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 __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
