GPT: Constraints

render_robot.py

@@ -29,6 +29,8 @@ DEFAULT_MATERIALS = {
 
 STATE_KEYS = ["x", "y", "z", "a", "b", "c", "e"]
 
+marker_export = []
+
 # ============================================================
 # JSON LOADING
 # ============================================================
@@ -691,6 +693,44 @@ for link_name, link_info in links_def.items():
             else:
                 plate_obj.data.materials[0] = pla_mat
             
+            # Weltmatrix holen (inkl. ALLER Transformationen!)
+            mw = marker_obj.matrix_world
+
+            world_pos = mw.translation
+            world_rot = mw.to_quaternion()
+
+            # Optional: Normal in Weltkoordinaten
+            world_normal = (world_rot @ mathutils.Vector((0, 0, 1))).normalized()
+
+            marker_export.append({
+                "name": marker_name,
+                "id": marker_id,
+                "link": link_name,
+
+                "position_m": [world_pos.x, world_pos.y, world_pos.z],
+
+                # oft nützlich für Computer Vision:
+                "position_mm": [
+                    world_pos.x / scale_factor,
+                    world_pos.y / scale_factor,
+                    world_pos.z / scale_factor
+                ],
+
+                "rotation_quaternion": [
+                    world_rot.w,
+                    world_rot.x,
+                    world_rot.y,
+                    world_rot.z
+                ],
+
+                "normal": [
+                    world_normal.x,
+                    world_normal.y,
+                    world_normal.z
+                ]
+            })
+
+            
 
 # ============================================================
 # DEBUG WORLD AXES
@@ -753,4 +793,13 @@ create_axis_arrow("AxisZ", (0, 0, 1), (0, 0, 1))
 # ============================================================
 
 bpy.ops.render.render(write_still=True)
-print("Finished rendering:", OUTPUT_FILE)
+print("Finished rendering:", OUTPUT_FILE)
+
+
+
+MARKER_OUTPUT = str(Path(OUTPUT_FILE).with_name("markers.json"))
+
+with open(MARKER_OUTPUT, "w", encoding="utf-8") as f:
+    json.dump(marker_export, f, indent=2)
+
+print("Saved marker positions:", MARKER_OUTPUT)