@ -1,21 +1,12 @@ -# TODO SHEBANG +#!/usr/bin/python3 +# coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import bpy diff --git a/templates_py/phobos_reorient_mesh.py b/templates_py/phobos_reorient_mesh.py index 064b7ced8..92c566ac0 100644 --- a/templates_py/phobos_reorient_mesh.py +++ b/templates_py/phobos_reorient_mesh.py @@ -1,21 +1,12 @@ -# TODO SHEBANG +#!/usr/bin/python3 +# coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import bpy diff --git a/templates_py/phobos_replace_joint_shapes_from_resources.py b/templates_py/phobos_replace_joint_shapes_from_resources.py index 7f7030350..ecbf99dbf 100644 --- a/templates_py/phobos_replace_joint_shapes_from_resources.py +++ b/templates_py/phobos_replace_joint_shapes_from_resources.py @@ -1,21 +1,12 @@ -# TODO SHEBANG +#!/usr/bin/python3 +# coding=utf-8 # ------------------------------------------------------------------------------- # This file is part of Phobos, a Blender Add-On to edit robot models. -# Copyright (C) 2018 University of Bremen & DFKI GmbH Robotics Innovation Center - -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. - -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program. If not, see . +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . # ------------------------------------------------------------------------------- import bpy diff --git a/testrunner.py b/testrunner.py new file mode 100755 index 000000000..000404d24 --- /dev/null +++ b/testrunner.py @@ -0,0 +1,40 @@ +#!/usr/bin/python3 + +# ------------------------------------------------------------------------------- +# This file is part of Phobos, a Blender Add-On to edit robot models. +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . +# ------------------------------------------------------------------------------- + +import glob +import subprocess +import sys + +blenderExecutable = 'blender' + +# allow override of blender executable (important for CI!) +if len(sys.argv) > 1: + blenderExecutable = sys.argv[1] + +# run all tests before aborting build +testfailed = False + +# iterate over each *.test.blend file in the "tests" directory +# and open up blender with the .test.blend file and the corresponding .test.py python script +for file in glob.glob('tests/**/*.test.blend'): + print('#' * 100) + print('Running {} tests...'.format(file)) + print('#' * 100) + code = subprocess.call([blenderExecutable, '--addons', 'phobos', '--factory-startup', + '-noaudio', '-b', file, '--python', file.replace('.blend', '.py'), + '--python-exit-code', '1']) + print('#' * 100) + print("Exited with: ", code) + print('#' * 100 + '\n\n\n') + if code: + testfailed = True + +if testfailed: + sys.exit(1) diff --git a/tests/basics/basics.test.blend b/tests/basics/basics.test.blend new file mode 100644 index 000000000..ad80f9ddb Binary files /dev/null and b/tests/basics/basics.test.blend differ diff --git a/tests/basics/basics.test.py b/tests/basics/basics.test.py new file mode 100644 index 000000000..019c6cbe9 --- /dev/null +++ b/tests/basics/basics.test.py @@ -0,0 +1,31 @@ +#!/usr/bin/python3 + +# ------------------------------------------------------------------------------- +# This file is part of Phobos, a Blender Add-On to edit robot models. +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . +# ------------------------------------------------------------------------------- + +import sys +import unittest + +try: + import phobos + + class TestPhobosAddon(unittest.TestCase): + + def test_addon_enabled(self): + # test if addon got loaded correctly + # every addon must provide the "bl_info" dict + self.assertIsNotNone(phobos.bl_info) + + # we have to manually invoke the test runner here, as we cannot use the CLI + suite = unittest.defaultTestLoader.loadTestsFromTestCase(TestPhobosAddon) + success = unittest.TextTestRunner().run(suite) + + if success.errors or success.failures: + raise Exception +except Exception: + sys.exit(1) diff --git a/tests/testmodel/testmodel.test.blend b/tests/testmodel/testmodel.test.blend new file mode 100644 index 000000000..ad80f9ddb Binary files /dev/null and b/tests/testmodel/testmodel.test.blend differ diff --git a/tests/testmodel/testmodel.test.py b/tests/testmodel/testmodel.test.py new file mode 100644 index 000000000..c8ca11093 --- /dev/null +++ b/tests/testmodel/testmodel.test.py @@ -0,0 +1,77 @@ +#!