def __init__(self, name=None):
SensorCreator.__init__(self, name, "morse/sensors/odometry", \
"OdometryClass", "odometry")
mesh = Cylinder("OdometryCylinder")
mesh.scale = (.02, .02, .02)
mesh.color(.5, .5, .5)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name, "morse/sensors/pose", \
"PoseClass", "pose")
mesh = Cube("PoseCube")
mesh.scale = (.04, .04, .02)
mesh.color(.8, .3, .1)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name, "morse/sensors/imu", \
"ImuClass", "imu")
mesh = Cube("IMUCube")
mesh.scale = (.04, .04, .02)
mesh.color(.3, .9, .6)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name, "morse/sensors/accelerometer", \
"AccelerometerClass", "accelerometer")
mesh = Cube("AccelerometerCube")
mesh.scale = (.04, .04, .02)
mesh.color(.3, .9, .6)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name, "morse.sensors.battery_state.BatteryStateSensor", "battery")
mesh = Cylinder("BatteryCylinder")
mesh.scale = (.01, .01, .04)
mesh.color(.2, .2, .2)
self.append(mesh)
self.properties(DischargingRate = 0.05)
def __init__(self, name=None):
SensorCreator.__init__(self, name,"morse/sensors/gyroscope", \
"GyroscopeClass", "gyroscope")
mesh = Sphere("GyroscopeSphere")
mesh.scale = (.04, .04, .01)
mesh.color(.8, .4, .1)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name, "morse/sensors/thermometer", \
"ThermometerClass", "thermometer")
mesh = Cylinder("ThermometerCylinder")
mesh.scale = (.02, .02, .04)
mesh.color(0, .6, .5)
self.append(mesh)
def __init__(self, name=None, cclass="VideoCameraClass", \
cpath="morse/sensors/video_camera", bname = "video_camera"):
SensorCreator.__init__(self, name, cpath, cclass, bname)
camera = Camera("CameraRobot")
camera.name = "CameraRobot"
self.append(camera)
self.properties(cam_width = 256, cam_height = 256, cam_focal = 35.0, \
capturing = True, Vertical_Flip = True)
# set the frequency to 3 (20ips for ticrate = 60Hz)
self.frequency(3)
# add toggle capture action (`Space` key)
bpymorse.add_sensor(type="KEYBOARD")
obj = bpymorse.get_context_object()
sensor = obj.game.sensors[-1]
sensor.key = 'SPACE'
bpymorse.add_controller(type='LOGIC_AND')
controller = obj.game.controllers[-1]
bpymorse.add_actuator(type='PROPERTY')
actuator = obj.game.actuators[-1]
actuator.mode = 'TOGGLE'
actuator.property = 'capturing'
controller.link(sensor = sensor, actuator = actuator)
# looking in +x
self.rotate(x=math.pi/2, z=-math.pi/2)
# append CameraMesh with its textures
imported_objects = self.append_meshes(['CameraMesh'], "video_camera")
# TODO fix the CameraMesh location and rotation in video_camera.blend
camera_mesh = imported_objects[0]
camera_mesh.rotation_euler = (math.pi/2, -math.pi/2, 0)
camera_mesh.location = (0, 0, 0.015)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cylinder("BatteryCylinder")
mesh.scale = (.01, .01, .04)
mesh.color(.2, .2, .2)
self.append(mesh)
self.properties(DischargingRate = 0.05)
def __init__(self, name=None):
SensorCreator.__init__(self, name, "morse/sensors/stereo_unit", \
"StereoUnitClass", "stereo_unit")
mesh = Cube("StereoUnitCube")
mesh.scale = (.025, .24, .01)
mesh.color(.8, .8, .8)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
self.camera = Camera("CameraRobot")
self.camera.name = "CameraRobot"
self.append(self.camera)
self.properties(cam_width = 256, cam_height = 256, cam_focal = 35.0,
capturing = True, Vertical_Flip = True)
# set the frequency to 20 Hz
self.frequency(20)
# add toggle capture action (`Space` key)
bpymorse.add_sensor(type="KEYBOARD")
obj = bpymorse.get_context_object()
sensor = obj.game.sensors[-1]
sensor.key = 'SPACE'
bpymorse.add_controller(type='LOGIC_AND')
