diff --git a/VirtualRobot/CMakeLists.txt b/VirtualRobot/CMakeLists.txt
index e45cbda8656aedc080df656b4c31bcc140247b02..525131154eba63df6b8c0ba7172cc6e808e4b308 100644
--- a/VirtualRobot/CMakeLists.txt
+++ b/VirtualRobot/CMakeLists.txt
@@ -77,6 +77,12 @@ XML/RobotIO.cpp
XML/SceneIO.cpp
XML/ObjectIO.cpp
XML/FileIO.cpp
+XML/mjcf/exceptions.cpp
+XML/mjcf/MasslessBodySanitizer.cpp
+XML/mjcf/MjcfDocument.cpp
+XML/mjcf/MujocoIO.cpp
+XML/mjcf/utils.cpp
+XML/mjcf/xml_visitors.cpp
IK/IKSolver.cpp
IK/AdvancedIKSolver.cpp
IK/DifferentialIK.cpp
@@ -223,6 +229,12 @@ XML/RobotIO.h
XML/SceneIO.h
XML/ObjectIO.h
XML/FileIO.h
+XML/mjcf/exceptions.h
+XML/mjcf/MasslessBodySanitizer.h
+XML/mjcf/MjcfDocument.h
+XML/mjcf/MujocoIO.h
+XML/mjcf/utils.h
+XML/mjcf/xml_visitors.h
IK/IKSolver.h
IK/AdvancedIKSolver.h
IK/DifferentialIK.h
diff --git a/VirtualRobot/XML/RobotIO.cpp b/VirtualRobot/XML/RobotIO.cpp
index 6a1c80483cb2022264fd3604f223c9f42e93856d..6feadd35d418aa914a83e9281287bf9ecc923a3d 100644
--- a/VirtualRobot/XML/RobotIO.cpp
+++ b/VirtualRobot/XML/RobotIO.cpp
@@ -15,6 +15,7 @@
#include "../RobotConfig.h"
#include "../RuntimeEnvironment.h"
#include "rapidxml.hpp"
+#include "mjcf/MujocoIO.h"
#include <vector>
@@ -1512,6 +1513,24 @@ namespace VirtualRobot
}
return true;
+ }
+
+ void RobotIO::saveMJCF(RobotPtr robot, const std::string& filename,
+ const std::string& basePath, const std::string& meshDir)
+ {
+
+
+
+
+
+
+
+
+
+
+
+
+
}
diff --git a/VirtualRobot/XML/RobotIO.h b/VirtualRobot/XML/RobotIO.h
index e9dd02e86febdff633291ce283bae354bf3ad1d0..b59a213e52d845b0fab0bad2bb030788b5646fa6 100644
--- a/VirtualRobot/XML/RobotIO.h
+++ b/VirtualRobot/XML/RobotIO.h
@@ -58,19 +58,19 @@ namespace VirtualRobot
};
/*!
- Loads robot from file.
- @param xmlFile The file
- @param loadMode Standard: eFull, When eStructure is used no visualization and collision models are loaded for faster access.
- @return Returns an empty pointer, when file access failed.
+ Loads robot from file.
+ @param xmlFile The file
+ @param loadMode Standard: eFull, When eStructure is used no visualization and collision models are loaded for faster access.
+ @return Returns an empty pointer, when file access failed.
*/
static RobotPtr loadRobot(const std::string& xmlFile, RobotDescription loadMode = eFull);
/*!
- Creates Robot from string.
- @param xmlString The input string.
- @param basePath If any \<childFromRobot\> tags are given, the path for searching the robot files can be specified.
- @param loadMode Standard: eFull, When eStructure is used no visualization and collision models are loaded for faster access.
- */
+ Creates Robot from string.
+ @param xmlString The input string.
+ @param basePath If any \<childFromRobot\> tags are given, the path for searching the robot files can be specified.
+ @param loadMode Standard: eFull, When eStructure is used no visualization and collision models are loaded for faster access.
+ */
static RobotPtr createRobotFromString(const std::string& xmlString, const std::string& basePath = "", RobotDescription loadMode = eFull);
@@ -84,6 +84,16 @@ namespace VirtualRobot
static bool saveXML(RobotPtr robot, const std::string& filename, const std::string& basePath, const std::string& modelDir = "models", bool storeEEF = true, bool storeRNS = true, bool storeSensors = true, bool storeModelFiles = true);
+ /*!
+ @brief saveMJCF
+ @param robot The robot to save.
+ @param filename The filename without path.
+ @param basePath The directory to store the robot to
+ @param meshDir The local directory where all mesh files should be stored to.
