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):
GroundRobot.__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):
GroundRobot.__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):
GroundRobot.__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):
GroundRobot.__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):
GroundRobot.__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):
GroundRobot.__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):
GroundRobot.__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 = 0.08
self.set_collision_bounds()
def __init__(self, name=None):
GroundRobot.__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 = 0.08
self.set_collision_bounds()
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')
def __init__(self, name=None):
GroundRobot.__init__(self, "atrv", name)
self.properties(classpath="morse.robots.atrv.ATRV")
def __init__(self, name=None):
GroundRobot.__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):
GroundRobot.__init__(self, "atrv", name)
self.properties(classpath = "morse.robots.atrv.ATRV")
def __init__(self, name=None):
GroundRobot.__init__(self, "victim", name)
self.properties(classpath = "morse.robots.victim.Victim",
Victim_Tag = True, Requirements = "1,2,3",
Injured = True, Severity = 10)