controller = obj.game.controllers[-1]
bpymorse.add_actuator(type='PROPERTY')
actuator = obj.game.actuators[-1]
actuator.mode = 'TOGGLE'
actuator.property = 'capturing'
controller.link(sensor = sensor, actuator = actuator)
# looking in +X
SensorCreator.rotate(self, x=math.pi/2, z=math.pi/2)
# append CameraMesh with its textures
self.append_meshes(['CameraMesh'], "camera")
self.rotate(z=math.pi)
def __init__(self, name=None):
SensorCreator.__init__(self, name, \
"morse.sensors.laserscanner.LaserScannerRotationZ",\
"velodyne")
# set components-specific properties
self.properties(Visible_arc = True, laser_range = 50.0, \
scan_window = 31.500, resolution = 0.5)
""" # do it in `morse.sensors.velodyne`
# Add Always (use_true_level) - And - Motion (rotation z: 0.017453)
bpymorse.add_sensor(type='ALWAYS')
obj = bpymorse.get_context_object()
sensor = obj.game.sensors[-1]
sensor.use_pulse_true_level = True
bpymorse.add_controller(type='LOGIC_AND')
controller = obj.game.controllers[-1]
# Motion (rotation z: 0.017453)
bpymorse.add_actuator(type='MOTION')
actuator = obj.game.actuators[-1]
actuator.offset_rotation.z = math.radians(1)
controller.link(sensor = sensor, actuator = actuator)
"""
# append velodyne mesh, from MORSE_COMPONENTS/sensors/velodyne.blend
imported_objects = self.append_meshes(['VelodyneMesh', 'Arc_31'])
# TODO fix the VelodyneMesh location in velodyne.blend (z=1.2m!)
velodyne_mesh = self.get_child('VelodyneMesh', imported_objects)
velodyne_mesh.location.z = 0
def __init__(self, name=None):
SensorCreator.__init__(self, name, "morse/sensors/gps", \
"GPSClass", "gps")
mesh = Sphere("GPSSphere")
mesh.scale = (.04, .04, .01)
mesh.color(.5, .5, .5)
self.append(mesh)
def properties(self, **kwargs):
SensorCreator.properties(self, **kwargs)
if 'collision_property' in kwargs:
try:
sensor = self._bpy_object.game.sensors[-1]
sensor.property = kwargs['collision_property']
except KeyError:
pass
def __init__(self, name=None):
SensorCreator.__init__(self, name,
"nuclear_radiation_sensor.sensors.nuclear_radiation.NuclearRadiation")
mesh = Cube("SensorCube")
mesh.scale = (0.016, .028, .01)
mesh.color(0.8, 0.0, 0.0)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cylinder("ProximityCylinder")
mesh.scale = (.02, .02, .02)
mesh.color(.5, .5, .5)
self.append(mesh)
self.properties(Range = 30.0, Track = "Robot_Tag")
self.frequency(12)
def __init__(self, name="Kinect"):
SensorCreator.__init__(self, name, "morse.sensors.kinect.Kinect", "kinect")
mesh = Cube("KinectMesh")
mesh.scale = (.02, .1, .02)
mesh.color(.8, .8, .8)
self.append(mesh)
self.video_camera = VideoCamera('rgb')
self.video_camera.properties(cam_width = 128, cam_height=128)
self.depth_camera = DepthCamera('depth')
#self.depth_camera.properties(Class='DepthVideoCamera')
self.depth_camera.properties(cam_width = 128, cam_height=128)
self.append(self.video_camera)
self.append(self.depth_camera)
# TODO find Kinect spec for cameras positions
self.video_camera.location = (.06, +.08, .04)
self.depth_camera.location = (.06, -.08, .04)
def properties(self, **kwargs):
self.select()
# We may be use it before the definition of radar
# But angle and distance can only be defined by user, in case
# where we are sure that Radar is well defined
try:
radar = self._bpy_object.game.sensors["Radar"]
if 'Angle' in kwargs:
radar.angle = kwargs['Angle']
if 'Distance' in kwargs:
radar.distance = kwargs['Distance']
if 'Freq' in kwargs:
radar.freq = kwargs['Freq']
except KeyError:
pass
SensorCreator.properties(self, **kwargs)
def __init__(self, name="Kinect"):
SensorCreator.__init__(self, name, "morse.sensors.kinect.Kinect",
"kinect")
mesh = Cube("KinectMesh")
