def __init__(self, obj, parent=None): """ Constructor method. Receives the reference to the Blender object. """ logger.info('%s initialization' % obj.name) # Call the constructor of the parent class GraspingRobot.__init__(self, obj, parent) """ We define here the name of the pr2 grasping hand: """ self.hand_name = 'Hand.Grasp.PR2' self.armatures = [] # Search armatures and torso in all objects parented to the pr2 empty for obj in self.bge_object.childrenRecursive: # Check if obj is an armature if type(obj).__name__ == 'BL_ArmatureObject': self.armatures.append(obj.name) if obj.name == 'torso_lift_joint': self.torso = obj # constant that holds the original height of the torso from the ground # These values come from the pr2 urdf file self.TORSO_BASE_HEIGHT = (0.739675 + 0.051) self.TORSO_LOWER = 0.0 # lower limit on the torso z-translantion self.TORSO_UPPER = 0.31 # upper limit on the torso z-translation logger.info('Component initialized')
def __init__(self, obj, parent=None): """ Constructor method. Receives the reference to the Blender object. """ logger.info('%s initialization' % obj.name) # Call the constructor of the parent class GraspingRobot.__init__(self, obj, parent) """ We define here the name of the pr2 grasping hand: """ self.hand_name = 'Hand.Grasp.PR2' self.armatures = [] # Search armatures and torso in all objects parented to the pr2 empty for obj in self.bge_object.childrenRecursive: # Check if obj is an armature if type(obj).__name__ == 'BL_ArmatureObject': self.armatures.append(obj.name) if obj.name == 'torso_lift_joint': self.torso = obj # constant that holds the original height of the torso from the ground # These values come from the pr2 urdf file self.TORSO_BASE_HEIGHT = (0.739675 + 0.051) self.TORSO_LOWER = 0.0 # lower limit on the torso z-translantion self.TORSO_UPPER = 0.31 # upper limit on the torso z-translation logger.info('Component initialized')
def __init__(self, obj, parent=None): # Call the constructor of the parent class logger.info('%s initialization' % obj.name) GraspingRobot.__init__(self, obj, parent) # We define here the name of the human grasping hand: self.hand_name = 'Hand_Grab.R' logger.info('Component initialized')
def __init__(self, obj, parent=None): """ Call the constructor of the parent class """ logger.info('%s initialization' % obj.name) GraspingRobot.__init__(self, obj, parent) # We define here the name of the human grasping hand: self.hand_name = 'Hand_Grab.R' logger.info('Component initialized')
def __init__(self, obj, parent=None): """ Constructor method. Receives the reference to the Blender object. """ logger.info('%s initialization' % obj.name) # Call the constructor of the parent class GraspingRobot.__init__(self, obj, parent) """ # We define here the name of the pr2 grasping hand: """ self.hand_name = 'Hand.Grasp.PR2' self.armatures = [] # Search armatures and torso in all objects parented to the pr2 empty for obj in self.bge_object.childrenRecursive: # Check if obj is an armature if type(obj).__name__ == 'BL_ArmatureObject': self.armatures.append(obj.name) logger.info(obj.name) logger.info(' ==\n') if obj.name == 'torso_lift_joint': self.torso = obj logger.info(' ==\n') # constant that holds the original height of the torso from the ground # These values come from the pr2 urdf file self.TORSO_BASE_HEIGHT = (0.739675 + 0.051) self.TORSO_LOWER = 0.0 # lower limit on the torso z-translantion self.TORSO_UPPER = 0.31 # upper limit on the torso z-translation self.MIN_DIST = 0.85 self.cancel = False self.is_ho = False self.is_gr = False # is grasping? # raise both hands up scene = blenderapi.scene() hand_l = scene.objects['l_elbow_flex_joint'] hand_l.worldOrientation = [ math.radians(0), math.radians(-90), math.radians(180) ] hand_r = scene.objects['r_elbow_flex_joint'] hand_r.worldOrientation = [ math.radians(90), math.radians(-90), math.radians(-90) ] head = scene.objects['head_tilt_joint'] head.worldOrientation = [0, 0, math.radians(90)] logger.info('Component initialized')
def __init__(self, obj, parent=None): """ Constructor method. Receives the reference to the Blender object. Optionally it gets the name of the object's parent, but that information is not currently used for a robot. """ # Call the constructor of the parent class logger.info('%s initialization' % obj.name) GraspingRobot.__init__(self, obj, parent) """ We define here the name of the human_mocap grasping hand. """ self.hand_name = 'Hand_Grab.R' logger.info('Component initialized')
def __init__(self, obj, parent=None): """ Constructor method. Receives the reference to the Blender object. Optionally it gets the name of the object's parent, but that information is not currently used for a robot. """ # Call the constructor of the parent class logger.info('%s initialization' % obj.name) GraspingRobot.__init__(self, obj, parent) """ We define here the name of the human_mocap grasping hand. """ self.hand_name = 'Hand_Grab.R' logger.info('Component initialized')
def __init__(self, obj, parent=None): """ Call the constructor of the parent class """ logger.info("%s initialization" % obj.name) GraspingRobot.__init__(self, obj, parent) # We define here the name of the human grasping hand: # self.hand_name = 'Hand_Grab.R' armatures = blenderapi.get_armatures(self.bge_object) if len(armatures) == 0: logger.error("The human <%s> has not armature. Something is wrong!" % obj.name) return if len(armatures) > 1: logger.warning("The human <%s> has more than one armature. Using the first one" % obj.name) self.armature = armatures[0] logger.info("Component initialized")
def __init__(self, obj, parent=None): """ Call the constructor of the parent class """ logger.info('%s initialization' % obj.name) GraspingRobot.__init__(self, obj, parent) # We define here the name of the human grasping hand: self.hand_name = 'Hand_Grab.R' self.MIN_DIST = 0.8 # these are to feed the human action back to the system (current state) self.is_wa = False # is human walking away self.is_gr = False # is human grasping self.is_la = False # is human looking around self.is_wr = False # is human warning the robot self.is_ag = False # is human attempting to grasp self.is_ov = True # is the object visible to human self.is_oir = True # is the object reachable to human self.is_ho = False # if human has the object logger.info('Component initialized')
def __init__(self, obj, parent=None): """ Call the constructor of the parent class """ logger.info('%s initialization' % obj.name) GraspingRobot.__init__(self, obj, parent) # We define here the name of the human grasping hand: #self.hand_name = 'Hand_Grab.R' armatures = blenderapi.get_armatures(self.bge_object) if len(armatures) == 0: logger.error( "The human <%s> has not armature. Something is wrong!" % obj.name) return if len(armatures) > 1: logger.warning( "The human <%s> has more than one armature. Using the first one" % obj.name) self.armature = armatures[0] logger.info('Component initialized') self.warnedAboutControlType = False