def storePose(pose_name):
load_file = blenderUtils.readTextFile('robot_poses')
if load_file == '':
poses = {}
else:
poses = yaml.load(load_file)
new_pose = {}
prev_mode = bpy.context.mode
bpy.ops.object.mode_set(mode='POSE')
for obj in selectionUtils.returnObjectList('link'):
obj.pose.bones['Bone'].rotation_mode = 'XYZ'
new_pose[namingUtils.getObjectName(obj, 'joint')] = obj.pose.bones['Bone'].rotation_euler.y
bpy.ops.object.mode_set(mode=prev_mode)
poses[pose_name] = new_pose
blenderUtils.updateTextFile('robot_poses', yaml.dump(poses))
def loadPose(pose_name):
load_file = blenderUtils.readTextFile('robot_poses')
if load_file == '':
log('No poses stored.', 'ERROR')
return
poses = yaml.load(load_file)
if pose_name in poses:
prev_mode = bpy.context.mode
bpy.ops.object.mode_set(mode='POSE')
for obj in selectionUtils.returnObjectList('link'):
if namingUtils.getObjectName(obj, 'joint') in poses[pose_name]:
obj.pose.bones['Bone'].rotation_mode = 'XYZ'
obj.pose.bones['Bone'].rotation_euler.y = poses[pose_name][namingUtils.getObjectName(obj, 'joint')]
bpy.ops.object.mode_set(mode=prev_mode)
else:
log('No pose with name ' + pose_name + ' stored.', 'ERROR')
def loadPose(robot_name, pose_name):
"""
Load and apply a robot's stored pose.
:param robot_name: The robot's name.
:type robot_name: str.
:param pose_name: The name the pose is stored under.
:type pose_name: str.
:return Nothing.
"""
load_file = blenderUtils.readTextFile('robot_poses_' + robot_name)
if load_file == '':
log('No poses stored.', 'ERROR')
return
poses = yaml.load(load_file)
if pose_name in poses:
prev_mode = bpy.context.mode
bpy.ops.object.mode_set(mode='POSE')
for obj in selectionUtils.returnObjectList('link'):
if namingUtils.getObjectName(obj, 'joint') in poses[pose_name]:
obj.pose.bones['Bone'].rotation_mode = 'XYZ'
obj.pose.bones['Bone'].rotation_euler.y = poses[pose_name][namingUtils.getObjectName(obj, 'joint')]
bpy.ops.object.mode_set(mode=prev_mode)
def loadPose(robot_name, pose_name):
"""
Load and apply a robot's stored pose.
:param robot_name: The robot's name.
:type robot_name: str.
:param pose_name: The name the pose is stored under.
:type pose_name: str.
:return Nothing.
"""
load_file = blenderUtils.readTextFile('robot_poses_' + robot_name)
if load_file == '':
log('No poses stored.', 'ERROR')
return
poses = yaml.load(load_file)
if pose_name in poses:
prev_mode = bpy.context.mode
bpy.ops.object.mode_set(mode='POSE')
for obj in selectionUtils.returnObjectList('link'):
if namingUtils.getObjectName(obj, 'joint') in poses[pose_name]:
obj.pose.bones['Bone'].rotation_mode = 'XYZ'
obj.pose.bones['Bone'].rotation_euler.y = poses[pose_name][
namingUtils.getObjectName(obj, 'joint')]
bpy.ops.object.mode_set(mode=prev_mode)
