Originally Posted by dainiusb

Any way to get yaw pitch and roll of a joint?

EDIT:
So I was bored today and tried to make uke to avoid dq..sort of..with a script..The main problem is that it lowers shoulder for no reason sometimes. Why is this happening? Also these calculations doesn't work for this type of thing. Thats why I need to know yaw pitch and roll of a joint.

Originally Posted by Daanando

First off, I'm terrible with rotation. And even worse with how TB uses quaternions, rotation matrices and angle axes. But I took a look anyway.

I didn't find that the script ever lowered uke shoulders, but I noticed that the elbows aren't being extended. So I changed that, along with a couple things. After trying the script out, it seems somewhat able to prevent the upper body from dq'ing.

script

Show

---

LUA code:

local function turn()

	neck_pos = get_joint_pos2(1,0)

	abs_pos = get_joint_pos2(1,3)



	dX = neck_pos.x - abs_pos.x --delta x

	dY = neck_pos.y - abs_pos.y --delta y

	dZ = neck_pos.z - abs_pos.z --delta z



	yaw = math.atan2(dZ, dX) --yaw calculation

	pitch = math.atan2(math.sqrt(dZ * dZ + dX * dX), dY) + math.pi --pitch calculation

	

	echo("yaw ="..yaw)

	echo("pitch ="..pitch)

	echo("-------------------------------------------")



	if (pitch < 4.5) then -- Easier to react

		--I thought contracting one pec and extending the other gives better coverage. 

		

		set_joint_state(1,4,2) --contract right pec

		set_joint_state(1,7,1) --extend left pec





	elseif(pitch > 5) then -- Easier to react

		--I thought contracting one pec and extending the other gives better coverage.

		

		set_joint_state(1,4,1) --extend right pec

		set_joint_state(1,7,2) --contract left pec



	end



	if (yaw < 1.5) then

		set_joint_state(1,8,2) --raise left shoulder (Seems safer to raise both shoulders to cover both flanks)

		set_joint_state(1,6, 1) -- extend right elbow (Helps keeps the floor way)

		

		set_joint_state(1,5,2) --raise right shoulder

		set_joint_state(1,12,2) --extend right glute



	elseif (yaw > 2.5) then

		set_joint_state(1,5,2) --raise right shoulder (Seems safer to raise both shoulders  to cover both flanks)

		set_joint_state(1,9, 1) --- extend left elbow (Helps keeps the floor way)

		

		set_joint_state(1,8,2) --raise left shoulder

		set_joint_state(1,13,2) --extend left glute



	end



end







turn()







add_hook("enter_freeze","turn",turn)

Originally Posted by box

Can you show us the entire script?

Originally Posted by box

There are a few commands that run_cmd is not allowed to execute, and that's the only reason I can imagine it not working.