Here is a Blender script (python) I wrote to control my robot from blender character. It requires manual naming of each bone, to define servo ID + axis of rotation + rotation sign. I could send Blender project if you want, but it's still very very early stage...
#! /usr/bin/env python
#############
# Blender script writtten by Arnaud Muthelet / Nov 2010
# Contact: amuthelet at gmail dot com
# Prereq:
# Blender v2.49, Python 2.6, libkondo4 from Christopher Vo
# Desc:
# Interactive command of Kondo KHR3 servos via RCB4
# controller, given
# orientations of virtual robot bones.
# WARNINGS:
# SERVOS CAN BE DAMAGED IF FORCED TO INVALID VALUES,
# PLEASE CHECK DATA SENT TO SERVOS BEFORE PLUGGING YOUR
# ROBOT (verbose = 1).
#################################################
import Blender
import sys
import math
from pykondo import *
SERVO_NEUTRAL = 7500
SERVO_MAX = 10000
SERVO_MIN = 5000
SERVO_DIFF = 30
VERBOSE = 1
KONDO_PLUGGED = 0
def init_registry(arm):
values = Blender.Registry.GetKey('servo_values')
if values:
if VERBOSE:
print "REGISTRY entry 'servo_value' already exists"
else:
values = {}
pose = arm.getPose()
poseBones = pose.bones
staticBones = arm.getData().bones
for boneT in staticBones.items():
bone_name = boneT[0]
values[bone_name] = 0
Blender.Registry.SetKey('servo_values',values,0)
if VERBOSE:
print "REGISTRY entry 'servo_values' created"
def set_servo(ki, arm):
previousValues = Blender.Registry.GetKey('servo_values')
sepID = "_#"
sepAxis = "_A"
sepSign = "_S"
pose = arm.getPose()
poseBones = pose.bones
staticBones = arm.getData().bones
for boneT in staticBones.items():
bone_name = boneT[0]
bone = poseBones[bone_name]
idIndex = bone_name.find(sepID) + len(sepID)
if(idIndex > len(sepID)-1):
servo_id = int(bone_name[idIndex:idIndex+2])
axisIndex = bone_name.find(sepAxis) + len(sepAxis)
axis = bone_name[axisIndex]
signIndex = bone_name.find(sepSign) + len(sepSign)
sign = bone_name[signIndex]
signFactor = 1
if( sign == "P" ):
signFactor = -1
if( axis == 'X'):
servo_value = int(SERVO_NEUTRAL + signFactor * math.floor(SERVO_DIFF*bone.quat.toEuler().x))
elif (axis == "Y"):
servo_value = int(SERVO_NEUTRAL + signFactor * math.floor(SERVO_DIFF*bone.quat.toEuler().y))
elif(axis == "Z"):
servo_value = int(SERVO_NEUTRAL + signFactor * math.floor(SERVO_DIFF*bone.quat.toEuler().z))
else:
servo_value = int(SERVO_NEUTRAL + signFactor * math.floor(SERVO_DIFF*bone.quat.toEuler().y))
if VERBOSE:
print"ERROR: No Axis found in servo name, defaulted to Y"
previousValue = previousValues[bone_name]
if( (servo_value <SERVO_MAX> SERVO_MIN) & (previousValue != servo_value)):
kondo_set_servo_pos(ki,servo_id,servo_value)
if VERBOSE:
print bone_name, "ServoID:",servo_id, "Sign:",sign,"Value:",servo_value, "Axis:", axis
elif VERBOSE:
print bone_name, "did not move, or moved out of range"
previousValues[bone_name] = servo_value
Blender.Registry.SetKey('robot_data',previousValues,0)
elif VERBOSE:
print "ERROR: no ID found in", bone_name
if Blender.bylink:
# Initialize Kondo lib
ki = KondoInstance()
if KONDO_PLUGGED:
ret = kondo_init(ki)
if ret < 0:
print(ki.error)
if VERBOSE:
print "Kondo lib init done"
init_registry(Blender.link)
set_servo(ki, Blender.link)
ret = kondo_close(ki)
if ret < 0:
print(ki.error)
else:
print "MANUAL LAUNCH"
[/img]Statistics: Posted by amuthelet — Thu Oct 27, 2011 11:36 pm
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)). So no way to store a mofidied animation inside the robot, you must use blender for each playback.. A workaround is probably possible, as I could write an HTH XML format for the anim, but it would be much better to be able to directly upload anim from libkondo.