Gepetto Viewer to Blender export

Script for importing in blender a motion computed with gepetto viewer

• Exporting the scene
• Recording frames
• Loading the motion into blender

Exporting the scene

Robot - moving objects

Robots have to be exported before applying any configuration. Right after having loaded all your models, do gui.writeNodeFile (nodeName, filename)

Environment - static objects

Environment has to be exported after in place (having been placed correctly). Once they are at their good location, do gui.writeNodeFile (nodeName, filename)

File format

• Collada: seems OK
• OBJ: not tested

Recording frames

First, setup the export by calling gui.setCaptureTransform (filename, nodeName) where nodeName refers to a node containing all the objects that will be recorded.

• Frame by frame record: a frame can then be saved using gui.captureTransform () to capture the current state.
• Capturing on refresh: use gui.captureTransformOnRefresh(true) to start capturing and gui.captureTransformOnRefresh(false) to stop it.

Notice: datas will be appended to filename so it must be empty at the beginning.

gui.setCaptureTransform ("path.yaml", "hrp2")

# Frame by Frame
for i in range(0,100):
	   #update robot configuration
     ...
        gui.captureTransform ()


# Capture on refresh
gui.captureTransformOnRefresh(true)
for i in range(0,100):
	   #update robot configuration
     ...
        gui.refresh ()

gui.captureTransformOnRefresh(false)

Loading the motion into blender

Running blender

Two options:

• blender --python <source-folder>/gepetto-viewer-corba/blender/gepettoimport.py
• Manually load the plugin by running the script blender/gepettoimport.py Switch to the script view in blender (menu on the top the screen) the python script that you can find in the gepetto-viewer under blender/gepettoimport.py and press Run script

Load the motion

• Load your object definition files of the robot and the environment.
• Press Space bar and start typing gepetto (the search result must be "Import a YAML Gepetto Viewer path file")
• Select the file containing the configurations and wait...

Voilà! A set of frames should automatically be generated, resulting in an animation.

If some errors occur, the messages will appear in the console, or the terminal used to launch blender, depending on how the script was launched.