def default_action(self):
""" Do the actual semantic 'grab'.
Iterate over all the tracked objects,
and check if they are visible for the robot.
Visible objects must have a boundin box and be active
for physical simulation (have the 'Actor' checkbox selected)
"""
# Call the action of the parent class
super(self.__class__, self).default_action()
visibles = self.visibles
# check which objects are visible
for obj in bge.logic.trackedObjects.keys():
label = passive_objects.label(obj)
visible = self._check_visible(obj)
obj_dict = dict([('name', label), ('position', obj.worldPosition)])
# Object is visible and not yet in the visible_objects list...
if visible and label not in visibles:
# Create dictionary to contain object name, type, description, position and orientation
self.visibles.append(label)
# Scale the object to show it is visible
#obj.localScale = [1.2, 1.2, 1.2]
logger.debug("Semantic %s: %s just appeared" %
(self.blender_obj.name, label))
# Object is not visible and was in the visible_objects list...
if not visible and label in visibles:
self.visibles.remove(label)
# Return the object to normal size
# when it is no longer visible
#obj.localScale = [1.0, 1.0, 1.0]
logger.debug("Semantic %s: %s just disappeared" %
(self.blender_obj.name, label))
# Create dictionaries
self.local_data['visible_objects'] = []
for obj in bge.logic.trackedObjects.keys():
label = passive_objects.label(obj)
if label in visibles:
# Create dictionary to contain object name, type, description, position and orientation
obj_dict = dict([('name', label), ('description', ''),
('type', ''), ('position', obj.worldPosition),
('orientation',
obj.worldOrientation.to_quaternion())])
# Set description and type if those properties exist
try:
obj_dict['description'] = obj['Description']
except KeyError:
pass
try:
obj_dict['type'] = obj['Type']
except KeyError:
pass
self.local_data['visible_objects'].append(obj_dict)
logger.debug("Visible objects: " +
str(self.local_data['visible_objects']))
def default_action(self):
""" Do the actual semantic 'grab'.
Iterate over all the tracked objects,
and check if they are visible for the robot.
Visible objects must have a boundin box and be active
for physical simulation (have the 'Actor' checkbox selected)
"""
# Call the action of the parent class
super(self.__class__,self).default_action()
visibles = self.visibles
# check which objects are visible
for obj in GameLogic.trackedObjects.keys():
label = passive_objects.label(obj)
visible = self._check_visible(obj)
obj_dict = dict([('name', label), ('position', obj.worldPosition)])
# Object is visible and not yet in the visible_objects list...
if visible and label not in visibles:
# Create dictionary to contain object name, type, description, position and orientation
self.visibles.append(label)
# Scale the object to show it is visible
#obj.localScale = [1.2, 1.2, 1.2]
logger.info("Semantic: {0} just appeared".format(label))
# Object is not visible and was in the visible_objects list...
if not visible and label in visibles:
self.visibles.remove(label)
# Return the object to normal size
# when it is no longer visible
#obj.localScale = [1.0, 1.0, 1.0]
logger.info("Semantic: {0} just disappeared".format(label))
# Create dictionaries
self.local_data['visible_objects'] = []
for obj in GameLogic.trackedObjects.keys():
label = passive_objects.label(obj)
if label in visibles:
# Create dictionary to contain object name, type, description, position and orientation
obj_dict = dict([('name', label), ('description', ''), ('type', ''), ('position', obj.worldPosition), ('orientation', obj.worldOrientation.to_quaternion())])
# Set description and type if those properties exist
try:
obj_dict['description'] = obj['Description']
except KeyError:
pass
try:
obj_dict['type'] = obj['Type']
except KeyError:
pass
self.local_data['visible_objects'].append(obj_dict)
logger.debug("Visible objects: "+ str(self.local_data['visible_objects']))
def default_action(self):
""" Do the actual semantic 'grab'.
