def __init__(self, obj, parent=None):
"""
Constructor method.
Receives the reference to the Blender object.
The second parameter should be the name of the object's parent.
"""
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
Sensor.__init__(self, obj, parent)
arc_prefix = 'Arc_'
# Look for a child arc to use for the scans
for child in obj.children:
if arc_prefix in child.name:
self._ray_arc = child
logger.info("Sick: Using arc object: '%s'" % self._ray_arc)
break
# Set its visibility, according to the settings
self._ray_arc.setVisible(self.visible_arc)
self._ray_list = []
# Create an empty list to store the intersection points
self.local_data['point_list'] = []
self.local_data['range_list'] = []
# Get the datablock of the arc, to extract its vertices
ray_object = blenderapi.objectdata(self._ray_arc.name)
for vertex in ray_object.data.vertices:
logger.debug ("Vertex %d = %s" % (vertex.index, vertex.co))
# Skip the first vertex.
# It is the one located at the center of the sensor
if vertex.index == 0:
continue
# Store the position of the vertex in a list
# The position is already given as a mathutils.Vector
self._ray_list.append(vertex.co)
# Insert empty points into the data list
self.local_data['point_list'].append([0.0, 0.0, 0.0])
# Insert zeros into the range list
self.local_data['range_list'].append(0.0)
logger.debug("RAY %d = [%.4f, %.4f, %.4f]" %
(vertex.index, self._ray_list[vertex.index-1][0],
self._ray_list[vertex.index-1][1],
self._ray_list[vertex.index-1][2]))
# Get some information to be able to deform the arcs
if self.visible_arc:
self._layers = 1
if 'layers' in self.bge_object:
self._layers = self.bge_object['layers']
self._vertex_per_layer = len(self._ray_list) // self._layers
logger.info('Component initialized, runs at %.2f Hz', self.frequency)
def get_object_global_bbox(self, object_name):
""" Returns the global bounding box of an object as list encapsulated as
string: "[[x0, y0, z0 ], ... ,[x7, y7, z7]]".
:param string object_name: The name of the object.
"""
# Test whether the object exists in the scene
b_obj = get_obj_by_name(object_name)
# Get bounding box of object
bb = blenderapi.objectdata(object_name).bound_box
# Group x,y,z-coordinates as lists
bbox_local = [[bb_corner[i] for i in range(3)] for bb_corner in bb]
world_pos = b_obj.worldPosition
world_ori = b_obj.worldOrientation.to_3x3()
bbox_global = []
for corner in bbox_local:
vec = world_ori * mathutils.Vector(corner) + \
mathutils.Vector(world_pos)
bbox_global.append([vec.x,vec.y,vec.z])
return json.dumps(bbox_global)
def __init__(self, obj, parent=None):
"""
Constructor method.
Receives the reference to the Blender object.
The second parameter should be the name of the object's parent.
"""
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
Sensor.__init__(self, obj, parent)
arc_prefix = 'Arc_'
# Look for a child arc to use for the scans
for child in obj.children:
if arc_prefix in child.name:
self._ray_arc = child
logger.info("Sick: Using arc object: '%s'" % self._ray_arc)
break
# Set its visibility, according to the settings
self._ray_arc.setVisible(self.visible_arc)
self._ray_list = []
# Create an empty list to store the intersection points
self.local_data['point_list'] = []
self.local_data['range_list'] = []
# Get the datablock of the arc, to extract its vertices
ray_object = blenderapi.objectdata(self._ray_arc.name)
for vertex in ray_object.data.vertices:
logger.debug("Vertex %d = %s" % (vertex.index, vertex.co))
# Skip the first vertex.
# It is the one located at the center of the sensor
if vertex.index == 0:
continue
# Store the position of the vertex in a list
# The position is already given as a mathutils.Vector
self._ray_list.append(vertex.co)
# Insert empty points into the data list
self.local_data['point_list'].append([0.0, 0.0, 0.0])
# Insert zeros into the range list
self.local_data['range_list'].append(0.0)
logger.debug("RAY %d = [%.4f, %.4f, %.4f]" %
(vertex.index, self._ray_list[vertex.index - 1][0],
self._ray_list[vertex.index - 1][1],
self._ray_list[vertex.index - 1][2]))
# Get some information to be able to deform the arcs
if self.visible_arc:
self._layers = 1
if 'layers' in self.bge_object:
self._layers = self.bge_object['layers']
self._vertex_per_layer = len(self._ray_list) // self._layers
logger.info('Component initialized, runs at %.2f Hz', self.frequency)
def get_object_global_bbox(self, object_name):
""" Returns the global bounding box of an object as list encapsulated as
string: "[[x0, y0, z0 ], ... ,[x7, y7, z7]]".
:param string object_name: The name of the object.
