Add support for loading URDF models in MORSE

.gitignore

@@ -5,7 +5,7 @@
 *.so
 *.pyc
 *~
-build/
+build*/
 CMakeFiles/
 CMakeCache.txt
 install_manifest.txt

doc/conf.py.in

@@ -26,7 +26,7 @@ sys.path.append('@CMAKE_CURRENT_SOURCE_DIR@/doc/exts')
 # coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
 
 extensions = ['sphinx.ext.autodoc', 'sphinx.ext.doctest', 'sphinx.ext.todo', 'sphinx.ext.viewcode', 'vimeo','gallery', 'tag', 'examples']
-extensions.append('sphinx.ext.pngmath')
+extensions.append('sphinx.ext.imgmath')
 
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ['@CMAKE_CURRENT_SOURCE_DIR@/doc/morse-theme/templates', '@CMAKE_CURRENT_SOURCE_DIR@/doc/sphinxext']

doc/morse/components_library.rst

@@ -20,6 +20,11 @@ Robots and robotic bases
     user/robots/*
 
 
+.. note::
+
+    You can also load your own URDF robot description. :doc:`Click here for
+    details<user/urdf>`.
+
 Sensors
 +++++++
 

doc/morse/quickstart.rst

@@ -31,7 +31,8 @@ So, what happened here?
 `morse create mysim` actually created a new subfolder in the current directory.
 
 If you inspect it, you will find a Python file called `default.py` and two
-subfolders. `default.py` is what we call a **Builder script** (because it uses MORSE's :doc:`Builder API<user/builder>`) which describes your simulation.
+subfolders. `default.py` is what we call a **Builder script** (because it uses
+MORSE's :doc:`Builder API<user/builder>`) which describes your simulation.
 
 .. note::
   Note that the script is still Python: besides the Builder API, you can use any
@@ -66,12 +67,17 @@ indicated in the output. You will see that by default, your custom robot has the
 same two actuators and sensor as in `default.py`. You can change them to build
 a robot that matches your needs.
 
-Soo also `morse add actuator` and `morse add sensor` if you need to create
+.. note::
+
+    If you already have a URDF file for your robot, :doc:`check this page<user/urdf>` to learn how
+    to use import it.
+
+You can also use `morse add actuator` and `morse add sensor` to create
 custom actuators/sensors.
 
-That's all folks! You now know the basics of MORSE. Head to the
-:doc:`tutorials` section to learn how to interact with your simulated robots
-and for more advanced examples.
+That's all folks! You now know the basics of MORSE. Head to the :doc:`tutorials`
+section to learn how to interact with your simulated robots and for more
+advanced examples.
 
 
 

doc/morse/user/advanced_tutorials/a_journey_to_a_new_simulation.rst

@@ -3,13 +3,6 @@
 A Journey to a New Simulation
 =============================
 
-
-.. warning::
-
-    This tutorial requires a recent version of MORSE. Follow the instructions
-    :doc:`here <../installation>` to install the latest version.
-
-
 .. note::
   This tutorial will guide you through the development of a complete
   simulation, including the creation of a robot and new actuators from

doc/morse/user/builder.rst

@@ -91,7 +91,7 @@ scene:
 .. MORSE Builder empty
 
 
-Since there is no robot yet, you won't be able launch the simulation.
+Since there is no robot yet, you will not be able launch the simulation.
 
 The environment comes from the file ``data/environments/indoors-1/indoor-1.blend``,
 you could also tell MORSE to load an environment from any location on your system
@@ -144,6 +144,15 @@ Let's add a robot to our scene:
 
 You should see the ``ATRV`` at the center of the scene.
 
+.. note::
+
+    Here, we are using one of the pre-built robot (ATRV). MORSE comes with
+    several such :doc:`preconfigured robots<../components_library>`. You can also
+    load your own :doc:`URDF file<urdf>`, or a custom robot model built
+    directly in Blender (see a :doc:`tutorial
+    here<advanced_tutorials/a_journey_to_a_new_simulation>`).
+
+
 .. warning::
 