Iterate over all the tracked objects, and check if they are
visible for the robot. Visible objects must have a bounding box
and be active for physical simulation (have the 'Actor' checkbox
selected)
"""
# Call the action of the parent class
super(self.__class__, self).default_action()
# Create dictionaries
self.local_data['visible_objects'] = []
for obj in blenderapi.persistantstorage().trackedObjects.keys():
if self._check_visible(obj):
# Create dictionary to contain object name, type,
# description, position and orientation
obj_dict = {
'name': passive_objects.label(obj),
'description': obj.get('Description', ''),
'type': obj.get('Type', ''),
'position': obj.worldPosition,
'orientation': obj.worldOrientation.to_quaternion()
}
self.local_data['visible_objects'].append(obj_dict)
logger.debug("Visible objects: %s" %
self.local_data['visible_objects'])
def default_action(self):
""" Do the actual semantic 'grab'.
Iterate over all the tracked objects, and check if they are
visible for the robot. Visible objects must have a bounding box
and be active for physical simulation (have the 'Actor' checkbox
selected)
"""
# Call the action of the parent class
super(self.__class__, self).default_action()
# Create dictionaries
self.local_data['visible_objects'] = []
for obj in blenderapi.persistantstorage().trackedObjects.keys():
if self._check_visible(obj):
# Create dictionary to contain object name, type,
# description, position and orientation
obj_dict = {'name': passive_objects.label(obj),
'description': obj.get('Description', ''),
'type': obj.get('Type', ''),
'position': obj.worldPosition,
'orientation': obj.worldOrientation.to_quaternion()}
self.local_data['visible_objects'].append(obj_dict)
logger.debug("Visible objects: %s" % self.local_data['visible_objects'])
def show(contr):
"""
Add a text over all interactable Objects in the scene
"""
scene = logic.getCurrentScene()
for obj in passive_objects.active_objects():
textObj = scene.addObject("Text_proxy", obj, 0)
# create a new instance of a text object
textObj["Text"] = passive_objects.label(obj)
# Property to identify all added text objects
textObj["_tooltip"] = True
textObj.setParent(obj, False, True)
# There can be more than one mesh
# see Blender API for more information
if obj.meshes:
meshes = obj.meshes
else:
# It seems our object has no mesh attached. It's
# probably an empty. In that case, check the children's
# meshes
if obj.children:
meshes = []
for child in obj.children:
meshes += child.meshes
else:
# No children? hum...
# Then give up...
logger.warning(
"I was unable to place the %s label, since I couldn't "
+ "find any mesh attached to this object or its children!" % obj
)
continue
z = 0
# iterate over all verticies to get the highest
for mesh in meshes:
for mat in range(0, mesh.numMaterials):
for vert_id in range(mesh.getVertexArrayLength(mat)):
vertex = mesh.getVertex(mat, vert_id)
if vertex.z > z:
z = vertex.z
# set the text over the highest vertex
textObj.applyMovement([0.0, 0.0, z * 1.2])
def interact(cont):
"""
Script for opening doors, drawers and grabbing objects
press left mousebutton to open, close or grab
press right mousebutton to drop the currently selected object
"""
ow = cont.owner
# get the suffix of the human to reference the right objects
suffix = ow.name[-4:] if ow.name[-4] == "." else ""
right_hand = objects['IK_Target_Empty.R' + suffix]
look = objects['Target_Empty' + suffix]
human = objects[ow.parent.parent.parent.name + suffix]
# if the human is external, do nothing
if human.get('External_Robot_Tag') or human['disable_keyboard_control']:
return
lmb = cont.sensors['LMB']
ray = cont.sensors['Ray']
cam = ray.owner
lay_down_ray = cont.sensors['LayDownRay']
rmb = cont.sensors['RMB']
space = cont.sensors['SPACEBAR']
head = objects['Head_Empty' + suffix]
hand = objects['Hand.R' + suffix]
