def __init__(self, filename='human_rig', name=None):
"""
:param filename: the human model. Default: 'human_rig'
"""
GroundRobot.__init__(self, filename, name)
self.properties(classpath="morse.robots.human.Human")
self.skeleton = None
try:
self.skeleton = Armature(
armature_name=self.get_child("HumanSkeleton").name)
self.append(self.skeleton)
except KeyError:
logger.error("Could not find the human armature! (I was looking " +\
"for an object called 'HumanSkeleton' in the children " + \
"objects of the human). I won't be able to export the " + \
"human pose to any middleware.")
if self.skeleton:
self.skeleton.create_ik_targets(self.IK_TARGETS)
for t, name in self.skeleton.ik_targets:
t.parent = self._bpy_object
# Add an armature sensor. "joint_stateS" to match standard ROS spelling.
self.joint_states = ArmaturePose("joint_states")
self.skeleton.append(self.joint_states)
def __init__(self, filename='human_rig', name = None):
""" The 'style' parameter is only to switch to the mocap_human file.
:param filename: the human model. Default: 'human_rig'
"""
GroundRobot.__init__(self, filename, name)
self.properties(classpath = "morse.robots.human.Human")
self.skeleton = None
try:
self.skeleton = Armature(armature_name = "HumanSkeleton")
self.append(self.skeleton)
except KeyError:
logger.error("Could not find the human armature! (I was looking " +\
"for an object called 'HumanSkeleton' in the children " + \
"objects of the human). I won't be able to export the " + \
"human pose to any middleware.")
if self.skeleton:
self.skeleton.create_ik_targets(self.IK_TARGETS)
for t, name in self.skeleton.ik_targets:
t.parent = self._bpy_object
# Add an armature sensor. "joint_stateS" to match standard ROS spelling.
self.joint_states = ArmaturePose("joint_states")
self.skeleton.append(self.joint_states)
self.keyboard = Keyboard()
self.keyboard.properties(Speed=1.15)
self.append(self.keyboard)
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', name = None):
""" The 'style' parameter is only to switch to the mocap_human file.
:param filename: 'human' (default) or 'mocap_human'
"""
GroundRobot.__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(armature_name = "HumanArmature" + self.suffix)
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
self.make_grasper('Hand_Grab.R')
class Human(GroundRobot):
""" Append a human model to the scene.
Usage example:
.. code-block:: python
#! /usr/bin/env morseexec
from morse.builder import *
human = Human()
human.translate(x=5.5, y=-3.2, z=0.0)
human.rotate(z=-3.0)
human.skeleton.add_stream('pocolibs')
Currently, only one human per simulation is supported.
Detailed documentation
----------------------
The MORSE human avatar is based on a 3D model generated from MakeHuman, and
stored in human_rig.blend.
The model is rigged with an armature (`human.skeleton`), used to control the
postures of the human and to deform accordingly the human mesh.
This armature is used by MORSE as both a :doc:`sensor to read and export
the human pose <../sensors/armature_pose>` and :doc:`an actuator
<../actuators/armature>` to modify the pose.
TODO: give code examples to read and modify the pose
The armature defines 5 particular points (**IK targets**) that can be
manipulated to control the human model in a simpler way: the head, the two
wrists and the two feet.
"""
# list of human bones that we want to control via IK targets
IK_TARGETS = ["head", "wrist_L", "wrist_R", "foot_L", "foot_R"]
def __init__(self, filename='human_rig', name = None):
""" The 'style' parameter is only to switch to the mocap_human file.
:param filename: the human model. Default: 'human_rig'
"""
GroundRobot.__init__(self, filename, name)
self.properties(classpath = "morse.robots.human.Human")
self.skeleton = None
try:
self.skeleton = Armature(armature_name = "HumanSkeleton")
self.append(self.skeleton)
except KeyError:
logger.error("Could not find the human armature! (I was looking " +\
"for an object called 'HumanSkeleton' in the children " + \
"objects of the human). I won't be able to export the " + \
"human pose to any middleware.")