mesh.scale = (.02, .1, .02)
mesh.color(.8, .8, .8)
self.append(mesh)
self.video_camera = VideoCamera('rgb')
self.video_camera.properties(cam_width=128, cam_height=128)
self.depth_camera = DepthCamera('depth')
#self.depth_camera.properties(Class='DepthVideoCamera')
self.depth_camera.properties(cam_width=128, cam_height=128)
self.append(self.video_camera)
self.append(self.depth_camera)
# TODO find Kinect spec for cameras positions
self.video_camera.location = (.06, +.08, .04)
self.depth_camera.location = (.06, -.08, .04)
def __init__(self, name="Kinect"):
# meta sensor composed of 2 cameras (rgb and depth)
SensorCreator.__init__(self, name, "morse.core.sensor.Sensor", "kinect")
mesh = Cube("KinectMesh")
mesh.scale = (.02, .1, .02)
mesh.color(.8, .8, .8)
self.append(mesh)
self.video_camera = VideoCamera('rgb')
self.video_camera.properties(cam_width = 128, cam_height=128)
self.depth_camera = DepthCamera('depth')
self.depth_camera.properties(classpath='morse.sensors.depth_camera.DepthVideoCamera')
self.depth_camera.properties(cam_width = 128, cam_height=128, Vertical_Flip=True)
self.append(self.video_camera)
self.append(self.depth_camera)
# TODO find Kinect spec for cameras positions
self.video_camera.location = (.06, +.08, .04)
self.depth_camera.location = (.06, -.08, .04)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cylinder("SearchAndRescueCylinder")
mesh.scale = (.15, .04, .04)
mesh.color(.2, .8, .6)
mesh.rotate(y = math.pi / 2)
self.append(mesh)
self.frequency(6)
self.properties(Heal_range = 2.0, Abilities = "1,2")
# add Radar freq: 3 Hz, prop: Injured, angle: 60.0, distance: 10.0
bpymorse.add_sensor(type="RADAR", name="Radar")
obj = bpymorse.get_context_object()
sensor = obj.game.sensors[-1]
sensor.angle = 60.0
sensor.distance = 10.0
sensor.use_pulse_true_level = True
self._set_sensor_frequency(sensor, 20)
sensor.property = "Injured"
# link it to the Python controller
controller = obj.game.controllers[-1]
controller.link(sensor = sensor)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cylinder("SearchAndRescueCylinder")
mesh.scale = (.15, .04, .04)
mesh.color(.2, .8, .6)
mesh.rotate(y = math.pi / 2)
self.append(mesh)
self.frequency(6)
self.properties(Heal_range = 2.0, Abilities = "1,2")
# add Radar freq: 3 Hz, prop: Injured, angle: 60.0, distance: 10.0
bpymorse.add_sensor(type="RADAR", name="Radar")
obj = bpymorse.get_context_object()
sensor = obj.game.sensors[-1]
sensor.angle = 60.0
sensor.distance = 10.0
sensor.use_pulse_true_level = True
sensor.frequency = 20
sensor.property = "Injured"
# link it to the Python controller
controller = obj.game.controllers[-1]
controller.link(sensor = sensor)
def __init__(self, name="Kinect"):
# meta sensor composed of 2 cameras (rgb and depth)
SensorCreator.__init__(self, name, "morse.core.sensor.Sensor",
"kinect")
mesh = Cube("KinectMesh")
mesh.scale = (.02, .1, .02)
mesh.color(.8, .8, .8)
self.append(mesh)
self.video_camera = VideoCamera('rgb')
self.video_camera.properties(cam_width=128, cam_height=128)
self.depth_camera = DepthCamera('depth')
self.depth_camera.properties(
classpath='morse.sensors.depth_camera.DepthVideoCamera')
self.depth_camera.properties(cam_width=128,
cam_height=128,
Vertical_Flip=True)
self.append(self.video_camera)
self.append(self.depth_camera)
# TODO find Kinect spec for cameras positions
self.video_camera.location = (.06, +.08, .04)
self.depth_camera.location = (.06, -.08, .04)
def __init__(self, name=None):
""" Sensor to detect objects colliding with the current object,
with more settings than the Touch sensor
"""
SensorCreator.__init__(self, name)
obj = bpymorse.get_context_object()
