def storePose(modelname, posename):
"""
Stores the current pose of all of a robot's selected joints.
Existing poses of the same name will be overwritten.
:param modelname: The robot the pose belongs to.
:type modelname: str.
:param posename: The name the pose will be stored under.
:type posename: str.
:return: Nothing.
"""
rootlink = None
for root in sUtils.getRoots():
if root['modelname'] == modelname:
rootlink = root
if rootlink:
filename = modelname + '::poses'
posedict = yaml.load(bUtils.readTextFile(filename))
if not posedict:
posedict = {posename: {'name': posename, 'joints': {}}}
else:
posedict[posename] = {'name': posename, 'joints': {}}
bpy.ops.object.mode_set(mode='POSE')
links = sUtils.getChildren(rootlink, ('link',), True, False)
for link in (link for link in links if 'joint/type' in link
and link['joint/type'] not in ['fixed', 'floating']):
link.pose.bones['Bone'].rotation_mode = 'XYZ'
posedict[posename]['joints'][nUtils.getObjectName(link, 'joint')] = link.pose.bones['Bone'].rotation_euler.y
bUtils.updateTextFile(filename, yaml.dump(posedict, default_flow_style=False))
else:
log("No model root could be found to store the pose for", "ERROR", "storePose")
def storePose(modelname, posename):
"""
Stores the current pose of all of a robot's selected joints.
Existing poses of the same name will be overwritten.
:param modelname: The robot the pose belongs to.
:type modelname: str.
:param posename: The name the pose will be stored under.
:type posename: str.
:return: Nothing.
"""
rootlink = None
for root in sUtils.getRoots():
if root['modelname'] == modelname:
rootlink = root
if rootlink:
filename = modelname + '::poses'
posedict = yaml.load(bUtils.readTextFile(filename))
if not posedict:
posedict = {posename: {'name': posename, 'joints': {}}}
else:
posedict[posename] = {'name': posename, 'joints': {}}
bpy.ops.object.mode_set(mode='POSE')
links = sUtils.getChildren(rootlink, ('link', ), True, False)
for link in (link for link in links if 'joint/type' in link
and link['joint/type'] not in ['fixed', 'floating']):
link.pose.bones['Bone'].rotation_mode = 'XYZ'
posedict[posename]['joints'][nUtils.getObjectName(
link, 'joint')] = link.pose.bones['Bone'].rotation_euler.y
bUtils.updateTextFile(filename,
yaml.dump(posedict, default_flow_style=False))
else:
log("No model root could be found to store the pose for", "ERROR")
def storePose(robot_name, pose_name):
"""
Store the current pose of all of a robot's selected links.
Existing poses of the same name will be overwritten.
:param robot_name: The robot the pose belongs to.
:type robot_name: str.
:param pose_name: The name the pose will be stored under.
:type pose_name: str.
:return: Nothing.
"""
file_name = 'robot_poses_' + robot_name
load_file = blenderUtils.readTextFile(file_name)
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 root in selectionUtils.getRoots():
if root['modelname'] == robot_name:
links = selectionUtils.getChildren(root)
for link in links:
if link.select and link.phobostype == 'link':
link.pose.bones['Bone'].rotation_mode = 'XYZ'
new_pose[namingUtils.getObjectName(link, 'joint')] = link.pose.bones['Bone'].rotation_euler.y
bpy.ops.object.mode_set(mode=prev_mode)
poses[pose_name] = new_pose
blenderUtils.updateTextFile(file_name, yaml.dump(poses))
def storePose(robot_name, pose_name):
"""
Store the current pose of all of a robot's selected links.
Existing poses of the same name will be overwritten.
:param robot_name: The robot the pose belongs to.
:type robot_name: str.
:param pose_name: The name the pose will be stored under.
:type pose_name: str.
:return: Nothing.
"""
file_name = 'robot_poses_' + robot_name
load_file = blenderUtils.readTextFile(file_name)
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 root in selectionUtils.getRoots():
if root['modelname'] == robot_name:
links = selectionUtils.getChildren(root)
for link in links:
if link.select and link.phobostype == 'link':
link.pose.bones['Bone'].rotation_mode = 'XYZ'
new_pose[namingUtils.getObjectName(
link,
'joint')] = link.pose.bones['Bone'].rotation_euler.y
bpy.ops.object.mode_set(mode=prev_mode)
poses[pose_name] = new_pose
blenderUtils.updateTextFile(file_name, yaml.dump(poses))
def storePose(root, posename):
"""Stores the current pose of all of a model's selected joints.
Existing poses of the same name will be overwritten.
Args:
root(bpy_types.Object): root of the model the pose belongs to
posename(str): name the pose will be stored under
Returns:
: Nothing.
"""
if root:
filename = nUtils.getModelName(root) + '::poses'
posedict = json.loads(bUtils.readTextFile(filename))
if not posedict:
posedict = {posename: {'name': posename, 'joints': {}}}
else:
posedict[posename] = {'name': posename, 'joints': {}}
links = sUtils.getChildren(root, ('link', ), True, False)
sUtils.selectObjects([root] + links, clear=True, active=0)
bpy.ops.object.mode_set(mode='POSE')
for link in (link for link in links if 'joint/type' in link
and link['joint/type'] not in ['fixed', 'floating']):
link.pose.bones['Bone'].rotation_mode = 'XYZ'
posedict[posename]['joints'][nUtils.getObjectName(
link, 'joint')] = link.pose.bones['Bone'].rotation_euler.y
bpy.ops.object.mode_set(mode='OBJECT')
posedict = gUtils.roundFloatsInDict(
posedict,
ioUtils.getExpSettings().decimalPlaces)
bUtils.updateTextFile(filename, json.dumps(posedict))
else:
log("No model root provided to store the pose for", "ERROR")
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 storePose(root, posename):
"""Stores the current pose of all of a model's selected joints.
Existing poses of the same name will be overwritten.
Args:
root(bpy_types.Object): root of the model the pose belongs to
posename(str): name the pose will be stored under
Returns:
: Nothing.
"""
if root:
filename = nUtils.getModelName(root) + '::poses'
posedict = yaml.load(bUtils.readTextFile(filename))
if not posedict:
posedict = {posename: {'name': posename, 'joints': {}}}
else:
posedict[posename] = {'name': posename, 'joints': {}}
links = sUtils.getChildren(root, ('link',), True, False)
sUtils.selectObjects([root] + links, clear=True, active=0)
bpy.ops.object.mode_set(mode='POSE')
for link in (
link
for link in links
if 'joint/type' in link and link['joint/type'] not in ['fixed', 'floating']
):
link.pose.bones['Bone'].rotation_mode = 'XYZ'
posedict[posename]['joints'][nUtils.getObjectName(link, 'joint')] = link.pose.bones[
'Bone'
].rotation_euler.y
bpy.ops.object.mode_set(mode='OBJECT')
posedict = gUtils.roundFloatsInDict(posedict, ioUtils.getExpSettings().decimalPlaces)
bUtils.updateTextFile(filename, yaml.dump(posedict, default_flow_style=False))
else:
log("No model root provided to store the pose for", "ERROR")
