From fe3fcde2fb151e9e84c2e21c343721a203c301ed Mon Sep 17 00:00:00 2001
From: Henrik Lindgren <henrik@hlindgren.xyz>
Date: Sun, 9 Oct 2022 18:45:41 +0200
Subject: [PATCH] add control panel and pose feature
---
exporter.py | 195 ++++++++++++++++++++++++++++++++++++++++++++--------
1 file changed, 166 insertions(+), 29 deletions(-)
diff --git a/exporter.py b/exporter.py
index 40463f4..4c72224 100644
--- a/exporter.py
+++ b/exporter.py
@@ -3,9 +3,15 @@ import json
import bpy
from bpy_extras.io_utils import ExportHelper
-from bpy.props import StringProperty
+from bpy.props import StringProperty, IntProperty, PointerProperty
from bpy.types import Operator
+import requests
+
+
+DOFBOT_IP = '192.168.50.172'
+DOFBOT_PORT = 5000
+
def print(data):
for window in bpy.context.window_manager.windows:
@@ -33,17 +39,17 @@ def get_servo_objects():
def get_moving_angle(servo_name, rot_deg):
if servo_name == 'bottom_rotation':
- return rot_deg.z
+ return rot_deg.z + 90
if servo_name == 'joint_1':
- return rot_deg.y
+ return rot_deg.y + 90
if servo_name == 'joint_2':
- return rot_deg.y
+ return rot_deg.y + 90
if servo_name == 'joint_3':
- return rot_deg.y
+ return rot_deg.y + 90
if servo_name == 'claw_rotation':
- return rot_deg.z
+ return rot_deg.z + 90
if servo_name == 'claw_grip':
- return rot_deg.x
+ return rot_deg.x*2
def frame2time(frame):
@@ -58,9 +64,15 @@ class RotationDegrees:
self.z = round(math.degrees(euler_rot.z))
-# This method of stepping through frame by frame and looking at the objects matrix_world
-# was taken from the below export script by @astronotter
-# https://gist.github.com/astronotter/faec735fc5e270df57741705052096ac
+def get_servo_angle(servo_object):
+ rot_deg = RotationDegrees(servo_object.rotation_euler)
+ angle = get_moving_angle(servo_object.name, rot_deg)
+
+ # print((frame, servo_object.name, angle, servo_object.rotation_euler))
+
+ return angle
+
+
def get_servo_data():
frame_range = range(bpy.context.scene.frame_start, bpy.context.scene.frame_end + 1)
@@ -68,21 +80,35 @@ def get_servo_data():
previous_angle = None
for frame in frame_range:
bpy.context.scene.frame_set(frame)
- matrix = obj.matrix_world.copy()
- # posx, posy, posz = matrix.to_translation()[:]
- # scalex, scaley, scalez = matrix.to_scale()[:]
- rot_deg = RotationDegrees(matrix.to_euler())
- angle = get_moving_angle(obj.name, rot_deg)
-
+ angle = get_servo_angle(obj)
+
if previous_angle == angle:
continue
-
+
previous_angle = angle
-
yield (obj.name, [frame2time(frame), angle])
+
+ bpy.context.scene.frame_set(1)
+
+
+def collect_servo_data_snapshot():
+ servos = {
+ 'bottom_rotation': [],
+ 'joint_1': [],
+ 'joint_2': [],
+ 'joint_3': [],
+ 'claw_rotation': [],
+ 'claw_grip': []
+ }
+
+ for obj in get_servo_objects():
+ angle = get_servo_angle(obj)
+ servos[obj.name].append([2000, angle])
+
+ return servos
-def calc_servo_data():
+def collect_servo_data():
servos = {
'bottom_rotation': [],
'joint_1': [],
@@ -98,10 +124,44 @@ def calc_servo_data():
return servos
+class DofbotProperties(bpy.types.PropertyGroup):
+ dofbot_ip: StringProperty(
+ name="IP",
+ description="The IP address of the Dofbot",
+ default=DOFBOT_IP,
+ )
+
+ dofbot_port: StringProperty(
+ name="Port",
+ description="The port of the Dofbot control API",
+ default=str(DOFBOT_PORT),
+ )
+
+
+class DofbotRunAnimation(Operator):
+ """Run animation on dofbot"""
+ bl_label = "Run animation"
+ bl_idname = "dofbot.run_animation"
+
+ def execute(self, context):
+ run_animation()
+ return {'FINISHED'}
+
+
+class DofbotSetCurrentPose(Operator):
+ """Set Dofbot to the current pose"""
+ bl_label = "Set pose"
+ bl_idname = "dofbot.set_current_pose"
+
+ def execute(self, context):
+ set_current_pose()
+ return {'FINISHED'}
+
+
class ExportDofbotAnimation(Operator, ExportHelper):
