[GiSmO2011]

hello people. I am a beginner with opengl. I am writing this code in pyscripter. I am trying to get the fingers to move indepentantly or at least finger1 to move with finger2 to close and catch things but I cant figure out how to do that. Basically I am trying to move fingers 1 and 2 but finger 3 to stay at its position or close towards the other 2 fingers. this is the code I have until now.

 

from OpenGL.GL import *
from OpenGL.GLU import *
from OpenGL.GLUT import *


class SimpleRobotArm:

    def __init__(self):
        self.name= "Simple Robot Arm"
        self.shoulder = 90.0
        self.elbow = 0.0
        self.arm = 0.0
        self.wrist = 0.0
        self.finger1= 0.0
        self.finger2= 0.0
        self.finger3= 0.0


    def run(self):

        glutInit(sys.argv) # initialise the system
        # Configure inital display mode
        glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB)

        # Set up and display initial window
        glutInitWindowSize(1000,1000)
        glutInitWindowPosition(100,100)
        glutCreateWindow(self.name)  # See the __init__ method for self.name

        # Initial colour and shading model
        glClearColor(0.0,0.0,0.0,0.0)
        glShadeModel(GL_FLAT)

        # Register callback methods. The arguments are the names of
        # methods defined below.
        glutDisplayFunc(self.display)
        glutReshapeFunc(self.reshape)
        # glutMouseFunc(self.mouse) # not needed here
        glutKeyboardFunc(self.keys)

        # Launch the OGL event processing loop
        glutMainLoop()

    def display(self):
        glClear (GL_COLOR_BUFFER_BIT);
        glPushMatrix();
        glTranslatef (-4.0, -3.0, -3.0);
        glRotatef (self.shoulder, 0.0, 0.0, 1.0);
        glTranslatef (1.0, 0.0, 0.0);
        glPushMatrix();
        glScalef (2.0, 0.2, 0.5);
        glutWireCube (1.0);
        glPopMatrix();

        glTranslatef (1.0, 0.0, 0.0);
        glRotatef (self.elbow, 0.0, 0.0, 0.8);
        glTranslatef (1.0, 0.0, 0.0);
        glPushMatrix();
        glScalef (2.0, 0.2, 0.5);
        glutWireCube (1.0);
        glPopMatrix();

        glTranslatef (1.0, 0.0, 0.0);
        glRotatef (self.arm, 0.0, 1.0, 1.0);
        glTranslatef (1.0, 0.0, 0.0);
        glPushMatrix();
        glScalef (2.0, 0.2, 0.5);
        glutWireCube (1.0);
        glPopMatrix();


        glTranslatef (1.0, 0.0, 0.0);
        glRotatef (self.wrist, 0.0, 0.0, 0.0);
        glTranslatef (0.3, 0.0, 0.0);
        glPushMatrix();
        glScalef (0.6, 0.7, 0.8);
        glutWireCube (1.0);
        glPopMatrix();


        glTranslatef (0.0, 0.3, 0.2);
        glRotatef (self.finger1, 0.0, 0.0, 1.0);
        glTranslatef (1.0, 0.0, 0.0);
        glPushMatrix();
        glScalef (1.5, 0.1, 0.1);
        glutWireCube (1.0);
        glPopMatrix();

        glTranslatef (0.0, 0.0, -0.5);
        glRotatef (self.finger2, 0.0, 0.0, 1.0);
        glTranslatef (0.0,0.0,0.0);
        glPushMatrix();
        glScalef (1.5, 0.1, 0.1);
        glutWireCube (1.0);
        glPopMatrix();


        glTranslatef(0.0,-0.6,0.3)
        glRotatef (self.finger3, 0.0, 0.0, 1.0);
        glTranslatef (0.0,0.0,0.0);
        glPushMatrix();
        glScalef (1.5, 0.1, 0.1);
        glutWireCube (1.0);
        glPopMatrix();

        glPopMatrix();
        glutSwapBuffers();