if self.skeleton:
self.skeleton.create_ik_targets(self.IK_TARGETS)
for t, name in self.skeleton.ik_targets:
t.parent = self._bpy_object
# Add an armature sensor. "joint_stateS" to match standard ROS spelling.
self.joint_states = ArmaturePose("joint_states")
self.skeleton.append(self.joint_states)
self.keyboard = Keyboard()
self.keyboard.properties(Speed=1.15)
self.append(self.keyboard)
def add_interface(self, interface):
if interface == "socket":
self.joint_states.add_stream("socket")
self.joint_states.add_service("socket")
self.skeleton.add_service('socket')
elif interface == "ros":
self.joint_states.add_stream("ros")
self.skeleton.add_service("ros")
self.skeleton.add_overlay("ros",
"morse.middleware.ros.overlays.armatures.ArmatureController")
elif interface == "pocolibs":
self.skeleton.properties(classpath="morse.sensors.human_posture.HumanPosture")
self.add_stream(interface)
class Human(GroundRobot):
""" Append a human model to the scene.
The human model currently available in MORSE comes with its
own subjective camera and several features for object manipulation.
It also exposes a :doc:`human posture component <../sensors/human_posture>`
that can be accessed by the ``armature`` member.
Usage example:
.. code-block:: python
#! /usr/bin/env morseexec
from morse.builder import *
human = Human()
human.translate(x=5.5, y=-3.2, z=0.0)
human.rotate(z=-3.0)
human.armature.add_stream('pocolibs')
Currently, only one human per simulation is supported.
"""
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'
"""
GroundRobot.__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)
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 after_renaming(self):
if self._blender_filename == 'mocap_human':
# no need for mocap
return
# Store the human real name (ie, after renaming) in its link 'POS_EMPTY' and 'Human_Camera' object, for later control.
pos_empty = bpymorse.get_object("POS_EMPTY" + self.suffix)
bpymorse.select_only(pos_empty)
bpymorse.new_game_property()
prop = pos_empty.game.properties
# select the last property in the list (which is the one we just added)
prop[-1].name = "human_name"
prop[-1].type = "STRING"
prop[-1].value = self.name
human_camera = bpymorse.get_object("Human_Camera" + self.suffix)
bpymorse.select_only(human_camera)
bpymorse.new_game_property()
prop = human_camera.game.properties
# select the last property in the list (which is the one we just added)
prop[-1].name = "human_name"
prop[-1].type = "STRING"
prop[-1].value = self.name
def add_interface(self, interface):
if interface == "socket":
self.joint_states.add_stream("socket")
self.armature.add_service('socket')
elif interface == "ros":
self.joint_states.add_stream("ros")
self.armature.add_service("ros")
self.armature.add_overlay("ros",
"morse.middleware.ros.overlays.armatures.ArmatureController")
elif interface == "pocolibs":
self.armature.properties(classpath="morse.sensors.human_posture.HumanPosture")
self.add_stream(interface)
def use_world_camera(self):
self.properties(WorldCamera = True)
def disable_keyboard_control(self):
self.properties(disable_keyboard_control = True)
class Human(GroundRobot):
""" Append a human model to the scene.
Usage example:
.. code-block:: python
#! /usr/bin/env morseexec
from morse.builder import *
human = Human()
human.translate(x=5.5, y=-3.2, z=0.0)
human.rotate(z=-3.0)
human.skeleton.add_stream('pocolibs')
Currently, only one human per simulation is supported.
Detailed documentation
----------------------
The MORSE human avatar is based on a 3D model generated from MakeHuman, and
stored in human_rig.blend.
The model is rigged with an armature (`human.skeleton`), used to control the
postures of the human and to deform accordingly the human mesh.
This armature is used by MORSE as both a :doc:`sensor to read and export
the human pose <../sensors/armature_pose>` and :doc:`an actuator
<../actuators/armature>` to modify the pose.
TODO: give code examples to read and modify the pose
The armature defines 5 particular points (**IK targets**) that can be
manipulated to control the human model in a simpler way: the head, the two
wrists and the two feet.