+ */
+ static void saveMJCF(RobotPtr robot, const std::string& filename, const std::string& basePath, const std::string& meshDir = "mesh");
+
+
protected:
struct ChildFromRobotDef
diff --git a/VirtualRobot/examples/MjcfConverter/mjcf/MjcfMasslessBodySanitizer.cpp b/VirtualRobot/XML/mjcf/MasslessBodySanitizer.cpp
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/mjcf/MjcfMasslessBodySanitizer.cpp
rename to VirtualRobot/XML/mjcf/MasslessBodySanitizer.cpp
diff --git a/VirtualRobot/examples/MjcfConverter/mjcf/MjcfMasslessBodySanitizer.h b/VirtualRobot/XML/mjcf/MasslessBodySanitizer.h
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/mjcf/MjcfMasslessBodySanitizer.h
rename to VirtualRobot/XML/mjcf/MasslessBodySanitizer.h
diff --git a/VirtualRobot/examples/MjcfConverter/mjcf/MjcfDocument.cpp b/VirtualRobot/XML/mjcf/MjcfDocument.cpp
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/mjcf/MjcfDocument.cpp
rename to VirtualRobot/XML/mjcf/MjcfDocument.cpp
diff --git a/VirtualRobot/examples/MjcfConverter/mjcf/MjcfDocument.h b/VirtualRobot/XML/mjcf/MjcfDocument.h
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/mjcf/MjcfDocument.h
rename to VirtualRobot/XML/mjcf/MjcfDocument.h
diff --git a/VirtualRobot/examples/MjcfConverter/MjcfConverter.cpp b/VirtualRobot/XML/mjcf/MujocoIO.cpp
similarity index 78%
rename from VirtualRobot/examples/MjcfConverter/MjcfConverter.cpp
rename to VirtualRobot/XML/mjcf/MujocoIO.cpp
index c9d7237a07b2cbc7275dc855a729f40188eb7b7b..4627d3c68ab97164732b9ed87f9d51434878303b 100644
--- a/VirtualRobot/examples/MjcfConverter/MjcfConverter.cpp
+++ b/VirtualRobot/XML/mjcf/MujocoIO.cpp
@@ -1,30 +1,29 @@
-#include "MjcfConverter.h"
+#include "MujocoIO.h"
+#include "utils.h"
+#include "xml_visitors.h"
#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/XML/RobotIO.h>
-#include "mjcf/utils.h"
-#include "mjcf/xml_visitors.h"
-
-
using namespace VirtualRobot;
+using namespace mjcf;
namespace tx = tinyxml2;
namespace fs = boost::filesystem;
-using Element = mjcf::Element;
-MjcfConverter::MjcfConverter() :
+
+MujocoIO::MujocoIO() :
masslessBodySanitizer(document, robot)
{
}
-void MjcfConverter::convert(const std::string& inputSimoxXmlFile,
- const std::string& outputDirectory)
+void MujocoIO::saveMJCF(RobotPtr robot, const std::string& filename, const std::string& basePath, const std::string& meshDir)
{
- setPaths(inputSimoxXmlFile, outputDirectory);
-
- loadInputFile();
+ this->robot = robot;
+ this->outputDirectory = basePath;
+ this->outputFileName = filename;
+ this->outputMeshRelDirectory = meshDir;
document.reset(new mjcf::Document());
@@ -67,57 +66,14 @@ void MjcfConverter::convert(const std::string& inputSimoxXmlFile,
writeOutputFile();
}
-void MjcfConverter::setPaths(const std::string& inputFilename,
- const std::string& outputDirectory)
-{
- this->inputFilePath = inputFilename;
-
- inputFileDirectory = inputFilePath.parent_path();
- inputFileName = inputFilePath.filename();
-
- this->outputDirectory = outputDirectory;
- outputFileName = this->outputDirectory / inputFileName;
-
- outputMeshRelDirectory = "mesh";
-
-
- auto ensureDirExists = [](const fs::path& path)
- {
- if (!fs::exists(path))
- {
- fs::create_directory(path);
- }
- };
-
- ensureDirExists(outputDirectory);
- ensureDirExists(outputDirectory / outputMeshRelDirectory);
-
- assert(!inputFileDirectory.empty());
-}
-void MjcfConverter::makeEnvironment()
+void MujocoIO::makeEnvironment()
{
document->addSkyboxTexture(Eigen::Vector3f(.8f, .9f, .95f),