/usr/bin/python3 + +# ------------------------------------------------------------------------------- +# This file is part of Phobos, a Blender Add-On to edit robot models. +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . +# ------------------------------------------------------------------------------- + +import sys +import unittest + +try: + import phobos + + class TestInertiaModel(unittest.TestCase): + + def test_calculateBoxInertia(self): + mass = 12 + size = [1, 2, 3] + result = (13., 0., 0., 10., 0., 5.) + + self.assertTupleEqual(phobos.model.inertia.calculateBoxInertia(mass, size), result) + + def test_calculateCylinderInertia(self): + mass = 12 + radius = 2 + height = 5 + result = (37., 0., 0., 37., 0., 24.) + + self.assertTupleEqual( + phobos.model.inertia.calculateCylinderInertia(mass, radius, height), result) + + def test_calculateSphereInertia(self): + mass = 12 + radius = 2 + target = [19.2, 0., 0., 19.2, 0., 19.2] + + # we need to round the result, as machine precision fails us here... + result = phobos.model.inertia.calculateSphereInertia(mass, radius) + result = [round(val, 1) for val in result] + self.assertEqual(result, target) + + def test_calculateEllipsoidInertia(self): + mass = 5 + size = [1, 2, 3] + result = (13, 0, 0, 10, 0, 5) + + self.assertTupleEqual(phobos.model.inertia.calculateEllipsoidInertia(mass, size), + result) + + def test_inertiaListToMatrix(self): + inertialist = [1, 2, 3, 4, 5, 6] + result = [[1., 2., 3.], [2., 4., 5.], [3., 5., 6.]] + + self.assertListEqual( + list(list(elem) for elem in phobos.model.inertia.inertiaListToMatrix(inertialist)), + result) + + def test_inertiaMatriToList(self): + matrix = [[1, 2, 3], [2, 4, 5], [3, 5, 6]] + result = [1, 2, 3, 4, 5, 6] + + self.assertListEqual(list(phobos.model.inertia.inertiaMatrixToList(matrix)), result) + + # TODO continue with joints + + # we have to manually invoke the test runner here, as we cannot use the CLI + suite = unittest.defaultTestLoader.loadTestsFromTestCase(TestInertiaModel) + success = unittest.TextTestRunner().run(suite) + + if success.errors or success.failures: + raise Exception + +except Exception: + sys.exit(1) diff --git a/tests/testutils/testutils.test.blend b/tests/testutils/testutils.test.blend new file mode 100644 index 000000000..ad80f9ddb Binary files /dev/null and b/tests/testutils/testutils.test.blend differ diff --git a/tests/testutils/testutils.test.py b/tests/testutils/testutils.test.py new file mode 100644 index 000000000..4c3ee423d --- /dev/null +++ b/tests/testutils/testutils.test.py @@ -0,0 +1,232 @@ +#!/usr/bin/python3 + +# ------------------------------------------------------------------------------- +# This file is part of Phobos, a Blender Add-On to edit robot models. +# Copyright (C) 2020 University of Bremen & DFKI GmbH Robotics Innovation Center +# +# You should have received a copy of the 3-Clause BSD License in the LICENSE file. +# If not, see . +# ------------------------------------------------------------------------------- + +import sys +import unittest + +try: + import mathutils as mathutils + import phobos + + class TestBlenderUtils(unittest.TestCase): + + def test_compileEnumPropertyList(self): + testlist = phobos.utils.blender.compileEnumPropertyList([1, 2, 3]) + self.assertTupleEqual(tuple(testlist), ((1, 1, 1), (2, 2, 2), (3, 3, 3))) + + class TestGeneralUtils(unittest.TestCase): + + def test_is_float(self): + self.assertTrue(phobos.utils.general.is_float('12.3')) + self.assertFalse(phobos.utils.general.is_float('hello')) + self.assertFalse(phobos.utils.general.is_float('[12.3, 