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, 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')
