def __init__(self, name=None):
Robot.__init__(self, "victim")
self.name = name
self.properties(Class = "VictimClass", \
Path = "morse/robots/victim", \
Victim_Tag = True, Requirements = "1,2,3", \
Injured = True, Severity = 10)
def __init__(self, name=None):
Robot.__init__(self, "hummer")
self.name = name
self.properties(Class = "HummerClass", \
Path = "morse/robots/hummer", \
brakes = 0.0, friction = 200.0, force = 0.0, \
steer = 0.0, init = 0, cid = 0)
def __init__(self, filename='human'):
""" The 'style' parameter is only to switch to the mocap_human file.
:param filename: 'human' (default) or 'mocap_human'
"""
Robot.__init__(self, filename)
self.name = 'Human' # XXX BUG #237
self.armature = None
try:
self.armature = Armature("HumanArmature", "human_posture")
# new way of loading class (drop 'Class' and 'Path' properties)
self.armature.properties(classpath="morse.sensors.human_posture.HumanPostureClass")
self.append(self.armature)
except KeyError:
logger.error("Could not find the human armature! (I was looking " +\
"for an object called 'HumanArmature' in the 'Human'" +\
" children). I won't be able to export the human pose" +\
" to any middleware.")
# fix for Blender 2.6 Animations
armature_object = self.get_child(self.armature.name)
if armature_object:
hips = self.get_child("Hips_Empty")
# IK human has no object called Hips_Empty, so avoid this step
if hips:
for i, actuator in enumerate(hips.game.actuators):
actuator.layer = i
for i, actuator in enumerate(armature_object.game.actuators):
actuator.layer = i
def __init__(self, name=None):
Robot.__init__(self, "rmax", name)
self.properties(classpath="morse.robots.rmax.RMax", NoGravity=True)
self.set_rigid_body()
rotor = self.get_child('Rotor')
rotor.game.physics_type = 'NO_COLLISION'
def __init__(self, name=None):
Robot.__init__(self, "rmax", name)
self.properties(classpath = "morse.robots.rmax.RMax",
NoGravity = True)
self.set_rigid_body()
rotor = self.get_child('Rotor')
rotor.game.physics_type = 'NO_COLLISION'
def __init__(self, name=None):
Robot.__init__(self, "b21", name)
self.properties(classpath = "morse.robots.b21.B21")
self.set_rigid_body()
self.set_collision_bounds()
collision = self.get_child('b21_collision')
collision.game.physics_type = 'STATIC'
def __init__(self, name=None):
Robot.__init__(self, "jido", name)
self.properties(classpath = "morse.robots.jido.Jido")
self.set_dynamic()
self.set_collision_bounds()
self._bpy_object.game.radius = 0.01
mesh = self.get_child('JidoBase')
mesh.game.physics_type = 'STATIC'
def __init__(self, name=None):
Robot.__init__(self, "morsy", name)
self.properties(classpath = "morse.robots.morsy.Morsy")
self.set_dynamic()
mesh = self.get_child('morsy_mesh')
mesh.game.physics_type = 'NO_COLLISION'
self._bpy_object.game.radius = 0.01
self.set_collision_bounds()
def __init__(self, name = None, debug = True):
# theman.blend is located in the data/robots directory
Robot.__init__(self, 'test_1/robots/theman.blend', name)
self.properties(classpath = "test_1.robots.theman.Theman")
self.suffix = self.name[-4:] if self.name[-4] == "." else ""
try:
self.armature = Armature("Armature" + self.suffix, "human_posture")
# self.armature = Armature("Armature")
self.append(self.armature)
self.armature_pose = ArmaturePose() # armature_pose = joint states
self.armature_pose.name="pose"
self.armature.append(self.armature_pose)
self.joint_state = CompoundSensor([self.armature_pose])
self.append(self.joint_state)
except KeyError:
logger.error("Could not find the human armature! (I was looking " +\
"for an object called 'Armature' in the human" +\
" children). I won't be able to export the human pose" +\
" to any middleware.")
###################################
# Actuators
###################################
# (v,w) motion controller
# Check here the other available actuators:
# http://www.openrobots.org/morse/doc/stable/components_library.html#actuators
# self.motion = MotionVW()
# self.append(self.motion)
# Optionally allow to move the robot with the keyboard
if debug:
keyboard = Keyboard()
self.append(keyboard)
###################################
# Sensors
###################################
self.pose = Pose()
self.append(self.pose)
def __init__(self, filename='human'):
""" The 'style' parameter is only to switch to the mocap_human file.
