def __init__(self, obj, parent=None):
"""
Constructor method.
Receives the reference to the Blender object.
"""
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
GraspingRobot.__init__(self, obj, parent)
"""
We define here the name of the pr2 grasping hand:
"""
self.hand_name = 'Hand.Grasp.PR2'
self.armatures = []
# Search armatures and torso in all objects parented to the pr2 empty
for obj in self.bge_object.childrenRecursive:
# Check if obj is an armature
if type(obj).__name__ == 'BL_ArmatureObject':
self.armatures.append(obj.name)
if obj.name == 'torso_lift_joint':
self.torso = obj
# constant that holds the original height of the torso from the ground
# These values come from the pr2 urdf file
self.TORSO_BASE_HEIGHT = (0.739675 + 0.051)
self.TORSO_LOWER = 0.0 # lower limit on the torso z-translantion
self.TORSO_UPPER = 0.31 # upper limit on the torso z-translation
logger.info('Component initialized')
def __init__(self, obj, parent=None):
"""
Constructor method.
Receives the reference to the Blender object.
"""
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
GraspingRobot.__init__(self, obj, parent)
"""
We define here the name of the pr2 grasping hand:
"""
self.hand_name = 'Hand.Grasp.PR2'
self.armatures = []
# Search armatures and torso in all objects parented to the pr2 empty
for obj in self.bge_object.childrenRecursive:
# Check if obj is an armature
if type(obj).__name__ == 'BL_ArmatureObject':
self.armatures.append(obj.name)
if obj.name == 'torso_lift_joint':
self.torso = obj
# constant that holds the original height of the torso from the ground
# These values come from the pr2 urdf file
self.TORSO_BASE_HEIGHT = (0.739675 + 0.051)
self.TORSO_LOWER = 0.0 # lower limit on the torso z-translantion
self.TORSO_UPPER = 0.31 # upper limit on the torso z-translation
logger.info('Component initialized')
def __init__(self, obj, parent=None):
# Call the constructor of the parent class
logger.info('%s initialization' % obj.name)
GraspingRobot.__init__(self, obj, parent)
# We define here the name of the human grasping hand:
self.hand_name = 'Hand_Grab.R'
logger.info('Component initialized')
def __init__(self, obj, parent=None):
""" Call the constructor of the parent class """
logger.info('%s initialization' % obj.name)
GraspingRobot.__init__(self, obj, parent)
# We define here the name of the human grasping hand:
self.hand_name = 'Hand_Grab.R'
logger.info('Component initialized')
def __init__(self, obj, parent=None):
"""
Constructor method.
Receives the reference to the Blender object.
"""
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
GraspingRobot.__init__(self, obj, parent)
"""
# We define here the name of the pr2 grasping hand:
"""
self.hand_name = 'Hand.Grasp.PR2'
self.armatures = []
# Search armatures and torso in all objects parented to the pr2 empty
for obj in self.bge_object.childrenRecursive:
# Check if obj is an armature
if type(obj).__name__ == 'BL_ArmatureObject':
self.armatures.append(obj.name)
logger.info(obj.name)
logger.info(' ==\n')
if obj.name == 'torso_lift_joint':
self.torso = obj
logger.info(' ==\n')
# constant that holds the original height of the torso from the ground
# These values come from the pr2 urdf file
self.TORSO_BASE_HEIGHT = (0.739675 + 0.051)
self.TORSO_LOWER = 0.0 # lower limit on the torso z-translantion
self.TORSO_UPPER = 0.31 # upper limit on the torso z-translation
self.MIN_DIST = 0.85
self.cancel = False
self.is_ho = False
self.is_gr = False # is grasping?
# raise both hands up
scene = blenderapi.scene()
hand_l = scene.objects['l_elbow_flex_joint']
hand_l.worldOrientation = [
math.radians(0),
math.radians(-90),
math.radians(180)
]
hand_r = scene.objects['r_elbow_flex_joint']
hand_r.worldOrientation = [
math.radians(90),
math.radians(-90),
math.radians(-90)
]
head = scene.objects['head_tilt_joint']
head.worldOrientation = [0, 0, math.radians(90)]
logger.info('Component initialized')
def __init__(self, obj, parent=None):
""" Constructor method.
Receives the reference to the Blender object.
Optionally it gets the name of the object's parent,
but that information is not currently used for a robot. """
# Call the constructor of the parent class
logger.info('%s initialization' % obj.name)
GraspingRobot.__init__(self, obj, parent)
"""
We define here the name of the human_mocap grasping hand.
"""
self.hand_name = 'Hand_Grab.R'
logger.info('Component initialized')
def __init__(self, obj, parent=None):
""" Constructor method.
Receives the reference to the Blender object.
Optionally it gets the name of the object's parent,
but that information is not currently used for a robot. """
# Call the constructor of the parent class
logger.info('%s initialization' % obj.name)
GraspingRobot.__init__(self, obj, parent)
"""
We define here the name of the human_mocap grasping hand.