# Sensor, Collision Sensor, detects static and dynamic objects but
# not the other collision sensor objects.
obj.game.physics_type = 'SENSOR'
# Specify a collision bounds type other than the default
obj.game.use_collision_bounds = True
# replace Always sensor by Collision sensor
sensor = obj.game.sensors[-1]
sensor.type = 'COLLISION'
# need to get the new Collision Sensor object
sensor = obj.game.sensors[-1]
sensor.use_pulse_true_level = True # FIXME doesnt seems to have any effect
# Component mesh (eye sugar)
mesh = Cube("CollisionMesh")
mesh.scale = (.02, .02, .02)
mesh.color(.8, .2, .1)
self.append(mesh)
def __init__(self, name=None):
""" Sensor to detect objects colliding with the current object,
with more settings than the Touch sensor
"""
SensorCreator.__init__(self, name)
obj = bpymorse.get_context_object()
# Sensor, Collision Sensor, detects static and dynamic objects but
# not the other collision sensor objects.
obj.game.physics_type = 'SENSOR'
# Specify a collision bounds type other than the default
obj.game.use_collision_bounds = True
# replace Always sensor by Collision sensor
sensor = obj.game.sensors[-1]
sensor.type = 'COLLISION'
# need to get the new Collision Sensor object
sensor = obj.game.sensors[-1]
sensor.use_pulse_true_level = True # FIXME doesnt seems to have any effect
# Component mesh (eye sugar)
mesh = Cube("CollisionMesh")
mesh.scale = (.02, .02, .02)
mesh.color(.8, .2, .1)
self.append(mesh)
def __init__(self, name=None):
""" Sensor to detect objects colliding with the current object.
Doc: https://www.blender.org/manual/game_engine/logic/sensors/collision.html
"""
SensorCreator.__init__(self, name)
obj = bpymorse.get_context_object()