     Loop handling in builder scripts (e.g., to create multiple

doc/morse/user/urdf.rst

@@ -0,0 +1,50 @@
+Using URDF robot description
+============================
+
+.. warning::
+
+    URDF support is currently considered experimental. Please report any issue
+    you encounter on `the MORSE issue
+    tracker <https://github.com/morse-simulator/morse/issues>`_.
+
+`URDF <http://wiki.ros.org/urdf>`_ is a standard XML format used to describe
+robots. You can load URDF files directly from MORSE :doc:`builder
+script<user/builder>` by simply passing a path to a URDF file to a robot
+constructor:
+
+.. code-block:: python
+
+    from morse.builder import *
+
+    # Add robot from its URDF description
+    robot = Robot("path/to/my/robot.urdf", name="MyRobot")
+
+    # then, standard BUilder script. For instance:
+
+    # Append an actuator to the robot
+    motion = MotionVW()
+    robot.append(motion)
+
+    # Append a sensor to the robot
+    pose = Pose()
+    pose.translate(z = 0.75)
+    robot.append(pose)
+
+    # Configure the robot on the 'socket' interface
+    robot.add_default_interface('socket')
+
+    env = Environment('indoors-1/indoor-1')
+
+
+MORSE will automatically import the Collada/STL meshes referenced in your URDF
+file.
+
+.. warning::
+
+    Often, the URDF file references meshes using the ROS specific `package://`
+    protocol. In this case, MORSE attempts to find the meshes by replacing
+    `package://` by the first entry in your `$ROS_PACKAGE_PATH` environment
+    variable. If MORSE fails to find the meshes, check your `$ROS_PACKAGE_PATH`.
+
+    Alternatively, provide full paths to your meshes in your URDF file using the
+    `file://` protocol.

src/morse/builder/__init__.py

@@ -3,4 +3,5 @@
 from .robots import *
 from .actuators import *
 from .sensors import *
+from .urdf import *
 from morse.core.morse_time import TimeStrategies

src/morse/builder/abstractcomponent.py

@@ -131,7 +131,9 @@ class AbstractComponent(object):
 
     def __init__(self, obj=None, filename='', category=''):
         self.set_blender_object(obj)
-        self._blender_filename = filename # filename for datastream configuration
+        self._resource_filename = filename # filename for datastream configuration
+        self.has_urdf = True if self._resource_filename.endswith(".urdf") else False
+
         self._category = category # for morseable
         self.basename = None
         self.children = []
@@ -647,6 +649,20 @@ def _compute_filepath(self, component):
 
         return filepath
 
+    def load_urdf(self):
+        """
+        Loads the URDF file passed to the AbstractComponent constructor.
+
+        :return: the root object created from the URDF file.
+        """
+        if not self.has_urdf:
+            return []
+
+        from morse.builder.urdf import URDF
+
+        self.urdf = URDF(self._resource_filename)
+        return self.urdf.build()
+
     def append_meshes(self, objects=None, component=None, prefix=None):
         """ Append the component's Blender objects to the scene
 
@@ -671,7 +687,11 @@ def append_meshes(self, objects=None, component=None, prefix=None):
         :return: list of the imported (selected) Blender objects
         """
 
-        component = component or self._blender_filename
+        if component is None and self.has_urdf:
+            logger.warning("calling AbstractComponent.append_meshes with a URDF component. Skipping it.")
+            return []
+
+        component = component or self._resource_filename
 
         if not component: # no Blender resource: simply create an empty
             bpymorse.deselect_all()
@@ -712,7 +732,7 @@ def append_meshes(self, objects=None, component=None, prefix=None):
         return bpymorse.get_selected_objects()
 
     def append_scenes(self, component=None):
-        component = component or self._blender_filename
+        component = component or self._resource_filename
 
         filepath = self._compute_filepath(component)
 
@@ -737,7 +757,7 @@ def append_collada(self, component=None):
         :return: list of the imported Blender objects
         """
         if not component:
-            component = self._blender_filename
+            component = self._resource_filename
 
         if component.endswith('.dae'):
             filepath = os.path.abspath(component) # external blend file

src/morse/builder/bpymorse.py

@@ -38,8 +38,10 @@ def empty_method(*args, **kwargs):
 link = empty_method # 2.71.6
 append = empty_method # 2.71.6
 collada_import = empty_method
+stl_import = empty_method
 add_object = empty_method
 add_empty = empty_method
+mode_set = empty_method
 new_mesh = empty_method
 new_object = empty_method
 apply_transform = empty_method
@@ -48,6 +50,7 @@ def empty_method(*args, **kwargs):
 del_scene = empty_method
 armatures = empty_method
 make_links_scene = empty_method
+origin_set = empty_method
 