# Get the focusing object:
# A ray sensor is attached to the HumanCamera sensor.
# It returns all colliding objects in a 10 cm range of the hand.
# We filter the result to keep only objects that have the 'Object'
# property or that have children with the 'Object' property.
focus = None
prox_obj = ray.hitObject # focused object
if prox_obj:
if 'Object' in prox_obj:
focus = prox_obj
elif 'Door' in prox_obj or 'Drawer' in prox_obj or 'Switch' in prox_obj:
focus = prox_obj
else:
for obj in prox_obj.children:
if 'Object' in obj:
focus = obj
# set the overlay scene and change the displayed text
# and texture
if human['Manipulate'] and focus:
can_be_manipulated = False
if focus in passive_objects.graspable_objects():
can_be_manipulated = True
if not ow['selected']:
ow['Status'] = 'Pick up ' + passive_objects.label(focus)
else:
ow['Status'] = passive_objects.label(focus)
elif 'Door' in focus or 'Drawer' in focus:
can_be_manipulated = True
try:
if focus['Open']:
ow['Status'] = 'Close ' + str(focus['Description'])
else:
ow['Status'] = 'Open ' + str(focus['Description'])
except KeyError:
logger.warning('Key missing in focused Object ' + focus.name +
' --- no description given')
elif 'Switch' in focus:
can_be_manipulated = True
if objects[focus['Switch']]['On']:
ow['Status'] = "Turn off " + focus['Switch']
else:
ow['Status'] = "Turn on " + focus['Switch']
else:
ow['Status'] = None
else:
ow['Status'] = None
if human['Manipulate']:
if not crosshairs in scene.post_draw:
scene.post_draw.append(crosshairs)
else:
if crosshairs in scene.post_draw:
scene.post_draw.remove(crosshairs)
if ow['Status']:
if not write_interaction_status in scene.post_draw:
scene.post_draw.append(write_interaction_status)
if not status_image in scene.post_draw:
scene.post_draw.append(status_image)
else:
if write_interaction_status in scene.post_draw:
scene.post_draw.remove(write_interaction_status)
if status_image in scene.post_draw:
scene.post_draw.remove(status_image)
if space.positive:
# blocks mouse movement if interactable object is focused
try:
if ('Door' in focus or 'Object' in focus
or 'Drawer' in focus) and not ow['selected']:
human['FOCUSED'] = True
vect = Matrix.OrthoProjection('XY',
3) * human.getVectTo(focus)[1]
human.alignAxisToVect(vect, 0, 1.0)
# align the local x axis to point to the focused object
else:
human['FOCUSED'] = False
except TypeError:
human['FOCUSED'] = False
else:
human['FOCUSED'] = False
try:
if focus in passive_objects.graspable_objects():
if lmb.positive and not ow['selected']:
# set a property - a property-sensor will fire the grab-function
ow['grabbing'] = focus
elif 'Door' in focus and lmb.positive:
open_door(focus)
# if you decide to use IPOs for the doors,
# comment the previous line and uncomment the next line
# the logic can be set with code in morse utils, which is currently
# commented
# focus['Open'] = not focus['Open']
elif 'Drawer' in focus and lmb.positive:
focus['Open'] = not focus['Open']
elif 'Switch' in focus and lmb.positive:
objects[focus['Switch']]['On'] = not objects[focus['Switch']]['On']
except TypeError:
pass
if rmb.positive: #drop selected Object
ow['grabbing'] = None
focused_object = lay_down_ray.hitObject
if focused_object != None:
actor_focused = blenderapi.objectdata(
focused_object.name).game.use_actor
# accurate placing of objects under certain conditions
if human['Manipulate'] and lay_down_ray.positive \
and focused_object != ow['selected'] \
and actor_focused:
# check not to lay the object on itself
if ow['selected']:
right_hand['LayDown'] = lay_down_ray.hitPosition
right_hand['LayDownObj'] = focused_object
# otherwise just drop the object
else:
if ow['selected']:
ow['selected'].removeParent()
ow['selected'] = None
right_hand['moveArm'] = True
def interact(cont):
"""
Script for opening doors, drawers and grabbing objects
press left mousebutton to open, close or grab
press right mousebutton to drop the currently selected object
"""
ow = cont.owner
# get the suffix of the human to reference the right objects
suffix = ow.name[-4:] if ow.name[-4] == "." else ""
right_hand=objects['IK_Target_Empty.R' + suffix]
look = objects['Target_Empty' + suffix]
human = objects['Human' + suffix]
# if the human is external, do nothing
if human.get('External_Robot_Tag') or human['disable_keyboard_control']:
return
lmb=cont.sensors['LMB']
ray = cont.sensors['Ray']
cam = ray.owner
lay_down_ray = cont.sensors['LayDownRay']
rmb=cont.sensors['RMB']
space = cont.sensors['SPACEBAR']
head = objects['Head_Empty' + suffix]
hand = objects['Hand.R' + suffix]