Eigen::Vector3f(.4f, .6f, .8f));
}
-void MjcfConverter::loadInputFile()
-{
- assert(!inputFilePath.empty());
-
- std::cout << "Loading robot via RobotIO: " << inputFilePath << std::endl;
- try
- {
- robot = RobotIO::loadRobot(inputFilePath.string(), RobotIO::eFull);
- assert(robot);
- }
- catch (const VirtualRobotException&)
- {
- throw; // rethrow
- }
-}
-
-void MjcfConverter::writeOutputFile()
+void MujocoIO::writeOutputFile()
{
assert(!outputFileName.empty());
std::cout << "Writing to " << outputFileName << std::endl;
@@ -125,7 +81,7 @@ void MjcfConverter::writeOutputFile()
}
-void MjcfConverter::addNodeBodies()
+void MujocoIO::addNodeBodies()
{
nodeBodies.clear();
@@ -143,7 +99,7 @@ void MjcfConverter::addNodeBodies()
}
}
-void MjcfConverter::addNodeBodyMeshes()
+void MujocoIO::addNodeBodyMeshes()
{
bool meshlabserverAviable = system("which meshlabserver > /dev/null 2>&1") == 0;
bool notAvailableReported = false;
@@ -232,7 +188,7 @@ void MjcfConverter::addNodeBodyMeshes()
-Element* MjcfConverter::addNodeBody(RobotNodePtr node)
+Element* MujocoIO::addNodeBody(RobotNodePtr node)
{
Element* element = nodeBodies[node->getName()];
if (element)
@@ -253,7 +209,7 @@ Element* MjcfConverter::addNodeBody(RobotNodePtr node)
return element;
}
-void MjcfConverter::addContactExcludes()
+void MujocoIO::addContactExcludes()
{
RobotNodePtr rootNode = robot->getRootNode();
@@ -281,7 +237,7 @@ void MjcfConverter::addContactExcludes()
}
}
-void MjcfConverter::addActuators()
+void MujocoIO::addActuators()
{
std::vector<const mjcf::Element*> jointElements = getAllElements("joint");
@@ -292,7 +248,7 @@ void MjcfConverter::addActuators()
}
}
-std::vector<const mjcf::Element*> MjcfConverter::getAllElements(const std::string& elemName)
+std::vector<const mjcf::Element*> MujocoIO::getAllElements(const std::string& elemName)
{
mjcf::ListElementsVisitor visitor(elemName);
document->worldbody()->Accept(&visitor);
diff --git a/VirtualRobot/examples/MjcfConverter/MjcfConverter.h b/VirtualRobot/XML/mjcf/MujocoIO.h
similarity index 74%
rename from VirtualRobot/examples/MjcfConverter/MjcfConverter.h
rename to VirtualRobot/XML/mjcf/MujocoIO.h
index 17a5dc73d213b5df484812a22cfbb3e8f846e0ad..b8e5614ad1866f9cbd6469d9c38a7e0bf3a2b82e 100644
--- a/VirtualRobot/examples/MjcfConverter/MjcfConverter.h
+++ b/VirtualRobot/XML/mjcf/MujocoIO.h
@@ -5,29 +5,31 @@
#include <VirtualRobot/Robot.h>
-#include "mjcf/exceptions.h"
-#include "mjcf/MjcfDocument.h"
-#include "mjcf/MjcfMasslessBodySanitizer.h"
+#include "exceptions.h"
+#include "MjcfDocument.h"
+#include "MasslessBodySanitizer.h"
namespace VirtualRobot
{
+namespace mjcf
+{
+
- class MjcfConverter
+ class MujocoIO
{
public:
- MjcfConverter();
+ MujocoIO();
- void convert(const std::string& inputSimoxXmlFile,
- const std::string& outputDirectory);
+ void saveMJCF(RobotPtr robot, const std::string& filename,
+ const std::string& basePath, const std::string& meshDir);
private:
- void loadInputFile();
void writeOutputFile();
void setPaths(const std::string& inputFilename,
@@ -52,10 +54,6 @@ namespace VirtualRobot
// Paths
- boost::filesystem::path inputFilePath;
- boost::filesystem::path inputFileName;
- boost::filesystem::path inputFileDirectory;
-
boost::filesystem::path outputDirectory;
boost::filesystem::path outputFileName;
@@ -81,5 +79,6 @@ namespace VirtualRobot
std::map<std::string, std::string> mergedBodyNames;
};
-
+
+}
}
diff --git a/VirtualRobot/examples/MjcfConverter/mjcf/exceptions.cpp b/VirtualRobot/XML/mjcf/exceptions.cpp
