Window gives No Responde afte use of rotate() with big angle
NoahBeck01 opened this issue · comments
Hello, I'm trying to make an animation of a robot arm with vedo but whenever I make a large rotation angle the animation starts but then it stops and the window says "No Responde" and shortly afterwards it continues but the animation is already completed. I don't know if it might be my laptop. Sorry if my code looks terrible, I'm still a beginner
#ModelMain.py
from vedo import *
import numpy as np
import time
import os
from settings import *
# TODO
# Gripper1/2
# Bewegung hoch und runter einschränken in Auto Modus
# ty lagg fix
# Auto Kallibration
TurnArray = {turnTable, middle, middle_point, forearm, forearm_point, grip, grip_point, gripper1, gripper2}
MiddelArray = {middle, middle_point, forearm, forearm_point, grip, grip_point, gripper1, gripper2}
ForeArmArray = {forearm, forearm_point, grip, grip_point, gripper1, gripper2}
GripArray = {grip, grip_point, gripper1, gripper2}
Gripper1Array = {gripper1, gripper1_point}
Gripper2Array = {gripper2, gripper2_point}
Manuell = False
# Ermitteln des Verzeichnisses des aktuellen Skripts
script_dir = os.path.dirname(os.path.abspath(__file__))
# Dateiname
file_name = 'commands.eCode'
file_path = os.path.join(script_dir, file_name)
def transfrom_matrix(array):
# Konvertieren Sie das Set in eine Liste
mesh_list = list(array)
# Greifen Sie auf das erste Element der Liste zu
mesh = mesh_list[0]
transform_matrix = mesh.transform.matrix
rotation_matrix = transform_matrix[:3, :3]
direction_vectors = rotation_matrix.T
return direction_vectors[0]
def buttonfunc(obj, ename):
array_test()
def rotate(array, angle):
rotation_point = []
v = vector(1, 0, 0)
if array == TurnArray:
rotation_point = turnTable_point.pos()
v = vector(0, 0, 1)
elif array == MiddelArray:
matrix = transfrom_matrix(array)
v = vector(matrix)
if angle > 27:
angle = 27
elif angle < -27:
angle = -27
rotation_point = middle_point.pos()
elif array == ForeArmArray:
rotation_point = forearm_point.pos()
matrix = transfrom_matrix(array)
v = vector(matrix)
elif array == GripArray:
rotation_point = grip_point.pos()
matrix = transfrom_matrix(array)
v = vector(matrix)
# Überprüfen, ob der Winkel negativ ist
if angle < 0:
rotation_direction = 1
else:
rotation_direction = -1
# Anzahl der Schritte basierend auf dem absoluten Winkelwert
steps = abs(angle) // 2
for y in range(steps):
# update_positions(np.radians(angle), rotation_point)
for i in array:
i.rotate(2 * rotation_direction, axis=v, point=rotation_point)
plt.render()
if angle > 180:
time.sleep(0.01) # Schnellere Rotation für hohe Winkel
else:
time.sleep(0.05) # Langsamere Rotation für niedrige Winkel
def chose_array(inputs):
angle = 0
try:
teile = inputs.split(",")
Array = teile[0].strip()
a = teile[1].strip().lower()
# Check if the angle is provided as a boolean value
if a == "true":
angle = 27
elif a == "false":
angle = -27
else:
# Attempt to convert the angle to an integer
angle = int(a)
if Array == "S1":
rotate(TurnArray, angle)
elif Array == "S2":
rotate(ForeArmArray, angle)
elif Array == "S3":
rotate(GripArray, angle)
elif Array == "M1":
rotate(MiddelArray, angle)
else:
pass
except ValueError as e:
# Handle the case where the angle cannot be converted to an integer
print(f"Error: Invalid angle value '{a}'. Expected an integer or 'true'/'false'.")
except Exception as e:
print(e)
print(inputs)
pass
def array_test():
if Manuell:
eingabe = input(">")
chose_array(eingabe)
elif not Manuell:
if os.path.exists(file_path):
with open(file_path, 'r') as file:
for line in file:
print(f"Processing command: {line.strip()}") # Logging the command being processed
chose_array(line)
plt.render() # Ensure rendering after processing each command
time.sleep(0.1) # Adjust sleep interval if necessary
else:
print(f"Error {file_path} does not exist!")
else:
print(f"Error can't use {file_or_not}!")
plt = Plotter(axes=11)
bu = plt.add_button(
buttonfunc,
pos=(0.5, 0.15),
states=["Start"],
c=["w"],
bc=["black"],
font="ComicMono",
size=30,
bold=False,
italic=False,
)
l1 = Light(light, c="w", intensity=10)
l2 = Light(light2, c="w", intensity=5)
# forearm.pos([-370, 220, 405])
cubemap_path = 'assets/wide_street_02_8k.hdr'
transform_matrix = turnTable.transform.matrix
rotation_matrix = transform_matrix[:3, :3]
direction_vectors = rotation_matrix.T
print("Richtungsvektor 1:", direction_vectors[0])
print("Richtungsvektor 2:", direction_vectors[1])
file_or_not = input("Manuel Or Auto?(m/a)\n")
if file_or_not.lower() == "m":
Manuell = True
else:
pass
plt.show(base, turnTable, middle, forearm, grip, gripper1, gripper2, l1, l2, turnTable_point, forearm_point,
middle_point, light, point_400, grip_point,
__doc__, axes=1, viewup="z", title="RobotArm")#settings.py
from vedo import *
import numpy as np
point_400 = Point([-500, -500, 0], alpha=0)
light = Point([200, 200, 400], alpha=0)
light2 = Point([200, 200, 800], alpha=0)
forearm_point = Point([-150, -30, 430])
turnTable_point = Point([-150, -180, 130])
middle_point = Point([-150, -250, 210])
grip_point = Point([-150, 255, 300])
gripper1_point = Point()
gripper2_point = Point()
base = load('assets/base.stl')
turnTable = load('assets/turnTable.stl')
middle = load('assets/middel.stl')
forearm = load('assets/forearm2.stl')
grip = load('assets/grip.stl')
gripper1 = load('assets/gripper1.stl')
gripper2 = load('assets/gripper2.stl')
base.c('Black').lighting(roughness=0.8, metallicity=0.1)
turnTable.c('gray').lighting(roughness=0.5, metallicity=0.4)
middle.c('silver').lighting(roughness=0.5, metallicity=0.7)
forearm.c('silver').lighting(roughness=0.3, metallicity=0.7)
grip.c('silver').lighting(roughness=0.5, metallicity=0.7)
gripper1.c('silver').lighting(roughness=0.3, metallicity=0.7)
gripper2.c('silver').lighting(roughness=0.3, metallicity=0.7)Thats the Robot Arm
Uhm I cannot reproduce your code - may you can try adding plt.process_events() in your rotate() function?