    def reshape(self,w,h):
        glViewport (0, 0, w, h)
        glMatrixMode (GL_PROJECTION)
        glLoadIdentity()
        gluPerspective(65.0, w/h, 1.0, 20.0)
        glMatrixMode(GL_MODELVIEW)
        glLoadIdentity()
        glTranslatef (0.0, 0.0, -6.0)

    def keys(self,*args):
        key = args[0]
        if (key == 's'):
            self.shoulder = (self.shoulder+5) % 360
        elif (key=='S'):
            self.shoulder = (self.shoulder-5) % 360
        elif (key=='e'):
            self.elbow = (self.elbow+5) % 360
        elif (key=='E'):
            self.elbow = (self.elbow-5) % 360
        elif (key=='w'):
            self.arm = (self.arm+5) % 360
        elif (key=='W'):
            self.arm = (self.arm-5) % 360
        elif (key=='q'):
            self.finger1 = (self.finger1-5) % 360
        elif (key=='Q'):
            self.finger1 = (self.finger1+5) % 360
        elif (key=='a'):
            self.finger2 = (self.finger2-5) % 360
        elif (key=='A'):
            self.finger2 = (self.finger2+5) % 360
        elif (key=='x'):
            self.finger3 = (self.finger3-5) % 360
        elif (key=='X'):
            self.finger3 = (self.finger3+5) % 360


        glutPostRedisplay()

if __name__ == '__main__':
    app = SimpleRobotArm()
    app.run()

[ButchDean]

Moving the fingers of what exactly? Not enough info to go on here.

[GiSmO2011]

ButchDean, on 21 March 2011 - 09:42 AM, said:

Moving the fingers of what exactly? Not enough info to go on here.

well i am trying to rotate the fingers of the robot arm so it will be able to catch things. There are 3 fingers at the top of the arm after the "wrist" which is not a moving part. when I rotate finger1 finger2 and finger3 rotates also. when i rotate finger2 finger3 rotates with it.is there a way to rotate finger1 and 2 and finger 3 stay at its place?

[GiSmO2011]

nevermind i ve figured it out create finger3 first and then the other 2.

[akk36]

#!/usr/bin/env python

#
# This code was created by Richard Campbell '99 (ported to Python/PyOpenGL by John Ferguson 2000)
#
# The port was based on the PyOpenGL tutorial module: dots.py  
#
# If you've found this code useful, please let me know (email John Ferguson at hakuin@voicenet.com).
#
# See original source and C based tutorial at http://nehe.gamedev.net
#
# Note:
# -----
# This code is not a good example of Python and using OO techniques.  It is a simple and direct
# exposition of how to use the Open GL API in Python via the PyOpenGL package.  It also uses GLUT,
# which in my opinion is a high quality library in that it makes my work simpler.  Due to using
# these APIs, this code is more like a C program using function based programming (which Python
# is in fact based upon, note the use of closures and lambda) than a "good" OO program.
#
# To run this code get and install OpenGL, GLUT, PyOpenGL (see http://www.python.org), and PyNumeric.
# Installing PyNumeric means having a C compiler that is configured properly, or so I found.  For 
# Win32 this assumes VC++, I poked through the setup.py for Numeric, and chased through disutils code
# and noticed what seemed to be hard coded preferences for VC++ in the case of a Win32 OS.  However,
# I am new to Python and know little about disutils, so I may just be not using it right.
#
# BTW, since this is Python make sure you use tabs or spaces to indent, I had numerous problems since I 
# was using editors that were not sensitive to Python.
#
# Modified on May 2nd,2004 by Travis Wells to fix some GLUT issues and missing import

from OpenGL.GL import *
from OpenGL.GLUT import *
from OpenGL.GLU import *

# Some api in the chain is translating the keystrokes to this octal string
# so instead of saying: ESCAPE = 27, we use the following.
ESCAPE = '\033'