3.2]')) + + def test_is_int(self): + self.assertTrue(phobos.utils.general.is_int('12')) + self.assertFalse(phobos.utils.general.is_int('hello')) + self.assertFalse(phobos.utils.general.is_int('12.3452234')) + self.assertFalse(phobos.utils.general.is_int('[12, 3]')) + + def test_parse_number(self): + number = phobos.utils.general.parse_number('12') + self.assertEqual(type(number), type(1)) + number = phobos.utils.general.parse_number('12.124') + self.assertEqual(type(number), type(12.124)) + number = phobos.utils.general.parse_number('hello') + self.assertEqual(type(number), type('hello')) + + def test_only_contains_int(self): + testlist = [1, 2, 3, 4, 5] + self.assertTrue(phobos.utils.general.only_contains_int(testlist)) + testlist = [1, 2, 3, 4, 5, 12.3] + self.assertTrue(phobos.utils.general.only_contains_int(testlist)) + testlist = [1, 2, 3, 4, 5, 'hello'] + self.assertFalse(phobos.utils.general.only_contains_int(testlist)) + + def test_only_contains_float(self): + testlist = [1.1, 2.1, 3.5, 4.7, 5.6] + self.assertTrue(phobos.utils.general.only_contains_float(testlist)) + testlist = [1.1, 2.1, 3.5, 4.7, 5.6, 12] + self.assertTrue(phobos.utils.general.only_contains_float(testlist)) + testlist = [1.1, 2.1, 3.5, 4.7, 5.6, 'hello'] + self.assertFalse(phobos.utils.general.only_contains_float(testlist)) + + def test_parse_text(self): + teststring = '1 2 3 4 5' + self.assertListEqual(phobos.utils.general.parse_text(teststring), [1, 2, 3, 4, 5]) + teststring = '1.1 2.1 3.4 4.7 5.1' + self.assertListEqual(phobos.utils.general.parse_text(teststring), [ + 1.1, 2.1, 3.4, 4.7, 5.1]) + teststring = 'a bc de hello whatsoever' + self.assertListEqual(phobos.utils.general.parse_text(teststring), [ + 'a', 'bc', 'de', 'hello', 'whatsoever']) + teststring = '12.3' + self.assertEqual(phobos.utils.general.parse_text(teststring), 12.3) + teststring = '12' + self.assertEqual(phobos.utils.general.parse_text(teststring), 12) + + def test_calcBoundingBoxCenter(self): + corners = [ + [0., 0., 0.], + [1., 0., 0.], + [1., 0., 1.], + [0., 0., 1.], + [0., 1., 0.], + [1., 1., 0.], + [1., 1., 1.], + [0., 1., 1.] + ] + self.assertEqual(phobos.utils.general.calcBoundingBoxCenter(corners), + mathutils.Vector([0.5, 0.5, 0.5])) + + corners = [ + [-1., -1., -1.], + [1., -1., -1.], + [1., -1., 1.], + [-1., -1., 1.], + [-1., 1., -1.], + [1., 1., -1.], + [1., 1., 1.], + [-1., 1., 1.] + ] + self.assertEqual(phobos.utils.general.calcBoundingBoxCenter(corners), + mathutils.Vector([0., 0., 0.])) + + def test_sortListsInDict(self): + testdict = {'a': 1, 'b': [15, 12, 4, -3], 'c': ['delta', 'gamma', 'yota', 'omega'], + 'd': 'hello', 'e': [12.3, 14, 'meh']} + targetdict = {'a': 1, 'b': [15, 12, 4, -3], 'c': ['delta', 'gamma', 'omega', 'yota'], + 'd': 'hello', 'e': [12.3, 14, 'meh']} + self.assertEqual(phobos.utils.general.sortListsInDict(testdict), targetdict) + testdict = ['omega', 'delta', 'alpha', 'eta'] + targetdict = ['alpha', 'delta', 'eta', 'omega'] + self.assertListEqual(phobos.utils.general.sortListsInDict(testdict), targetdict) + testdict = ['omega', 'delta', 'alpha', 'eta'] + targetdict = ['omega', 'eta', 'delta', 'alpha'] + self.assertListEqual(phobos.utils.general.sortListsInDict(testdict, reverse=True), + targetdict) + # TODO adjust docstring to include string only? + + def test_roundFloatsInDict(self): + testdict = {'a': 1, 'b': [12.545, -3.111, -3.894, 15.25, -0.111], + 'c': ['delta', 'alpha', 'gamma']} + targetdict = {'a': 1, 'b': [13., -3., -4., 15., 0.], 'c': ['delta', 'alpha', 'gamma']} + self.assertEqual(phobos.utils.general.roundFloatsInDict(testdict, 0), targetdict) + targetdict = {'a': 1, 'b': [12.5, -3.1, -3.9, 15.2, -0.1], + 'c': ['delta', 'alpha', 'gamma']} + self.assertEqual(phobos.utils.general.roundFloatsInDict(testdict, 1), targetdict) + targetdict = {'a': 1, 'b': [12.54, -3.11, -3.89, 15.25, -0.11], + 'c': ['delta', 'alpha', 