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)
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)
