Hand Marker & Rotation

data/robot/robot.json

@@ -109,10 +109,10 @@
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@@ -493,6 +493,11 @@
         "radius": 4,
         "color": [0.20, 0.80, 0.20]
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       "model": [
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@@ -521,6 +526,11 @@
         "radius": 4,
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       "model": [
         {
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data/simulation/debug/markers.json

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+  },
+  {
+    "name": "FingerB_marker_43",
+    "id": 43,
+    "link": "FingerB",
+    "position_m": [
+      0.33135876059532166,
+      -0.14928503334522247,
+      0.13855642080307007
+    ],
+    "position_mm": [
+      331.35876059532166,
+      -149.28503334522247,
+      138.55642080307007
+    ],
+    "rotation_quaternion": [
+      0.7705803513526917,
+      0.26156336069107056,
+      -0.26088663935661316,
+      0.5193541049957275
+    ],
+    "normal": [
+      -0.13038022816181183,
+      -0.6740962862968445,
+      0.7270455956459045
+    ]
+  },
+  {
+    "name": "FingerB_marker_44",
+    "id": 44,
+    "link": "FingerB",
+    "position_m": [
+      0.3688197433948517,
+      -0.12042809277772903,
+      0.12374269217252731
+    ],
+    "position_mm": [
+      368.8197433948517,
+      -120.42809277772903,
+      123.74269217252731
+    ],
+    "rotation_quaternion": [
+      0.16055524349212646,
+      0.42056193947792053,
+      -0.8736730813980103,
+      0.1845129281282425
+    ],
+    "normal": [
+      -0.12534736096858978,
+      -0.4574548006057739,
+      -0.8803540468215942
+    ]
+  },
+  {
+    "name": "FingerB_marker_45",
+    "id": 45,
+    "link": "FingerB",
+    "position_m": [
+      0.3332028090953827,
+      -0.1501261293888092,
+      0.11452052742242813
+    ],
+    "position_mm": [
+      333.2028090953827,
+      -150.1261293888092,
+      114.52052742242813
+    ],
+    "rotation_quaternion": [
+      0.17917531728744507,
+      0.4258763790130615,
+      -0.7947980761528015,
+      -0.39347371459007263
+    ],
+    "normal": [
+      -0.6199586987495422,
+      0.4728512465953827,
+      -0.6261492967605591
     ]
   }
 ]

setup/generateSets/render_robot.py

@@ -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