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add example movement

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Bart Moyaers
2020-06-28 22:36:34 +02:00
parent e835ee639e
commit 7a7db9b135
1 changed files with 52 additions and 7 deletions
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59
source/move.py
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@@ -136,6 +136,9 @@ class ArmGraspController:
def close_fingers(self): def close_fingers(self):
self.grab_movement(-0.8) self.grab_movement(-0.8)
def keep_hand_orient(self):
self.grab_movement(0.0)
def move_fingers(self): def move_fingers(self):
if self.open: if self.open:
self.open_fingers() self.open_fingers()
@@ -189,11 +192,53 @@ start_location = (1.6766993999481201, 0.3146645724773407, -1.3483989238739014)
controller = ArmGraspController("Armature", "WristController", "ShoulderController") controller = ArmGraspController("Armature", "WristController", "ShoulderController")
new_pos = [1.7, 2.5, -1.3483989238739014] new_pos = [1.7, 2.5, -1.3483989238739014]
x_rand = RandomBounds(0, 2) # x_rand = RandomBounds(0, 2)
y_rand = RandomBounds(1, 5) # y_rand = RandomBounds(1, 5)
z_rand = RandomBounds(-3, 2) # z_rand = RandomBounds(-3, 2)
for i in range(10): # for i in range(10):
bpy.context.scene.frame_set(frame_number) # bpy.context.scene.frame_set(frame_number)
controller.move_arm_rel([x_rand.random(), y_rand.random(), z_rand.random()]) # controller.move_arm_rel([x_rand.random(), y_rand.random(), z_rand.random()])
frame_number += 20 # frame_number += 20
# Start in first position
bpy.context.scene.frame_set(frame_number)
controller.move_arm(start_location)
controller.move_shoulder(controller.start_pos_shoulder)
controller.keep_hand_orient()
frame_number += 40
bpy.context.scene.frame_set(frame_number)
controller.move_arm_rel([start_location[0], 3, start_location[2]])
# Move back a few frames, make sure hand is open, then close hand
frame_number -= 10
bpy.context.scene.frame_set(frame_number)
controller.keep_hand_orient()
frame_number += 20
bpy.context.scene.frame_set(frame_number)
controller.close_fingers()
# Fingers will now close while moving back
frame_number += 30
bpy.context.scene.frame_set(frame_number)
controller.move_arm_rel([start_location[0], 1, start_location[2]])
frame_number -= 10
bpy.context.scene.frame_set(frame_number)
controller.keep_hand_orient()
frame_number += 20
bpy.context.scene.frame_set(frame_number)
controller.open_fingers()
frame_number += 30
bpy.context.scene.frame_set(frame_number)
controller.move_arm([2.5, 0.5, -1.3])
frame_number += 40
bpy.context.scene.frame_set(frame_number)
controller.move_arm([3, 2, -1.3])
frame_number += 40
bpy.context.scene.frame_set(frame_number)
controller.move_arm([0, 2, -1.3])