120 lines
4.3 KiB
Python
120 lines
4.3 KiB
Python
import bpy
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from random import random
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from mathutils import Matrix, Quaternion
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from typing import Tuple
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class ArmGraspController:
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"""Class to help with controlling a single arm in blender.
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"""
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def __init__(self, armature_name: str, wrist_object_name: str,
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start_pos: Tuple[float] = (1.6766993999481201, 0.3146645724773407, -1.3483989238739014)):
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"""Constructor for ArmGraspController
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Args:
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armature_name (str): The exact name of the blender armature to control.
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wrist_object_name (str): The exact name of the blender object which is used to control the arm's IK solutions.
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start_pos (Tuple[float]): 3D wrist position to start in.
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"""
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self.armature_name = armature_name
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self.arm = bpy.data.objects[self.armature_name]
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self.open = False
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self.finger_grab_bones = ["index_3", "middle_3", "ring_3", "pinky_3"]
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self.thumb_rot_name = "thumb_3"
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self.upper_arm_name = "upper_arm"
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self.upper_arm_bone = self.arm.pose.bones[self.upper_arm_name]
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self.wrist_object_name = wrist_object_name
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self.wrist_object = bpy.data.objects[self.wrist_object_name]
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self.start_pos = start_pos
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def deselect_all_bones(self):
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"""Deselects all bones in the armature (the arm).
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"""
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for bone in self.arm.pose.bones: # Deselect all selected bones
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bone.bone.select = False
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def move(self, new_pos: Tuple[float]):
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"""Moves wrist to new position.
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Args:
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new_pos (Tuple[float]): New wrist position. Tuple size: 3 floats.
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"""
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self.wrist_object.location = new_pos
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self.wrist_object.keyframe_insert(data_path='location', index=-1)
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def move_shoulder(self, new_pos: Tuple[float]):
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self.upper_arm_bone.location = new_pos
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self.upper_arm_bone.keyframe_insert(data_path='location')
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def open_fingers(self):
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self.grab_movement(0.8)
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def close_fingers(self):
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self.grab_movement(-0.8)
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def move_fingers(self):
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if self.open:
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self.open_fingers()
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else:
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self.close_fingers()
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self.open = not self.open
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def grab_movement(self, angle):
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# select the 4 base finger bones
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# Then:
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# To rotate around local axis (will cause to grab)
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# Then do the same with thumb, but only around local Z axis!
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bpy.ops.object.mode_set(mode='OBJECT')
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bpy.ops.object.select_all(action='DESELECT') # Deselect all objects
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bpy.context.view_layer.objects.active = self.arm # Make the Armature the active object
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bpy.ops.object.mode_set(mode='POSE')
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# Deselect all fingers
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self.deselect_all_bones()
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# Rotate fingers
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for name in self.finger_grab_bones:
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bone = self.arm.pose.bones.get(name)
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# Bones need to be selected when adding keyframes, otherwise blender will throw an error:
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# https://blender.stackexchange.com/questions/1828/what-constitutes-a-context-in-pose-mode
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bone.bone.select = True
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# rotate
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bone.rotation_mode = 'XYZ'
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bone.rotation_euler.rotate_axis('X', angle)
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# bpy.ops.transform.rotate(value=angle, orient_axis='X', orient_type='GLOBAL')
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# Add keyframe
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bpy.ops.anim.keying_set_active_set(type='Rotation')
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bpy.ops.anim.keyframe_insert(type='Rotation')
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# Now rotate the thumb too
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self.deselect_all_bones()
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bone = self.arm.pose.bones.get(self.thumb_rot_name).bone
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if bone: bone.select = True
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bpy.ops.transform.rotate(value=angle, orient_axis='Z', orient_type='LOCAL')
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bpy.ops.anim.keyframe_insert(type='Rotation')
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# Script start
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frame_number = 0
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max_dist = 0.5
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#start_location = ob.location.copy()
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start_location = (1.6766993999481201, 0.3146645724773407, -1.3483989238739014)
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controller = ArmGraspController("Armature", "Sphere")
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for i in range(12):
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bpy.context.scene.frame_set(frame_number)
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x = random()*max_dist
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y = random()*max_dist
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z = random()*max_dist
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controller.move((
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start_location[0] + x,
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start_location[1] + y,
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start_location[2] + z
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))
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controller.move_fingers()
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frame_number += 20 |