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Models:
Joel Williams
JoelW/
RoSeMotion
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[4de1c7]: / app / scratch / basis_position_anybody.py

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from resources.AnyPyTools.anypytools import AnyPyProcess

from resources.AnyPyTools.anypytools import AnyMacro

from resources.AnyPyTools.anypytools import tools

from resources.AnyPyTools.anypytools.macro_commands import (MacroCommand, Load, SetValue, SetValue_random,  Dump,

                                                            SaveDesign, LoadDesign, SaveValues, LoadValues,

                                                            UpdateValues, SaveData, OperationRun)

import os

import json

import numpy as np





app = AnyPyProcess(num_processes=1,

                   return_task_info=True,

                   anybodycon_path="C:/Program Files/AnyBody Technology/AnyBody.7.1/AnyBodyCon.exe")

macrolist = [

    Load('FreeHand.Main.any'),

]



joint_values = ['Axes0', 'r0']

joint_prefix = 'Main.HumanModel.BodyModel.Right.ShoulderArm.Seg.'

joints = {

    'RightElbow': {'path': joint_prefix + 'Radius', 'values': joint_values},

    'RightHand': {'path': joint_prefix + 'WristJointSeg', 'values': joint_values},

    'RightHandThumb2': {'path': joint_prefix + 'Hand.Finger1.Seg.Metacarpal', 'values': joint_values},

    'RightHandThumb3': {'path': joint_prefix + 'Hand.Finger1.Seg.ProximalPhalanx', 'values': joint_values},

    'RightHandThumb4': {'path': joint_prefix + 'Hand.Finger1.Seg.DistalPhalanx', 'values': joint_values},

    'RightHandThumb4_Nub': {'path': joint_prefix + 'Hand.Finger1.Seg.DistalPhalanx.DistalJointSurfaceNode',

                            'values': ['r']},

    'RightHandIndex1': {'path': joint_prefix + 'Hand.Finger2.Seg.Metacarpal', 'values': joint_values},

    'RightHandIndex2': {'path': joint_prefix + 'Hand.Finger2.Seg.ProximalPhalanx', 'values': joint_values},

    'RightHandIndex3': {'path': joint_prefix + 'Hand.Finger2.Seg.MiddlePhalanx', 'values': joint_values},

    'RightHandIndex4': {'path': joint_prefix + 'Hand.Finger2.Seg.DistalPhalanx', 'values': joint_values},

    'RightHandIndex4_Nub': {'path': joint_prefix + 'Hand.Finger2.Seg.DistalPhalanx.DistalJointSurfaceNode',

                            'values': ['r']},

    'RightHandMiddle1': {'path': joint_prefix + 'Hand.Finger3.Seg.Metacarpal', 'values': joint_values},

    'RightHandMiddle2': {'path': joint_prefix + 'Hand.Finger3.Seg.ProximalPhalanx', 'values': joint_values},

    'RightHandMiddle3': {'path': joint_prefix + 'Hand.Finger3.Seg.MiddlePhalanx', 'values': joint_values},

    'RightHandMiddle4': {'path': joint_prefix + 'Hand.Finger3.Seg.DistalPhalanx', 'values': joint_values},

    'RightHandMiddle4_Nub': {'path': joint_prefix + 'Hand.Finger3.Seg.DistalPhalanx.DistalJointSurfaceNode',

                             'values': ['r']},

    'RightHandRing1': {'path': joint_prefix + 'Hand.Finger4.Seg.Metacarpal', 'values': joint_values},

    'RightHandRing2': {'path': joint_prefix + 'Hand.Finger4.Seg.ProximalPhalanx', 'values': joint_values},

    'RightHandRing3': {'path': joint_prefix + 'Hand.Finger4.Seg.MiddlePhalanx', 'values': joint_values},

    'RightHandRing4': {'path': joint_prefix + 'Hand.Finger4.Seg.DistalPhalanx', 'values': joint_values},

    'RightHandRing4_Nub': {'path': joint_prefix + 'Hand.Finger4.Seg.DistalPhalanx.DistalJointSurfaceNode',

                           'values': ['r']},

    'RightHandPinky1': {'path': joint_prefix + 'Hand.Finger5.Seg.Metacarpal', 'values': joint_values},

    'RightHandPinky2': {'path': joint_prefix + 'Hand.Finger5.Seg.ProximalPhalanx', 'values': joint_values},

    'RightHandPinky3': {'path': joint_prefix + 'Hand.Finger5.Seg.MiddlePhalanx', 'values': joint_values},

    'RightHandPinky4': {'path': joint_prefix + 'Hand.Finger5.Seg.DistalPhalanx', 'values': joint_values},

    'RightHandPinky4_Nub': {'path': joint_prefix + 'Hand.Finger5.Seg.DistalPhalanx.DistalJointSurfaceNode',

                            'values': ['r']}}



# Add the dumps to the macrolist

for joint_name in joints:

    for value in joints[joint_name]['values']:

        macrolist.append(Dump(joints[joint_name]['path'] + '.' + value))



cwd = os.getcwd()

os.chdir('D:\\RobinSean\\Sean\\5. Master\\Projekt CSE\\AnybodyModelle\\regensburg-ulm-hand-model\\AnyBody'

         '\\Application\\Examples\\FreeHandMove')



output = app.start_macro(macrolist)



os.chdir(cwd)



# save as json

result = {}

for joint_name in joints:

    result[joint_name] = {}

    for value in joints[joint_name]['values']:

        result[joint_name][value] = np.ndarray.tolist(output[0][joints[joint_name]['path'] + '.' + value])

json.dump(result, open('../config/anybody_joint_values.json', 'w'))