 if bpy:
     select_all = bpy.ops.object.select_all
@@ -72,8 +75,10 @@ def empty_method(*args, **kwargs):
     else: # link_append dropped in 2.71.6
         link_append = bpy.ops.wm.link_append
     collada_import = bpy.ops.wm.collada_import
+    stl_import = bpy.ops.import_mesh.stl
     add_object = bpy.ops.object.add
     add_empty = bpy.ops.object.empty_add
+    mode_set = bpy.ops.object.mode_set
     new_mesh = bpy.data.meshes.new
     new_object = bpy.data.objects.new
     apply_transform = bpy.ops.object.transform_apply
@@ -82,6 +87,7 @@ def empty_method(*args, **kwargs):
     del_scene = bpy.ops.scene.delete
     armatures = bpy.data.armatures
     make_links_scene = bpy.ops.object.make_links_scene
+    origin_set = bpy.ops.object.origin_set
 
 def version():
     if bpy:
@@ -110,6 +116,13 @@ def get_first_selected_object():
     else:
         return None
 
+def active_object():
+    if bpy:
+        return bpy.context.active_object
+    else:
+        return None
+
+
 def get_selected_objects():
     if bpy:
         return bpy.context.selected_objects
@@ -139,7 +152,7 @@ def get_materials():
 
 def get_material(name_or_id):
     if bpy and bpy.data.materials:
-        return bpy.data.materials[name_or_id]
+        return bpy.data.materials.get(name_or_id)
     else:
         return None
 

src/morse/builder/morsebuilder.py

@@ -127,8 +127,9 @@ def __init__(self, category='', filename='',blender_object_name=None, make_morse
         :param category: The category of the component (folder in
             MORSE_COMPONENTS)
         :param filename: The name of the component (file in
-            MORSE_COMPONENTS/category/name.blend) If ends with '.blend',
-            append the objects from the Blender file.
+            MORSE_COMPONENTS/category/name.{blend, urdf}).
+            If it ends with '.blend', append the objects from the Blender 
+            file. If it ends with '.urdf', it attemps to laod the URDF file.
         :param blender_object_name: If set, use the given Blender object 
             as 'root' for this component. Otherwise, select the first
             available Blender object (the top parent in case of a hierarchy
@@ -137,14 +138,20 @@ def __init__(self, category='', filename='',blender_object_name=None, make_morse
             simulation, append default Morse ones. See self.morseable()
         """
         AbstractComponent.__init__(self, filename=filename, category=category)
-        imported_objects = self.append_meshes()
 
-        if blender_object_name is None:
-            # Here we use the fact that after appending, Blender select the objects
-            # and the root (parent) object first ( [0] )
-            self.set_blender_object(imported_objects[0])
+        if self.has_urdf:
+            root = self.load_urdf()
+            self.set_blender_object(root)
+
         else:
-            self.set_blender_object([o for o in imported_objects if o.name == blender_object_name][0])
+            imported_objects = self.append_meshes()
+
+            if blender_object_name is None:
+                # Here we use the fact that after appending, Blender select the objects
+                # and the root (parent) object first ( [0] )
+                self.set_blender_object(imported_objects[0])
+            else:
+                self.set_blender_object([o for o in imported_objects if o.name == blender_object_name][0])
 
         # If the object has no MORSE logic, add default one
         if make_morseable and category in ['sensors', 'actuators', 'robots'] \
@@ -157,8 +164,9 @@ def __init__(self, filename='', name=None, blender_object_name=None):
         """ Initialize a MORSE robot
 
         :param filename: The name of the component (file in
-            MORSE_COMPONENTS/category/name.blend) If ends with '.blend',
-            append the objects from the Blender file.
+            MORSE_COMPONENTS/category/name.{blend, urdf}).
+            If it ends with '.blend', append the objects from the Blender 
+            file. If it ends with '.urdf', it attemps to laod the URDF file.
         :param name: Name of the resulting robot in the simulation, default to 'robot'.
         :param blender_object_name: If set, use the given Blender object 
             in 'filename' as 'root' for this robot. Otherwise, select the first