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/mjcf/exceptions.cpp
rename to VirtualRobot/XML/mjcf/exceptions.cpp
diff --git a/VirtualRobot/examples/MjcfConverter/mjcf/exceptions.h b/VirtualRobot/XML/mjcf/exceptions.h
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/mjcf/exceptions.h
rename to VirtualRobot/XML/mjcf/exceptions.h
diff --git a/VirtualRobot/examples/MjcfConverter/mjcf/utils.cpp b/VirtualRobot/XML/mjcf/utils.cpp
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/mjcf/utils.cpp
rename to VirtualRobot/XML/mjcf/utils.cpp
diff --git a/VirtualRobot/examples/MjcfConverter/mjcf/utils.h b/VirtualRobot/XML/mjcf/utils.h
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/mjcf/utils.h
rename to VirtualRobot/XML/mjcf/utils.h
diff --git a/VirtualRobot/examples/MjcfConverter/mjcf/xml_visitors.cpp b/VirtualRobot/XML/mjcf/xml_visitors.cpp
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/mjcf/xml_visitors.cpp
rename to VirtualRobot/XML/mjcf/xml_visitors.cpp
diff --git a/VirtualRobot/examples/MjcfConverter/mjcf/xml_visitors.h b/VirtualRobot/XML/mjcf/xml_visitors.h
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/mjcf/xml_visitors.h
rename to VirtualRobot/XML/mjcf/xml_visitors.h
diff --git a/VirtualRobot/examples/MjcfConverter/CMakeLists.txt b/VirtualRobot/examples/MjcfConverter/CMakeLists.txt
index 73fa315aabafb627dfa6d5ad6f0eda02a954ff9b..5222b8e0d0144f87bca9458ced6c81f04097345b 100644
--- a/VirtualRobot/examples/MjcfConverter/CMakeLists.txt
+++ b/VirtualRobot/examples/MjcfConverter/CMakeLists.txt
@@ -10,23 +10,9 @@ if (Boost_FOUND)
set(SOURCES
main.cpp
- MjcfConverter.cpp
-
- mjcf/exceptions.cpp
- mjcf/utils.cpp
- mjcf/xml_visitors.cpp
- mjcf/MjcfDocument.cpp
- mjcf/MjcfMasslessBodySanitizer.cpp
)
set(HEADERS
- MjcfConverter.h
-
- mjcf/exceptions.h
- mjcf/utils.h
- mjcf/xml_visitors.h
- mjcf/MjcfDocument.h
- mjcf/MjcfMasslessBodySanitizer.h
)
set(LIBS
diff --git a/VirtualRobot/examples/MjcfConverter/main.cpp b/VirtualRobot/examples/MjcfConverter/main.cpp
index c50c22877d93bf03a4270f13a32dc7bb8cbed672..23e05a7d9dad9c3cc17c0092107cf39651c4123e 100644
--- a/VirtualRobot/examples/MjcfConverter/main.cpp
+++ b/VirtualRobot/examples/MjcfConverter/main.cpp
@@ -2,7 +2,7 @@
#include <VirtualRobot/RuntimeEnvironment.h>
-#include "MjcfConverter.h"
+#include <VirtualRobot/XML/RobotIO.h>
using namespace VirtualRobot;
@@ -11,9 +11,8 @@ int main(int argc, char* argv[])
{
VirtualRobot::RuntimeEnvironment::considerKey("robot");
VirtualRobot::RuntimeEnvironment::processCommandLine(argc, argv);
-// VirtualRobot::RuntimeEnvironment::print();
- std::string inputFilename;
+ boost::filesystem::path inputFilename;
if (VirtualRobot::RuntimeEnvironment::hasValue("robot"))
{
@@ -34,14 +33,25 @@ int main(int argc, char* argv[])
return 0;
}
- boost::filesystem::path outputDir(inputFilename);
+ boost::filesystem::path outputDir = inputFilename;
outputDir.remove_filename();
outputDir /= "mjcf";
std::cout << "Input file: " << inputFilename << std::endl;
std::cout << "Output dir: " << outputDir << std::endl;
- MjcfConverter converter;
- converter.convert(inputFilename, outputDir.string());
+ std::cout << "Loading robot ..." << std::endl;
+ RobotPtr robot;
+ try
+ {
+ robot = RobotIO::loadRobot(inputFilename.string(), RobotIO::eFull);
+ assert(robot);
+ }
+ catch (const VirtualRobotException&)
+ {
+ throw; // rethrow
+ }
+
+ RobotIO::saveMJCF(robot, inputFilename.filename().string(), outputDir.string());
}