# Get the focusing object:
# A ray sensor is attached to the HumanCamera sensor.
# It returns all colliding objects in a 10 cm range of the hand.
# We filter the result to keep only objects that have the 'Object'
# property or that have children with the 'Object' property.
focus = None
prox_obj = ray.hitObject # focused object
if prox_obj:
if 'Object' in prox_obj:
focus = prox_obj
elif 'Door' in prox_obj or 'Drawer' in prox_obj or 'Switch' in prox_obj:
focus = prox_obj
else:
for obj in prox_obj.children:
if 'Object' in obj:
focus = obj
# set the overlay scene and change the displayed text
# and texture
if human['Manipulate'] and focus:
can_be_manipulated = False
if focus in passive_objects.graspable_objects():
can_be_manipulated = True
if not ow['selected']:
ow['Status'] = 'Pick up ' + passive_objects.label(focus)
else:
ow['Status'] = passive_objects.label(focus)
elif 'Door' in focus or 'Drawer' in focus:
can_be_manipulated = True
try:
if focus['Open']:
ow['Status'] = 'Close ' + str(focus['Description'])
else:
ow['Status'] = 'Open ' + str(focus['Description'])
except KeyError:
logger.warning('Key missing in focused Object ' + focus.name +
' --- no description given')
elif 'Switch' in focus:
can_be_manipulated = True
if objects[focus['Switch']]['On']:
ow['Status'] = "Turn off " + focus['Switch']
else:
ow['Status'] = "Turn on " + focus['Switch']
else:
ow['Status'] = None
else:
ow['Status'] = None
if human['Manipulate']:
if not crosshairs in scene.post_draw:
scene.post_draw.append(crosshairs)
else:
if crosshairs in scene.post_draw:
scene.post_draw.remove(crosshairs)
if ow['Status']:
if not write_interaction_status in scene.post_draw:
scene.post_draw.append(write_interaction_status)
if not status_image in scene.post_draw:
scene.post_draw.append(status_image)
else:
if write_interaction_status in scene.post_draw:
scene.post_draw.remove(write_interaction_status)
if status_image in scene.post_draw:
scene.post_draw.remove(status_image)
if space.positive:
# blocks mouse movement if interactable object is focused
try:
if ('Door' in focus or 'Object' in focus or 'Drawer' in focus) and not ow['selected']:
human['FOCUSED'] = True
vect = Matrix.OrthoProjection('XY', 3) * human.getVectTo(focus)[1]
human.alignAxisToVect(vect, 0, 1.0)
# align the local x axis to point to the focused object
else:
human['FOCUSED'] = False
except TypeError:
human['FOCUSED'] = False
else:
human['FOCUSED'] = False
try:
if focus in passive_objects.graspable_objects():
if lmb.positive and not ow['selected']:
# set a property - a property-sensor will fire the grab-function
ow['grabbing'] = focus
elif 'Door' in focus and lmb.positive:
open_door(focus)
# if you decide to use IPOs for the doors,
# comment the previous line and uncomment the next line
# the logic can be set with code in morse utils, which is currently
# commented
# focus['Open'] = not focus['Open']
elif 'Drawer' in focus and lmb.positive:
focus['Open'] = not focus['Open']
elif 'Switch' in focus and lmb.positive:
objects[focus['Switch']]['On'] = not objects[focus['Switch']]['On']
except TypeError:
pass
if rmb.positive: #drop selected Object
ow['grabbing'] = None
focused_object = lay_down_ray.hitObject
if focused_object != None:
actor_focused = data.objects[focused_object.name].game.use_actor
# accurate placing of objects under certain conditions
if human['Manipulate'] and lay_down_ray.positive \
and focused_object != ow['selected'] \
and actor_focused:
# check not to lay the object on itself
if ow['selected']:
right_hand['LayDown'] = lay_down_ray.hitPosition
right_hand['LayDownObj'] = focused_object
# otherwise just drop the object
else:
if ow['selected']:
ow['selected'].removeParent()
ow['selected'] = None
right_hand['moveArm'] = True
def interact():
"""
Script for opening doors, drawers and grabbing objects
press left mousebutton to open, close or grab
press right mousebutton to drop the currently selected object
"""
right_hand = objects["IK_Target_Empty.R"]
look = objects["Target_Empty"]
human = objects["Human"]
co = logic.getCurrentController()
ow = co.owner
lmb = co.sensors["LMB"]
ray = co.sensors["Ray"]
cam = ray.owner
lay_down_ray = co.sensors["LayDownRay"]
rmb = co.sensors["RMB"]
space = co.sensors["SPACEBAR"]
head = objects["Head_Empty"]
hand = objects["Hand.R"]