"""
# Test whether the object exists in the scene
b_obj = get_obj_by_name(object_name)
# Get bounding box of object
bb = blenderapi.objectdata(object_name).bound_box
# Group x,y,z-coordinates as lists
bbox_local = [[bb_corner[i] for i in range(3)] for bb_corner in bb]
world_pos = b_obj.worldPosition
world_ori = b_obj.worldOrientation.to_3x3()
bbox_global = []
for corner in bbox_local:
vec = world_ori * mathutils.Vector(corner) + \
mathutils.Vector(world_pos)
bbox_global.append([vec.x, vec.y, vec.z])
return json.dumps(bbox_global)
def __init__(self, obj, parent=None):
LaserScanner.__init__(self, obj, parent)
self.local_data['remission_list'] = []
ray_object = blenderapi.objectdata(self._ray_arc.name)
for vertex in ray_object.data.vertices:
# Skip the first vertex.
# It is the one located at the center of the sensor
if vertex.index == 0:
continue
# Insert zeros in the remission list
self.local_data['remission_list'].append(0.0)
def __init__(self, obj, parent=None):
LaserScanner.__init__(self, obj, parent)
self.local_data['remission_list'] = []
ray_object = blenderapi.objectdata(self._ray_arc.name)
for vertex in ray_object.data.vertices:
# Skip the first vertex.
# It is the one located at the center of the sensor
if vertex.index == 0:
continue
# Insert zeros in the remission list
self.local_data['remission_list'].append(0.0)
def get_object_bbox(self, object_name):
""" Returns the local bounding box of an object as list encapsulated as
string: "[[x0, y0, z0 ], ... ,[x7, y7, z7]]".
:param string object_name: The name of the object.
"""
# Test whether the object exists in the scene
get_obj_by_name(object_name)
# Get bounding box of object
bb = blenderapi.objectdata(object_name).bound_box
# Group x,y,z-coordinates as lists
bbox_local = [[bb_corner[i] for i in range(3)] for bb_corner in bb]
return json.dumps(bbox_local)
def get_object_bbox(self, object_name):
""" Returns the local bounding box of an object as list encapsulated as
string: "[[x0, y0, z0 ], ... ,[x7, y7, z7]]".
:param string object_name: The name of the object.
"""
# Test whether the object exists in the scene
get_obj_by_name(object_name)
# Get bounding box of object
bb = blenderapi.objectdata(object_name).bound_box
# Group x,y,z-coordinates as lists
bbox_local = [[bb_corner[i] for i in range(3)] for bb_corner in bb]
return json.dumps(bbox_local)
def __init__(self, obj, parent=None):
""" Constructor method.
Receives the reference to the Blender object.
The second parameter should be the name of the object's parent.
"""
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
morse.sensors.camera.Camera.__init__(self, obj, parent)
# Locate the Blender camera object associated with this sensor
main_obj = self.bge_object
for obj in main_obj.children:
if hasattr(obj, 'lens'):
self.blender_cam = obj
logger.info("Camera object: {0}".format(self.blender_cam))
break
if not self.blender_cam:
logger.error("no camera object associated to the semantic camera. \
The semantic camera requires a standard Blender \
camera in its children.")
# TrackedObject is a dictionary containing the list of tracked objects
# (->meshes with a class property set up) as keys
# and the bounding boxes of these objects as value.
if not 'trackedObjects' in blenderapi.persistantstorage():
logger.info('Initialization of tracked objects:')
blenderapi.persistantstorage().trackedObjects = \
dict.fromkeys(passive_objects.active_objects())
# Store the bounding box of the marked objects
for obj in blenderapi.persistantstorage().trackedObjects.keys():
# bound_box returns the bounding box in local space
# instead of world space.
blenderapi.persistantstorage().trackedObjects[obj] = \
blenderapi.objectdata(obj.name).bound_box
details = passive_objects.details(obj)
logger.info(' - {%s} (type:%s)' %
(details['label'], details['type']))
if self.noocclusion:
logger.info(
"Semantic camera running in 'no occlusion' mode (fast mode).")
logger.info("Component initialized, runs at %.2f Hz ", self.frequency)
def __init__(self, obj, parent=None):
""" Constructor method.
Receives the reference to the Blender object.
The second parameter should be the name of the object's parent.
"""
logger.info('%s initialization of' % obj.name)
# Call the constructor of the parent class
morse.sensors.camera.Camera.__init__(self, obj, parent)
# Locate the Blender camera object associated with this sensor
main_obj = self.bge_object
for obj in main_obj.children:
if hasattr(obj, 'lens'):
self.blender_cam = obj
logger.info("Camera object: {0}".format(self.blender_cam))
break
if not self.blender_cam:
logger.error("no camera object associated to the semantic camera. \
The semantic camera requires a standard Blender \
camera in its children.")
# TrackedObject is a dictionary containing the list of tracked objects
# (->meshes with a class property set up) as keys
# and the bounding boxes of these objects as value.
if not 'trackedObjects' in blenderapi.persistantstorage():
logger.info('Initialization of tracked objects:')
blenderapi.persistantstorage().trackedObjects = \
dict.fromkeys(passive_objects.active_objects())
# Store the bounding box of the marked objects
for obj in blenderapi.persistantstorage().trackedObjects.keys():
# bound_box returns the bounding box in local space
# instead of world space.
blenderapi.persistantstorage().trackedObjects[obj] = \
blenderapi.objectdata(obj.name).bound_box
details = passive_objects.details(obj)
logger.info(' - {%s} (type:%s)'%
(details['label'], details['type']))
if self.noocclusion:
logger.info("Semantic camera running in 'no occlusion' mode (fast mode).")
logger.info("Component initialized, runs at %.2f Hz ", self.frequency)
def __init__(self, obj, parent=None):
""" Constructor method.
