#1
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Introducing a rotation offset into a link
I am working in a immersive VR simulator, and I am picking up and moving objects around.
Grabbing an object is pretty easy: Code:
grabLink = viz.link(hand,object,1) I can also modify the link to act in a couple different ways by modifying the link like so: Creating a 'locked rotations' link (the grabbed object follows the translations of the hand, but it's orientation is locked at [0,0,0] exactly) Code:
grabLink.setEuler([0,0,0]) #set the yaw, pitch and roll to zero Code:
yPos = object.getPosition()[1] #y position of object xPos = object.getPosition()[0] #x position of object grabLink.clampPosY([yPos,yPos],1,viz.LINK_FULL_OP) #clamp item's vertical motion grabLink.clampPosX([xPos,xPos],1,viz.LINK_FULL_OP) #clamp item's lateral motion grabLink.clampPosZ([None,zBound],1,viz.LINK_FULL_OP) #clamp item's forward motion Ok, so all that is working well and good. But now I need to 'offset' the position of the object vs. the hand with a set of offsets Code:
rotationOffsets = [x,y,z] |
#2
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I think you're looking for something like this:
Code:
positionOffsets = [x,y,z] rotationOffsets = [yaw,pitch,roll] grabLink = viz.link(hand,object,1) grabLink.preTrans(positionOffsets) grabLink.preEuler(rotationOffsets) |
Tags |
grab, hand, link, offset |
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