'gamma']} + self.assertEqual(phobos.utils.general.roundFloatsInDict(testdict, 2), targetdict) + + def test_datetimeFromIso(self): + # TODO add test case for ISO time + pass + + def test_outerProduct(self): + a = [0, 1, 2] + b = [3, 4, 5] + result = [[0., 0., 0.], [3., 4., 5.], [6., 8., 10.]] + self.assertListEqual(list(list(elem) for elem in + phobos.utils.general.outerProduct(a, b)), result) + + class TestIOUtils(unittest.TestCase): + + def test_xmlline(self): + tag = 'helloworld' + names = ['number', 'name', 'stuff'] + values = [12.3, 'bert', ['a', 'b', 'c']] + target = '\n'.format( + "'a'", "'b'", "'c'") + + self.assertEqual(phobos.utils.io.xmlline(0, tag, names, values), target) + self.assertEqual(phobos.utils.io.xmlline(3, tag, names, values), phobos.utils.io.indent + * 3 + target) + + def test_l2str(self): + testlist = [1, 2, 'hello', '-1'] + target = '1 2 hello -1' + self.assertEqual(phobos.utils.io.l2str(testlist), target) + target = '2 hello -1' + self.assertEqual(phobos.utils.io.l2str(testlist, start=1), target) + target = '2' + self.assertEqual(phobos.utils.io.l2str(testlist, start=1, end=-2), target) + target = '' + self.assertEqual(phobos.utils.io.l2str(testlist, start=5, end=-8), target) + + class TestNamingUtils(unittest.TestCase): + + def test_getUniqueName(self): + testname = 'bert' + testlist = ['gunther', 'bert', 'walter'] + target = 'bert.000' + self.assertEqual(phobos.utils.naming.getUniqueName(testname, testlist), target) + + testname = 'b' * 70 + testlist = ['gunther', 'b' * 70, 'walter'] + target = 'b' * 59 + '.000' + self.assertEqual(phobos.utils.naming.getUniqueName(testname, testlist), target) + + def test_isValidModelname(self): + testname = 'helloworld' + self.assertTrue(phobos.utils.naming.isValidModelname(testname)) + testname = 'asnd_123_ppja-' + self.assertTrue(phobos.utils.naming.isValidModelname(testname)) + testname = '124%£DJFLL:' + self.assertFalse(phobos.utils.naming.isValidModelname(testname)) + testname = '' + self.assertFalse(phobos.utils.naming.isValidModelname(testname)) + testname = ' ' + self.assertFalse(phobos.utils.naming.isValidModelname(testname)) + + def test_addNamespaceToName(self): + testname = 'bert' + namespace = 'robot' + target = 'robot::bert' + self.assertEqual(phobos.utils.naming.addNamespaceToName(testname, namespace), target) + testname = 'robot::bert' + namespace = 'model' + target = 'model::robot::bert' + self.assertEqual(phobos.utils.naming.addNamespaceToName(testname, namespace), target) + + def test_stripNamespaceFromName(self): + testname = 'robot::bert' + target = 'bert' + self.assertEqual(phobos.utils.naming.stripNamespaceFromName(testname), target) + testname = 'model::robot::bert' + target = 'bert' + self.assertEqual(phobos.utils.naming.stripNamespaceFromName(testname), target) + testname = 'robot::' + target = '' + self.assertEqual(phobos.utils.naming.stripNamespaceFromName(testname), target) + testname = '::' + target = '' + self.assertEqual(phobos.utils.naming.stripNamespaceFromName(testname), target) + testname = '' + target = '' + self.assertEqual(phobos.utils.naming.stripNamespaceFromName(testname), target) + + # we have to manually invoke the test runner here, as we cannot use the CLI + blenderutilstest = unittest.defaultTestLoader.loadTestsFromTestCase(TestBlenderUtils) + generalutilstest = unittest.defaultTestLoader.loadTestsFromTestCase(TestGeneralUtils) + ioutilstest = unittest.defaultTestLoader.loadTestsFromTestCase(TestIOUtils) + namingutilstest = unittest.defaultTestLoader.loadTestsFromTestCase(TestNamingUtils) + + results = [] + results.append(unittest.TextTestRunner().run(blenderutilstest)) + results.append(unittest.TextTestRunner().run(generalutilstest)) + results.append(unittest.TextTestRunner().run(ioutilstest)) + results.append(unittest.TextTestRunner().run(namingutilstest)) + + for result in results: + if result.errors or result.failures: + raise Exception +except Exception: + sys.exit(1)