Modular Components, simple bounding boxes and correct physics

This merge request has all the commits that added all the modular components, the simplification of bounding boxes for the webots output, the physics corrections the webots output needed

rocolib/api/components/Component.py

@@ -3,6 +3,8 @@ import os, posixpath
 import sys
 import yaml
 import logging
+import pathlib
+import json
 import networkx as nx
 
 from rocolib import ROCOLIB_DIR
@@ -43,6 +45,7 @@ class Component(Parameterized):
 
     def __init__(self, yamlFile=None):
         self._name = None
+        # self.margs :list = []
         Parameterized.__init__(self)
         self.reset()
         yf = yamlFile
@@ -445,8 +448,10 @@ class Component(Parameterized):
     # set useDefaultParameters = False to replace unset parameters with sympy variables
     def evalComponent(self, name, useDefaultParameters=True):
         sc = self.subcomponents[name]
+        
         obj = sc['object']
         classname = sc['classname']
+        
         try: 
           kwargs = sc['kwargs']
         except IndexError:
@@ -478,6 +483,12 @@ class Component(Parameterized):
       # know about components that have no ports (ex Bluetooth module driver)
       for (key, composable) in self.composables.items():
         for (name, sc) in self.subcomponents.items():
+        # name: name of the subcomponent
+        #  keys for sc:
+        # 'classname': Eg SimpleRectBeam
+        # 'parameters': depth,length etc
+        # 'kwargs':
+        # 'object': graph composable object of the classname type
           composable.addComponent(sc['object'])
         for (name, value) in self.interfaces.items():
           if value is not None:
@@ -487,9 +498,16 @@ class Component(Parameterized):
     def make(self, useDefaultParameters=True):
         if useDefaultParameters:
             self.useDefaultParameters()
-        self.modifyParameters()
+        margs = self.modifyParameters()
+        
+        if margs is not None:
+            cpath  = os.path.join(str(pathlib.Path(__file__).parents[2]) ,"utils/roco2sim/margs.json")
+            with open(cpath,'w') as f:
+                json.dump(margs,f)
+            
 
         scOrder = self.traverseGraph()
+        
         unconnected = list(set(self.subcomponents.keys()) - set(scOrder))
         for scName in scOrder + unconnected:
             self.evalConstraints(scName)
@@ -499,6 +517,8 @@ class Component(Parameterized):
         self.informComposables()    # Tell composables that my interfaces exist
         self.assemble()
 
+        
+
     ###
     # OUTPUT PHASE
     ###
@@ -535,7 +555,31 @@ class Component(Parameterized):
             graph.add_edge(edge)
             sub.recurseComponentTree(graph, subnode, fullstr)
 
+    def addModifiedParams(self,**kwargs):
+        cpath  = os.path.join(str(pathlib.Path(__file__).parents[2]) ,"utils/roco2sim/margs.json")
+        try:
+            with open(cpath) as f:
+                margs = json.load(f)
+            if margs is not None:
+                mod_params = margs.keys()
+                param_info = self.getParameterInfo()
+                for key in mod_params:
+                    if param_info.get(key):
+                        radius = param_info.get(key).get("value")
+                        mod_param = margs.get(key)
+                        if kwargs.get("Parameters"):
+                            
+                            kwargs.get("Parameters")[key]=mod_param
+                        else:
+                            kwargs['Parameters'] = {key:mod_param}
+            os.remove(cpath)
+        except FileNotFoundError:
+            pass
+        
+        
+
     def makeOutput(self, filedir=".", **kwargs):
+ 
         log.info(f"Compiling robot designs to directory {filedir} ...")
         def kw(arg, default=kwargs.get("default", True)):
             return kwargs.get(arg, default)
@@ -543,6 +587,7 @@ class Component(Parameterized):
         if kw("remake", True):
             self.make(kw("useDefaultParameters", True))
             log.debug(f"... done making {self.getName()}.")
+            self.addModifiedParams(**kwargs)
 
         # XXX: Is this the right way to do it?
         import os