# Get the focusing object:
# A ray sensor is attached to the HumanCamera sensor.
# It returns all colliding objects in a 10 cm range of the hand.
# We filter the result to keep only objects that have the 'Object'
# property or that have children with the 'Object' property.
focus = None
prox_obj = ray.hitObject # focused object
if prox_obj:
if "Object" in prox_obj:
focus = prox_obj
elif "Door" in prox_obj or "Drawer" in prox_obj or "Switch" in prox_obj:
focus = prox_obj
else:
for obj in prox_obj.children:
if "Object" in obj:
focus = obj
# set the overlay scene and change the displayed text
# and texture
if human["Manipulate"] and focus:
can_be_manipulated = False
if focus in passive_objects.graspable_objects():
can_be_manipulated = True
if not ow["selected"]:
ow["Status"] = "Pick up " + passive_objects.label(focus)
else:
ow["Status"] = passive_objects.label(focus)
elif "Door" in focus or "Drawer" in focus:
can_be_manipulated = True
try:
if focus["Open"]:
ow["Status"] = "Close " + str(focus["Description"])
else:
ow["Status"] = "Open " + str(focus["Description"])
except KeyError:
logger.warning("Key missing in focused Object " + focus.name + " --- no description given")
elif "Switch" in focus:
can_be_manipulated = True
if objects[focus["Switch"]]["On"]:
ow["Status"] = "Turn off " + focus["Switch"]
else:
ow["Status"] = "Turn on " + focus["Switch"]
else:
ow["Status"] = None
else:
ow["Status"] = None
if human["Manipulate"]:
if not crosshairs in scene.post_draw:
scene.post_draw.append(crosshairs)
else:
if crosshairs in scene.post_draw:
scene.post_draw.remove(crosshairs)
if ow["Status"]:
if not write_interaction_status in scene.post_draw:
scene.post_draw.append(write_interaction_status)
if not status_image in scene.post_draw:
scene.post_draw.append(status_image)
else:
if write_interaction_status in scene.post_draw:
scene.post_draw.remove(write_interaction_status)
if status_image in scene.post_draw:
scene.post_draw.remove(status_image)
if space.positive:
# blocks mouse movement if interactable object is focused
try:
if ("Door" in focus or "Object" in focus or "Drawer" in focus) and not ow["selected"]:
human["FOCUSED"] = True
vect = Matrix.OrthoProjection("XY", 3) * human.getVectTo(focus)[1]
human.alignAxisToVect(vect, 0, 1.0)
# align the local x axis to point to the focused object
else:
human["FOCUSED"] = False
except TypeError:
human["FOCUSED"] = False
else:
human["FOCUSED"] = False
try:
if focus in passive_objects.graspable_objects():
if lmb.positive and not ow["selected"]:
# set a property - a property-sensor will fire the grab-function
ow["grabbing"] = focus
elif "Door" in focus and lmb.positive:
open_door(focus)
# if you decide to use IPOs for the doors,
# comment the previous line and uncomment the next line
# the logic can be set with code in morse utils, which is currently
# commented
# focus['Open'] = not focus['Open']
elif "Drawer" in focus and lmb.positive:
focus["Open"] = not focus["Open"]
elif "Switch" in focus and lmb.positive:
objects[focus["Switch"]]["On"] = not objects[focus["Switch"]]["On"]
except TypeError:
pass
if rmb.positive: # drop selected Object
ow["grabbing"] = None
focused_object = lay_down_ray.hitObject
if focused_object != None:
actor_focused = data.objects[focused_object.name].game.use_actor
# accurate placing of objects under certain conditions
if human["Manipulate"] and lay_down_ray.positive and focused_object != ow["selected"] and actor_focused:
# check not to lay the object on itself
if ow["selected"]:
right_hand["LayDown"] = lay_down_ray.hitPosition
# otherwise just drop the object
else:
if ow["selected"]:
ow["selected"].removeParent()
ow["selected"] = None
right_hand["moveArm"] = True
def interact():
"""
Script for opening doors, drawers and grabbing objects
press left mousebutton to open, close or grab
press right mousebutton to drop the currently selected object
"""
sobList= logic.getCurrentScene().objects
# list of all objects in current scene
right_hand=sobList['IK_Target_Empty.R']
look = sobList['Target_Empty']
human = sobList['POS_EMPTY']
co = logic.getCurrentController()
ow = co.owner
lmb=co.sensors['LMB']
ray = co.sensors['Ray']
cam = ray.owner
lay_down_ray = co.sensors['LayDownRay']
rmb=co.sensors['RMB']
space = co.sensors['SPACEBAR']
AddSc = co.actuators['AddScene']
RemSc = co.actuators['RemoveScene']
Description = co.actuators['Descr_message']
head = sobList['Head_Empty']
hand = sobList['Hand.R']
