Merge pull request #329 from dfki-ric/327-nest-camera-definition-with…

…in-link

327 nest camera definition within link

phobos/blender/io/blender2phobos.py

@@ -651,6 +651,7 @@ def deriveSensor(obj, logging=False):
  hud_height=240 if values.get('hud_height') is None else values.pop('hud_height'),
  hud_width=0 if values.get('hud_width') is None else values.pop('hud_width'),
  origin=deriveObjectPose(obj, effectiveparent=parent, logging=logging),
+ link=values.get("link", parent.get("link/name", parent.name)),
  **values
  )
  else:

phobos/data/xml_formats.json

@@ -21,7 +21,7 @@
  },
  "sensor": {
  "classname": "SensorFactory",
- "varname": "sensors"
+ "varname": "sensors_that_dont_belong_to_links_or_joints"
  },
  "transmission": {
  "classname": "Transmission",
@@ -46,6 +46,10 @@
  "collision": {
  "classname": "Collision",
  "varname": "collisions"
+ },
+ "sensor": {
+ "classname": "SensorFactory",
+ "varname": "sensors"
  }
  }
  },
@@ -233,6 +237,10 @@
  "dynamics": {
  "classname": "JointDynamics",
  "varname": "dynamics"
+ },
+ "sensor": {
+ "classname": "SensorFactory",
+ "varname": "sensors"
  }
  },
  "attribute_children": {
@@ -625,7 +633,7 @@
  },
  "sensor": {
  "classname": "SensorFactory",
- "varname": "sensors"
+ "varname": "sensors_that_dont_belong_to_links_or_joints"
  },
  "plugin": {
  "classname": "PluginFactory",
@@ -658,6 +666,10 @@
  "collision": {
  "classname": "Collision",
  "varname": "collisions"
+ },
+ "sensor": {
+ "classname": "SensorFactory",
+ "varname": "sensors"
  }
  }
  },
@@ -825,6 +837,10 @@
  "mimic": {
  "classname": "JointMimic",
  "varname": "mimic"
+ },
+ "sensor": {
+ "classname": "SensorFactory",
+ "varname": "sensors"
  }
  },
  "nested_children": {

phobos/io/__init__.py

@@ -5,7 +5,7 @@
 
 from . import yaml_reflection
 from . import sensor_representations
-REGISTER_MODULE_TO_XML_FACTORY(sensor_representations)
+#REGISTER_MODULE_TO_XML_FACTORY(sensor_representations) #happens in representation
 
 from . import poses
 REGISTER_MODULE_TO_XML_FACTORY(poses)

phobos/io/representation.py

@@ -1626,6 +1626,20 @@ def joint_relative_origin(self, value):
  self.origin = _singular(value)
  assert self.origin is None or self.origin.relative_to is not None
 
+ @property
+ def sensors(self):
+ assert self._related_robot_instance is not None
+ return [s for s in self._related_robot_instance.sensors if getattr(s, "link", None) == self.name]
+
+ @sensors.setter
+ def sensors(self, value):
+ value = _plural(value)
+ if self._related_robot_instance is None:
+ self._sensors = value
+ else:
+ for s in value:
+ if not any([existing.name == s.name and existing.equivalent(s) for existing in self._related_robot_instance.sensors]):
+ self._related_robot_instance.add_aggregate("sensor", s)
 
 class JointDynamics(Representation):
  def __init__(self, damping=None, friction=None, spring_stiffness=None, spring_reference=None, **kwargs):
@@ -1921,6 +1935,21 @@ def joint_dependencies(self, new_val):
  for jd in self._joint_dependencies:
  jd.link_with_robot(self._related_robot_instance)
 
+ @property
+ def sensors(self):
+ assert self._related_robot_instance is not None
+ return [s for s in self._related_robot_instance.sensors if getattr(s, "joint", None) == self.name]
+
+ @sensors.setter
+ def sensors(self, value):
+ value = _plural(value)
+ if self._related_robot_instance is None:
+ self._sensors = value
+ else:
+ for s in value:
+ if not any([existing.name == s.name and existing.equivalent(s) for existing in self._related_robot_instance.sensors]):
+ self._related_robot_instance.add_aggregate("sensor", s)
+
 
 class Interface(Representation, SmurfBase):
  _class_variables = ["name", "origin", "parent"]
@@ -2275,4 +2304,7 @@ def set_unique_name(self, value):
  raise NotImplementedError
 
  def stringable(self):
- return self.GA_name is not None
+ return self.GA_name is not None
+
+
+from .sensor_representations import *

phobos/io/xmlrobot.py

@@ -101,6 +101,17 @@ def collisions(self):
  def visuals(self):
  return self.get_all_visuals()
 
+ @property
+ def sensors_that_dont_belong_to_links_or_joints(self):
+ return [s for s in self.sensors if getattr(s, "link", None) is None and getattr(s, "joint", None) is None]
+
+ @sensors_that_dont_belong_to_links_or_joints.setter
+ def sensors_that_dont_belong_to_links_or_joints(self, value):
+ value = _plural(value)
+ for s in value:
+ if not any([existing.name == s.name and existing.equivalent(s) for existing in self.sensors]):
+ self.add_aggregate("sensor", s)
+
  def annotate_as_human(self):
  for link in self.links:
  link.is_human = True