"""
# list of human bones that we want to control via IK targets
IK_TARGETS = ["head", "wrist_L", "wrist_R", "foot_L", "foot_R"]
def __init__(self, filename='human_rig', name=None):
"""
:param filename: the human model. Default: 'human_rig'
"""
GroundRobot.__init__(self, filename, name)
self.properties(classpath="morse.robots.human.Human")
self.skeleton = None
try:
self.skeleton = Armature(
armature_name=self.get_child("HumanSkeleton").name)
self.append(self.skeleton)
except KeyError:
logger.error("Could not find the human armature! (I was looking " +\
"for an object called 'HumanSkeleton' in the children " + \
"objects of the human). I won't be able to export the " + \
"human pose to any middleware.")
if self.skeleton:
self.skeleton.create_ik_targets(self.IK_TARGETS)
for t, name in self.skeleton.ik_targets:
t.parent = self._bpy_object
# Add an armature sensor. "joint_stateS" to match standard ROS spelling.
self.joint_states = ArmaturePose("joint_states")
self.skeleton.append(self.joint_states)
def add_interface(self, interface):
if interface == "socket":
self.joint_states.add_stream("socket")
self.joint_states.add_service("socket")
self.skeleton.add_service('socket')
elif interface == "ros":
self.joint_states.add_stream("ros")
self.skeleton.add_service("ros")
self.skeleton.add_overlay(
"ros",
"morse.middleware.ros.overlays.armatures.ArmatureController")
elif interface == "pocolibs":
self.skeleton.properties(
classpath="morse.sensors.human_posture.HumanPosture")
self.add_stream(interface)
class Human(GroundRobot):
""" Append a human model to the scene.
The human model currently available in MORSE comes with its
own subjective camera and several features for object manipulation.
It also exposes a :doc:`human posture component <../sensors/human_posture>`
that can be accessed by the ``armature`` member.
Usage example:
.. code-block:: python
#! /usr/bin/env morseexec
from morse.builder import *
human = Human()
human.translate(x=5.5, y=-3.2, z=0.0)
human.rotate(z=-3.0)
human.armature.add_stream('pocolibs')
Currently, only one human per simulation is supported.
"""
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'
"""
GroundRobot.__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)
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 after_renaming(self):
if self._blender_filename == 'mocap_human':
# no need for mocap
return
# Store the human real name (ie, after renaming) in its link 'POS_EMPTY' and 'Human_Camera' object, for later control.
pos_empty = bpymorse.get_object("POS_EMPTY" + self.suffix)
bpymorse.select_only(pos_empty)
bpymorse.new_game_property()
prop = pos_empty.game.properties
# select the last property in the list (which is the one we just added)
prop[-1].name = "human_name"
prop[-1].type = "STRING"
prop[-1].value = self.name
human_camera = bpymorse.get_object("Human_Camera" + self.suffix)
bpymorse.select_only(human_camera)
bpymorse.new_game_property()
prop = human_camera.game.properties
# select the last property in the list (which is the one we just added)
prop[-1].name = "human_name"
prop[-1].type = "STRING"
prop[-1].value = self.name
def add_interface(self, interface):
if interface == "socket":
self.joint_states.add_stream("socket")
self.armature.add_service('socket')
elif interface == "ros":
self.joint_states.add_stream("ros")
self.armature.add_service("ros")
self.armature.add_overlay(
"ros",
"morse.middleware.ros.overlays.armatures.ArmatureController")
elif interface == "pocolibs":
self.armature.properties(
classpath="morse.sensors.human_posture.HumanPosture")
self.add_stream(interface)
def use_world_camera(self):
self.properties(WorldCamera=True)
def disable_keyboard_control(self):
self.properties(disable_keyboard_control=True)
class Theman(Robot):
"""
A template robot model for theman, with a motion controller and a pose sensor.
"""
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 add_interface(self, interface):
if interface == "socket":
self.joint_states.add_stream("socket")
self.armature.add_service('socket')
elif interface == "ros":
# self.joint_states.add_stream("ros")
# self.armature.add_service("ros")
# self.armature.add_overlay("ros",
# "morse.middleware.ros.overlays.armatures.ArmatureController")
self.armature_pose.add_stream("ros",
"morse.middleware.ros.jointtrajectorycontrollers.JointTrajectoryControllerStatePublisher",
topic="/theman/state")
self.armature_pose.add_overlay("ros",
"morse.middleware.ros.overlays.armatures.ArmatureController",
namespace = "/theman")
elif interface == "pocolibs":
self.armature.properties(classpath="morse.sensors.human_posture.HumanPosture")
self.add_stream(interface)