# Get the focusing object:
# A ray sensor is attached to the HumanCamera sensor.
# It returns all colliding objects in a 10 cm range of the hand.
# We filter the result to keep only objects that have the 'Object'
# property or that have children with the 'Object' property.
focus = None
prox_obj = ray.hitObject # focused object
if prox_obj:
if 'Object' in prox_obj:
focus = prox_obj
elif 'Door' in prox_obj or 'Drawer' in prox_obj:
focus = prox_obj
else:
for obj in prox_obj.children:
if 'Object' in obj:
focus = obj
scenes = logic.getSceneList()
# set the overlay scene and send messages to change the displayed text
# and texture
if human['Manipulate']:
try:
can_be_manipulated = False
if focus in passive_objects.graspable_objects():
can_be_manipulated = True
Description.body = ('Pick up ' + passive_objects.label(focus))
elif 'Door' in focus or 'Drawer' in focus:
can_be_manipulated = True
try:
if focus['Open']:
Description.body = ('Close ' +
str(focus['Description']))
else:
Description.body = ('Open ' +
str(focus['Description']))
except KeyError:
print('Key missing in focused Object ' + focus.name +
' --- no description given')
Description.body = ''
if can_be_manipulated:
ow.sendMessage('selected', str(ow['selected']), 'overlay')
co.activate(Description)
if len(scenes) == 2:
co.activate(AddSc)
else:
if len(scenes) == 3:
co.activate(RemSc)
except TypeError:
if len(scenes) == 3:
co.activate(RemSc)
else:
if len(scenes) == 3:
co.activate(RemSc)
if space.positive:
# blocks mouse movement if interactable object is focused
try:
if ('Door' in focus or 'Object' in focus or 'Drawer' in focus) and not ow['selected']:
human['FOCUSED'] = True
vect = Matrix.OrthoProjection('XY', 3) * human.getVectTo(focus)[1]
human.alignAxisToVect(vect, 0, 1.0)
# align the local x axis to point to the focused object
else:
human['FOCUSED'] = False
except TypeError:
human['FOCUSED'] = False
else:
human['FOCUSED'] = False
try:
if focus in passive_objects.graspable_objects():
if lmb.positive and not ow['selected']:
# set a property - a property-sensor will fire the grab-function
ow['grabbing'] = focus
elif 'Door' in focus and lmb.positive:
open_door(focus)
# if you decide to use IPOs for the doors,
# comment the previous line and uncomment the next line
# the logic can be set with code in morse utils, which is currently
# commented
# focus['Open'] = not focus['Open']
elif 'Drawer' in focus and lmb.positive:
focus['Open'] = not focus['Open']
except TypeError:
pass
if rmb.positive: #drop selected Object
ow['grabbing'] = None
focused_object = lay_down_ray.hitObject
if focused_object != None:
actor_focused = data.objects[focused_object.name].game.use_actor
# accurate placing of objects under certain conditions
if human['Manipulate'] and lay_down_ray.positive \
and focused_object != ow['selected'] \
and actor_focused:
# check not to lay the object on itself
if ow['selected']:
right_hand['LayDown'] = lay_down_ray.hitPosition
# otherwise just drop the object
else:
if ow['selected']:
ow['selected'].removeParent()
ow['selected'] = None
right_hand['moveArm'] = True