# Sensor, Collision Sensor, detects static and dynamic objects but
# not the other collision sensor objects.
obj.game.physics_type = 'SENSOR'
# Specify a collision bounds type other than the default
obj.game.use_collision_bounds = True
obj.scale = (0.02,0.02,0.02)
# replace Always sensor by Collision sensor
sensor = obj.game.sensors[-1]
sensor.type = 'COLLISION'
# need to get the new Collision Sensor object
sensor = obj.game.sensors[-1]
sensor.use_pulse_true_level = True # FIXME doesnt seems to have any effect
sensor.use_material = False # we want to filter by property, not by material
# Component mesh (eye sugar)
mesh = Cube("CollisionMesh")
mesh.color(.8, .2, .1)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name, "morse.core.sensor.Sensor", "clock")
def __init__(self, name=None):
SensorCreator.__init__(self, name)
self.frequency(1000)
def append(self, cam):
self.cameras_.append(cam)
SensorCreator.append(self, cam)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cube("PoseCube")
mesh.scale = (.04, .04, .02)
mesh.color(.8, .3, .1)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name, "videoray_sim.sensors.completestate.Completestate", "completestate")
mesh = Cube("CompletestateCube")
mesh.scale = (.04, .04, .02)
mesh.color(.3, .9, .6)
self.append(mesh)
def __init__(self, sensors, name=None):
SensorCreator.__init__(self, name)
self.sensors = sensors
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Sphere("GPSSphere")
mesh.scale = (.04, .04, .01)
mesh.color(.5, .5, .5)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name, "morse.sensors.imu.IMU", "imu")
mesh = Cube("IMUCube")
mesh.scale = (.04, .04, .02)
mesh.color(.3, .9, .6)
self.append(mesh)
def __init__(self, sensors, name=None):
SensorCreator.__init__(self, name)
self.sensors = sensors
def rotate(self, x=0, y=0, z=0):
SensorCreator.rotate(self, x=y, y=z, z=x)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cylinder("ThermometerCylinder")
mesh.scale = (.02, .02, .04)
mesh.color(0, .6, .5)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name,
"morse.sensors.armature_pose.ArmaturePose",
"armature_pose")
def __init__(self, name=None):
SensorCreator.__init__(self, name)
self.master = None
self.cameras_ = []
def __init__(self, name=None):
SensorCreator.__init__(self, name,
"morse.sensors.ptu_posture.PTUPosture",
"ptu_posture")
def rotate(self, x=0, y=0, z=0):
SensorCreator.rotate(self, x=y, y=z, z=x)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
def __init__(self, name=None):
SensorCreator.__init__(self, name,
"morse.sensors.jido_posture.JidoPosture",
"jido_posture")
self.properties(KUKAname="KUKA_LWR", PTUname="PTU")
def __init__(self, name=None):
SensorCreator.__init__(self, name, "morse.sensors.gps.GPS", "gps")
mesh = Sphere("GPSSphere")
mesh.scale = (.04, .04, .01)
mesh.color(.5, .5, .5)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
def __init__(self, name=None):
SensorCreator.__init__(self, name, "morse.sensors.velocity.Velocity", "velocity")
mesh = Sphere("VelocitySphere")
mesh.scale = (.04, .04, .01)
mesh.color(.5, .5, .5)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cylinder("OdometryCylinder")
mesh.scale = (.02, .02, .02)
mesh.color(.5, .5, .5)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name, "morse.sensors.stereo_unit.StereoUnit", "stereo_unit")
mesh = Cube("StereoUnitCube")
mesh.scale = (.025, .24, .01)
mesh.color(.8, .8, .8)
self.append(mesh)
def after_renaming(self):
SensorCreator.properties(self,
master_camera=self.cameras[self.master].name)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Sphere("GPSSphere")
mesh.scale = (.04, .04, .01)
mesh.color(.5, .5, .5)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Sphere("GyroscopeSphere")
mesh.scale = (.04, .04, .01)
mesh.color(.8, .4, .1)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cube("AccelerometerCube")
mesh.scale = (.04, .04, .02)
mesh.color(.3, .9, .6)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cylinder("OdometryCylinder")
mesh.scale = (.02, .02, .02)
mesh.color(.5, .5, .5)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Sphere("GyroscopeSphere")
mesh.scale = (.04, .04, .01)
mesh.color(.8, .4, .1)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cube("PoseCube")
mesh.scale = (.04, .04, .02)
mesh.color(.8, .3, .1)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cube("AccelerometerCube")
mesh.scale = (.04, .04, .02)
mesh.color(.3, .9, .6)
self.append(mesh)
def __init__(self, name=None):
SensorCreator.__init__(self, name, ComponentCreator.USE_BLEND)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cube("StereoUnitCube")
mesh.scale = (.025, .24, .01)
mesh.color(.8, .8, .8)
self.append(mesh)
def __init__(self, sensors, name=None, type=""):
SensorCreator.__init__(self, name,
"morse.sensors.compound.CompoundSensor", type)
self.sensors = sensors