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Hand Marker & Rotation

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chk
2026-05-30 15:19:31 +02:00
parent 261691b8d2
commit b3cf7adc95
4 changed files with 371 additions and 197 deletions
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12
setup/generateSets/render_robot.py
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@@ -752,12 +752,20 @@ for link_name, link_info in links_def.items():
safe_parent(marker_obj, link_frame, keep_world=False)
marker_obj.rotation_mode = "QUATERNION"
#alt: base_quat = normal_to_quaternion(normal)
normal = mathutils.Vector(m.get("normal", [0, 0, 1]))
if normal.length == 0:
normal = mathutils.Vector((0, 0, 1))
normal.normalize()
base_quat = normal_to_quaternion(normal)
spin_quat = mathutils.Quaternion(
mathutils.Vector(normal).normalized(),
mathutils.Vector((0, 0, 1)),
math.radians(marker_spin_deg)
)
marker_obj.rotation_quaternion = (
base_quat @ spin_quat
)
@@ -791,7 +799,7 @@ for link_name, link_info in links_def.items():
# BACKING PLATE (white PLA behind marker)
# --------------------------------------------------------
plate_side_mm = 28.0
plate_side_mm = 26.5
plate_thickness_mm = 1.0
gap_mm = 0.2 # kleiner Abstand gegen Z-Fighting