"""Exports Dofbot animation as json"""
- bl_idname = "export_dofbot.json_animation" # important since its how bpy.ops.import_test.some_data is constructed
- bl_label = "Export Dofbot Json Animation"
+ bl_idname = 'dofbot.export_json_animation' # important since its how bpy.ops.import_test.some_data is constructed
+ bl_label = '' # "Export Dofbot Json Animation"
# ExportHelper mixin class uses this
filename_ext = ".json"
@@ -113,31 +173,108 @@ class ExportDofbotAnimation(Operator, ExportHelper):
)
def execute(self, context):
- servo_data = calc_servo_data()
+ servo_data = collect_servo_data()
with open(self.filepath, 'w') as f:
f.write(json.dumps(servo_data))
return {'FINISHED'}
-# Only needed if you want to add into a dynamic menu
-def menu_func_export(self, context):
- self.layout.operator(ExportDofbotAnimation.bl_idname, text="Dofbot Animation Export")
+class ExportDofbotPose(Operator, ExportHelper):
+ """Exports Dofbot pose as json"""
+ bl_idname = 'dofbot.export_json_pose' # important since its how bpy.ops.import_test.some_data is constructed
+ bl_label = '' # "Export Dofbot Json Pose"
+
+ # ExportHelper mixin class uses this
+ filename_ext = ".json"
+
+ filter_glob: StringProperty(
+ default="*.json",
+ options={'HIDDEN'},
+ maxlen=255, # Max internal buffer length, longer would be clamped.
+ )
+
+ def execute(self, context):
+ servo_data = collect_servo_data_snapshot()
+
+ with open(self.filepath, 'w') as f:
+ f.write(json.dumps(servo_data))
+ return {'FINISHED'}
+class DofbotPanel(bpy.types.Panel):
+ """Open Dofbot Control Panel"""
+ bl_label = 'Dofbot Control'
+ bl_idname = 'wm.dofbot_panel'
+ bl_space_type = 'VIEW_3D'
+ bl_region_type = 'UI'
+ bl_category = 'Dofbot Control'
+
+ def draw(self, context):
+ layout = self.layout
+ dofbot = context.scene.dofbot
+
+ row = layout.row()
+ row.prop(dofbot, 'dofbot_ip')
+ row = layout.row()
+ row.prop(dofbot, 'dofbot_port')
+
+ row = layout.row()
+ row.operator('dofbot.run_animation', icon='PLAY')
+ row.operator('dofbot.export_json_animation', icon='EXPORT')
+
+ row = layout.row()
+ row.operator('dofbot.set_current_pose', icon='FF')
+ row.operator('dofbot.export_json_pose', icon='EXPORT')
+
+
# Register and add to the "file selector" menu (required to use F3 search "Text Export Operator" for quick access).
def register():
+ bpy.utils.register_class(DofbotProperties)
+ bpy.types.Scene.dofbot = PointerProperty(type=DofbotProperties)
+
+ bpy.utils.register_class(DofbotPanel)
+ bpy.utils.register_class(DofbotRunAnimation)
+ bpy.utils.register_class(DofbotSetCurrentPose)
bpy.utils.register_class(ExportDofbotAnimation)
- bpy.types.TOPBAR_MT_file_export.append(menu_func_export)
+ bpy.utils.register_class(ExportDofbotPose)
def unregister():
+ bpy.utils.unregister_class(DofbotProperties)
+ del bpy.types.scene.dofbot
+
+ bpy.utils.unregister_class(DofbotPanel)
+ bpy.utils.unregister_class(DofbotRunAnimation)
+ bpy.utils.unregister_class(DofbotSetCurrentPose)
bpy.utils.unregister_class(ExportDofbotAnimation)
- bpy.types.TOPBAR_MT_file_export.remove(menu_func_export)
+ bpy.utils.unregister_class(ExportDofbotPose)
+
+
+def send_motion(servo_data):
+ requests.post('http://' + DOFBOT_IP + ':' + str(DOFBOT_PORT) + '/motion', json = servo_data)
+
+
+def run_animation():
+ servo_data = collect_servo_data()
+ send_motion(servo_data)
+
+
+def set_current_pose():
+ servo_data = collect_servo_data_snapshot()
+ send_motion(servo_data)
+
+
+def export_animation():
+ bpy.ops.export_dofbot.json_animation('INVOKE_DEFAULT')
if __name__ == "__main__":
register()
- # test call
- bpy.ops.export_dofbot.json_animation('INVOKE_DEFAULT')
+# # test call
+# bpy.ops.export_dofbot.json_animation('INVOKE_DEFAULT')
+
+
+
+
--
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