:param filename: 'human' (default) or 'mocap_human'
"""
Robot.__init__(self, filename)
self.suffix = self.name[-4:] if self.name[-4] == "." else ""
self.armature = None
if filename == 'mocap_human':
self.properties(
classpath="morse.robots.mocap_human.MocapHumanClass")
else:
self.properties(classpath="morse.robots.human.HumanClass")
try:
self.armature = Armature("HumanArmature" + self.suffix,
"human_posture")
# new way of loading class (drop 'Class' and 'Path' properties)
self.armature.properties(
classpath="morse.sensors.human_posture.HumanPosture")
self.append(self.armature)
except KeyError:
logger.error("Could not find the human armature! (I was looking " +\
"for an object called 'HumanArmature' in the human" +\
" children). I won't be able to export the human pose" +\
" to any middleware.")
# fix for Blender 2.6 Animations
armature_object = self.get_child(self.armature.name)
if armature_object:
hips = self.get_child("Hips_Empty")
# IK human has no object called Hips_Empty, so avoid this step
if hips:
for i, actuator in enumerate(hips.game.actuators):
actuator.layer = i
for i, actuator in enumerate(armature_object.game.actuators):
actuator.layer = i
def __init__(self, filename='human', name = None):
""" The 'style' parameter is only to switch to the mocap_human file.
:param filename: 'human' (default) or 'mocap_human'
"""
Robot.__init__(self, filename, name)
self.suffix = self.name[-4:] if self.name[-4] == "." else ""
self.armature = None
if filename == 'mocap_human':
self.properties(classpath="morse.robots.mocap_human.MocapHuman")
else:
self.properties(classpath="morse.robots.human.Human")
try:
self.armature = Armature("HumanArmature" + self.suffix, "human_posture")
self.append(self.armature)
except KeyError:
logger.error("Could not find the human armature! (I was looking " +\
"for an object called 'HumanArmature' in the human" +\
" children). I won't be able to export the human pose" +\
" to any middleware.")
# Add an armature sensor. "joint_stateS" to match standard ROS spelling.
self.joint_states = ArmaturePose()
self.armature.append(self.joint_states)
# fix for Blender 2.6 Animations
armature_object = self.get_child(self.armature.name)
if armature_object:
hips = self.get_child("Hips_Empty")
# IK human has no object called Hips_Empty, so avoid this step
if hips:
for i, actuator in enumerate(hips.game.actuators):
actuator.layer = i
for i, actuator in enumerate(armature_object.game.actuators):
actuator.layer = i
def __init__(self, name=None):
Robot.__init__(self, "b21", name)
self.properties(classpath = "morse.robots.b21.B21")
def __init__(self, name=None):
Robot.__init__(self, "quadrotor_dynamic")
self.name = name
self.properties(Class = "QuadrotorClass", \
Path = "morse/robots/quadrotor")
def __init__(self, name=None):
Robot.__init__(self, "submarine")
self.name = name
self.properties(Class = "SubmarineClass", \
Path = "morse/robots/submarine")
def __init__(self, name=None):
Robot.__init__(self, "b21")
self.name = name
self.properties(Class = "B21Class", \
Path = "morse/robots/b21")
def __init__(self, name=None):
Robot.__init__(self, "jido")
self.name = name
self.properties(Class = "JidoClass", \
Path = "morse/robots/jido")
def __init__(self, name=None):
Robot.__init__(self, "rmax", name)
self.properties(classpath="morse.robots.rmax.RMax")
def __init__(self, name=None):
Robot.__init__(self, "quadrotor", name)
self.properties(classpath = "morse.robots.quadrotor.Quadrotor")
# Collision - Motion Game Logic
self.set_no_collision()
def __init__(self, name=None):
Robot.__init__(self, "jido")
self.name = name
self.properties(classpath = "morse.robots.jido.JidoClass")
def __init__(self, name=None):
Robot.__init__(self, "atrv")
self.name = name
self.properties(classpath="morse.robots.atrv.ATRVClass")
def __init__(self, name=None):
Robot.__init__(self, "morsy")
self.name = name
def __init__(self, name=None):
Robot.__init__(self, "quadrotor")
self.name = name
self.properties(classpath = "morse.robots.quadrotor.Quadrotor")
def __init__(self, name=None):
Robot.__init__(self, "rmax")
self.name = name
self.properties(classpath = "morse.robots.rmax.RmaxClass")
def __init__(self, name=None):