# Number of the glut window.
window = 0

# A general OpenGL initialization function.  Sets all of the initial parameters.
def InitGL(Width, Height):				# We call this right after our OpenGL window is created.
    glClearColor(0.0, 0.0, 0.0, 0.0)	# This Will Clear The Background Color To Black
    glClearDepth(1.0)					# Enables Clearing Of The Depth Buffer
    glDepthFunc(GL_LESS)				# The Type Of Depth Test To Do
    glEnable(GL_DEPTH_TEST)				# Enables Depth Testing
    glShadeModel(GL_SMOOTH)				# Enables Smooth Color Shading

    glMatrixMode(GL_PROJECTION)
    glLoadIdentity()					# Reset The Projection Matrix
										# Calculate The Aspect Ratio Of The Window
    gluPerspective(45.0, float(Width)/float(Height), 0.1, 100.0)

    glMatrixMode(GL_MODELVIEW)

# The function called when our window is resized (which shouldn't happen if you enable fullscreen, below)
def ReSizeGLScene(Width, Height):
    if Height == 0:						# Prevent A Divide By Zero If The Window Is Too Small
	    Height = 1

    glViewport(0, 0, Width, Height)		# Reset The Current Viewport And Perspective Transformation
    glMatrixMode(GL_PROJECTION)
    glLoadIdentity()
    gluPerspective(45.0, float(Width)/float(Height), 0.1, 100.0)
    glMatrixMode(GL_MODELVIEW)

# The main drawing function.
def DrawGLScene():
	# Clear The Screen And The Depth Buffer
	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
	glLoadIdentity()					# Reset The View

	#  since this is double buffered, swap the buffers to display what just got drawn.
	glutSwapBuffers()

# The function called whenever a key is pressed. Note the use of Python tuples to pass in: (key, x, y)
def keyPressed(*args):
	# If escape is pressed, kill everything.
    if args[0] == ESCAPE:
	    glutDestroyWindow(window)
	    sys.exit()

def main():
	global window
	# For now we just pass glutInit one empty argument. I wasn't sure what should or could be passed in (tuple, list, ...)
	# Once I find out the right stuff based on reading the PyOpenGL source, I'll address this.
	glutInit("")

	# Select type of Display mode:
	#  Double buffer
	#  RGBA color
	# Alpha components supported
	# Depth buffer
	glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_ALPHA | GLUT_DEPTH)

	# get a 640 x 480 window
	glutInitWindowSize(640, 480)

	# the window starts at the upper left corner of the screen
	glutInitWindowPosition(0, 0)

	# Okay, like the C version we retain the window id to use when closing, but for those of you new
	# to Python (like myself), remember this assignment would make the variable local and not global
	# if it weren't for the global declaration at the start of main.
	window = glutCreateWindow("Jeff Molofee's GL Code Tutorial ... NeHe '99")

   	# Register the drawing function with glut, BUT in Python land, at least using PyOpenGL, we need to
	# set the function pointer and invoke a function to actually register the callback, otherwise it
	# would be very much like the C version of the code.
	glutSetDisplayFuncCallback(DrawGLScene)
	glutDisplayFunc()

	# Uncomment this line to get full screen.
	#glutFullScreen()

	# When we are doing nothing, redraw the scene.
	glutSetIdleFuncCallback(DrawGLScene)
	glutIdleFunc()

	# Register the function called when our window is resized.
	glutSetReshapeFuncCallback(ReSizeGLScene)
	glutReshapeFunc()

	# Register the function called when the keyboard is pressed.
	glutSetKeyboardFuncCallback(keyPressed)
	glutKeyboardFunc()

	# Initialize our window.
	InitGL(640, 480)

	# Start Event Processing Engine
	glutMainLoop()

# Print message to console, and kick off the main to get it rolling.
print "Hit ESC key to quit."
main()

I am a newbie programmer. The error I am getting after running this program in pyscripter is :ImportError: No module named OpenGL.GL. Can someone please tell me how do install stuff to make this program work. I would really appreciate your help thanks