Receives the reference to the Blender object.
The second parameter should be the name of the object's parent.
"""
logger.info("%s initialization" % obj.name)
# Call the constructor of the parent class
super(self.__class__, self).__init__(obj, parent)
# Locate the Blender camera object associated with this sensor
main_obj = self.bge_object
for obj in main_obj.children:
if hasattr(obj, "lens"):
self.blender_cam = obj
logger.info("Camera object: {0}".format(self.blender_cam))
break
if not self.blender_cam:
logger.error(
"no camera object associated to the semantic camera. \
The semantic camera requires a standard Blender \
camera in its children."
)
# TrackedObject is a dictionary containing the list of tracked objects
# (->meshes with a class property set up) as keys
# and the bounding boxes of these objects as value.
if not "trackedObjects" in blenderapi.persistantstorage():
logger.info("Initialization of tracked objects:")
blenderapi.persistantstorage().trackedObjects = dict.fromkeys(passive_objects.active_objects())
# Store the bounding box of the marked objects
for obj in blenderapi.persistantstorage().trackedObjects.keys():
# bound_box returns the bounding box in local space
# instead of world space.
blenderapi.persistantstorage().trackedObjects[obj] = blenderapi.objectdata(obj.name).bound_box
details = passive_objects.details(obj)
logger.info(" - {%s} (type:%s)" % (details["label"], details["type"]))
logger.info("Component initialized")
def __init__(self, obj, parent=None):
""" Constructor method.
Receives the reference to the Blender object.
The second parameter should be the name of the object's parent.
"""
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
morse.sensors.camera.Camera.__init__(self, obj, parent)
# Locate the Blender camera object associated with this sensor
main_obj = self.bge_object
for obj in main_obj.children:
if hasattr(obj, 'lens'):
self.blender_cam = obj
logger.info("Camera object: {0}".format(self.blender_cam))
break
if not self.blender_cam:
logger.error("no camera object associated to the semantic camera. \
The semantic camera requires a standard Blender \
camera in its children.")
# TrackedObject is a dictionary containing the list of tracked objects
# (->meshes with a class property set up) as keys
# and the bounding boxes of these objects as value.
self.trackedObjects = {}
for o in blenderapi.scene().objects:
tagged = ('Type' in o
and o['Type'] == self.tag) or (self.tag in o
and bool(o[self.tag]))
if tagged:
self.trackedObjects[o] = blenderapi.objectdata(
o.name).bound_box
logger.warning(' - %s' % o.name)
if self.noocclusion:
logger.info(
"Semantic camera running in 'no occlusion' mode (fast mode).")
logger.info("Component initialized, runs at %.2f Hz ", self.frequency)
def __init__(self, obj, parent=None):
""" Constructor method.
Receives the reference to the Blender object.
The second parameter should be the name of the object's parent.
"""
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
morse.sensors.camera.Camera.__init__(self, obj, parent)
# Locate the Blender camera object associated with this sensor
main_obj = self.bge_object
for obj in main_obj.children:
if hasattr(obj, 'lens'):
self.blender_cam = obj
logger.info("Camera object: {0}".format(self.blender_cam))
break
if not self.blender_cam:
logger.error("no camera object associated to the semantic camera. \
The semantic camera requires a standard Blender \
camera in its children.")
# TrackedObject is a dictionary containing the list of tracked objects
# (->meshes with a class property set up) as keys
# and the bounding boxes of these objects as value.
self.trackedObjects = {}
for o in blenderapi.scene().objects:
tagged = ('Type' in o and o['Type'] == self.tag) or (self.tag in o and bool(o[self.tag]))
if tagged:
self.trackedObjects[o] = blenderapi.objectdata(o.name).bound_box
logger.warning(' - tracking %s' % o.name)
if self.noocclusion:
logger.info("Semantic camera running in 'no occlusion' mode (fast mode).")
logger.info("Component initialized, runs at %.2f Hz ", self.frequency)
def GetWheelRadius(self, wheelName):
dims=blenderapi.objectdata(wheelName).dimensions
# average the x and y dimension to get diameter - divide by 2 for radius
return (dims[0]+dims[1])/4
def get_wheel_radius(self, wheel_name):
dims = blenderapi.objectdata(wheel_name).dimensions
# average the x and y dimension to get diameter - divide by 2 for radius
radius = (dims[0]+dims[1])/4
return radius
def GetWheelRadius(self, wheelName):
dims = blenderapi.objectdata(wheelName).dimensions
# average the x and y dimension to get diameter - divide by 2 for radius
return (dims[0] + dims[1]) / 4
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 get_wheel_radius(self, wheel_name):
dims = blenderapi.objectdata(wheel_name).dimensions
# average the x and y dimension to get diameter - divide by 2 for radius
radius = (dims[0]+dims[1])/4
return radius
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