Robot.__init__(self, "submarine")
self.name = name
self.properties(classpath = "morse.robots.submarine.SubmarineClass")
def __init__(self, name=None):
Robot.__init__(self, "rmax")
self.name = name
self.properties(classpath = "morse.robots.rmax.RmaxClass")
def __init__(self, name=None):
Robot.__init__(self, "jido", name)
self.properties(classpath = "morse.robots.jido.Jido")
def __init__(self, name=None):
Robot.__init__(self, "quadrotor", name)
self.properties(classpath="morse.robots.quadrotor.Quadrotor")
# Collision - Motion Game Logic
self.set_no_collision()
def __init__(self, name=None):
Robot.__init__(self, "quadrotor_dynamic")
self.name = name
self.properties(classpath = "morse.robots.quadrotor.QuadrotorClass")
def __init__(self, name=None):
Robot.__init__(self, "quadrotor_dynamic", name)
self.properties(classpath="morse.robots.quadrotor_dynamic.Quadrotor")
def __init__(self, name=None):
Robot.__init__(self, "morsy", name)
self.properties(classpath="morse.robots.morsy.Morsy")
def __init__(self, name=None):
Robot.__init__(self, "quadrotor_dynamic", name)
self.properties(classpath = "morse.robots.quadrotor_dynamic.Quadrotor")
def __init__(self, name=None, debug = True):
Robot.__init__(self, 'robots/rotating_table.blend', name)
self.properties(classpath = "morse.robots.rotating_table_services.RotatingTable")
def __init__(self, name=None):
Robot.__init__(self, "submarine", name)
self.properties(classpath = "morse.robots.submarine.Submarine")
def __init__(self, name=None):
Robot.__init__(self, "cubemodule",
name) # determines Blender model.blend
self.properties(classpath="morse.robots.cubemodule.CubeModule"
) # determines robot script.py
def __init__(self, name=None):
Robot.__init__(self, "hummer")
self.name = name
self.properties(classpath = "morse.robots.hummer.HummerClass", \
brakes = 0.0, friction = 200.0, force = 0.0, \
steer = 0.0, init = 0, cid = 0)
def __init__(self, name=None):
Robot.__init__(self, "atrv")
self.name = name
self.properties(Class = "ATRVClass", \
Path = "morse/robots/atrv")
def __init__(self, name=None):
Robot.__init__(self, "b21")
self.name = name
self.properties(classpath = "morse.robots.b21.B21Class")
def __init__(self, name=None):
Robot.__init__(self, "rmax")
self.name = name
self.properties(Class = "RmaxClass", \
Path = "morse/robots/rmax")
def __init__(self, name=None):
Robot.__init__(self, "submarine", name)
self.properties(classpath = "morse.robots.submarine.Submarine",
NoGravity = True)
self.set_rigid_body()
self.set_collision_bounds()
def __init__(self, name=None):
Robot.__init__(self, "atrv", name)
self.properties(classpath = "morse.robots.atrv.ATRV")
def __init__(self, name=None):
Robot.__init__(self, "victim")
self.name = name
self.properties(classpath = "morse.robots.victim.VictimClass", \
Victim_Tag = True, Requirements = "1,2,3", \
Injured = True, Severity = 10)
def __init__(self, name=None):
Robot.__init__(self, "hummer", name)
self.properties(classpath = "morse.robots.hummer.Hummer", \
brakes = 0.0, friction = 200.0, force = 0.0, \
steer = 0.0, init = 0, cid = 0)
def __init__(self, name=None):
Robot.__init__(self, name = name) # no Blender model -> a simple Empty will be created
self.properties(classpath = "morse.robots.fakerobot.FakeRobot")
self.set_no_collision()
def __init__(self, name=None):
Robot.__init__(self, "morsy", name)
self.properties(classpath = "morse.robots.morsy.Morsy")
def __init__(self, name=None):
Robot.__init__(self, "morsy")
self.name = name
def __init__(self, name=None):
Robot.__init__(self, "rmax", name)
self.properties(classpath = "morse.robots.rmax.RMax")
def __init__(self, name=None):
Robot.__init__(self, "submarine", name)
self.properties(classpath="morse.robots.submarine.Submarine",
NoGravity=True)
self.set_rigid_body()
self.set_collision_bounds()
def __init__(self, name=None):
Robot.__init__(self, "victim", name)
self.properties(classpath = "morse.robots.victim.Victim", \
Victim_Tag = True, Requirements = "1,2,3", \
Injured = True, Severity = 10)
def __init__(self, name=None):
Robot.__init__(
self,
name=name) # no Blender model -> a simple Empty will be created
self.properties(classpath="morse.robots.fakerobot.FakeRobot")
self.set_no_collision()