"""
self.hand_name = 'Hand_Grab.R'
logger.info('Component initialized')
def __init__(self, obj, parent=None):
""" Call the constructor of the parent class """
logger.info("%s initialization" % obj.name)
GraspingRobot.__init__(self, obj, parent)
# We define here the name of the human grasping hand:
# self.hand_name = 'Hand_Grab.R'
armatures = blenderapi.get_armatures(self.bge_object)
if len(armatures) == 0:
logger.error("The human <%s> has not armature. Something is wrong!" % obj.name)
return
if len(armatures) > 1:
logger.warning("The human <%s> has more than one armature. Using the first one" % obj.name)
self.armature = armatures[0]
logger.info("Component initialized")
def apply_speed(self, kind, linear_speed, angular_speed):
"""
Apply speed parameter to the human.
This overloaded version of Robot.apply_speed manage the walk/rest
animations of the human avatar.
:param string kind: not used. Forced to 'Position' control for now.
:param list linear_speed: the list of linear speed to apply, for
each axis, in m/s.
:param list angular_speed: the list of angular speed to apply,
for each axis, in rad/s.
"""
# TODO: adjust this value depending on linear_speed to avoid 'slipping'
speed_factor = 1.0
# start/end frames of walk cycle in human_rig.blend
# TODO: get that automatically from the timeline?
WALK_START_FRAME = 9
WALK_END_FRAME = 32
if self._animations:
if linear_speed[0] != 0 or angular_speed[2] != 0:
self.armature.playAction("walk",
WALK_START_FRAME,
WALK_END_FRAME,
speed=speed_factor)
else:
self.armature.playAction("walk", WALK_START_FRAME,
WALK_START_FRAME)
if kind != 'Position':
if not self.warnedAboutControlType:
logger.error(
"Only the control type 'Position' is currently supported "
"by the human avatar! You need to configure accordingly"
" your motion actuator (for example, "
"\"motion.properties(ControlType='Position')\")")
self.warnedAboutControlType = True
else:
GraspingRobot.apply_speed(self, 'Position', linear_speed,
angular_speed)
def apply_speed(self, kind, linear_speed, angular_speed):
"""
Apply speed parameter to the human.
This overloaded version of Robot.apply_speed manage the walk/rest
animations of the human avatar.
:param string kind: not used. Forced to 'Position' control for now.
:param list linear_speed: the list of linear speed to apply, for
each axis, in m/s.
:param list angular_speed: the list of angular speed to apply,
for each axis, in rad/s.
"""
# TODO: adjust this value depending on linear_speed to avoid 'slipping'
speed_factor = 1.0
# start/end frames of walk cycle in human_rig.blend
# TODO: get that automatically from the timeline?
WALK_START_FRAME = 9
WALK_END_FRAME = 32
if self._animations:
if linear_speed[0] != 0 or angular_speed[2] != 0:
self.armature.playAction("walk",
WALK_START_FRAME, WALK_END_FRAME,
speed=speed_factor)
else:
self.armature.playAction("walk",
WALK_START_FRAME, WALK_START_FRAME)
if kind != 'Position':
if not self.warnedAboutControlType:
logger.error("Only the control type 'Position' is currently supported "
"by the human avatar! You need to configure accordingly"
" your motion actuator (for example, "
"\"motion.properties(ControlType='Position')\")")
self.warnedAboutControlType = True
else:
GraspingRobot.apply_speed(self, 'Position', linear_speed, angular_speed)
def __init__(self, obj, parent=None):
""" Call the constructor of the parent class """
logger.info('%s initialization' % obj.name)
GraspingRobot.__init__(self, obj, parent)
# We define here the name of the human grasping hand:
self.hand_name = 'Hand_Grab.R'
self.MIN_DIST = 0.8
# these are to feed the human action back to the system (current state)
self.is_wa = False # is human walking away
self.is_gr = False # is human grasping
self.is_la = False # is human looking around
self.is_wr = False # is human warning the robot
self.is_ag = False # is human attempting to grasp
self.is_ov = True # is the object visible to human
self.is_oir = True # is the object reachable to human
self.is_ho = False # if human has the object
logger.info('Component initialized')
def __init__(self, obj, parent=None):
""" Call the constructor of the parent class """
logger.info('%s initialization' % obj.name)
GraspingRobot.__init__(self, obj, parent)
# We define here the name of the human grasping hand:
#self.hand_name = 'Hand_Grab.R'
armatures = blenderapi.get_armatures(self.bge_object)
if len(armatures) == 0:
logger.error(
"The human <%s> has not armature. Something is wrong!" %
obj.name)
return
if len(armatures) > 1:
logger.warning(
"The human <%s> has more than one armature. Using the first one"
% obj.name)
self.armature = armatures[0]
logger.info('Component initialized')
self.warnedAboutControlType = False
