Source code for morse.robots.human
import logging; logger = logging.getLogger("morse." + __name__)
from morse.core import blenderapi
from morse.robots.grasper import RobotGrasper
from morse.core.services import service
[docs]class Human(RobotGrasper):
""" Class definition for the human as a robot entity
Sub class of Morse_Object. """
def __init__(self, obj, parent=None):
# Call the constructor of the parent class
logger.info('%s initialization' % obj.name)
RobotGrasper.__init__(self, obj, parent)
"""
We define here the name of the pr2 grasping hand:
"""
self.hand_name = 'Hand_Grab.R'
logger.info('Component initialized')
@service
[docs] def move(self, speed, rotation):
""" Move the human.
"""
human = self.bge_object
if not human['Manipulate']:
human.applyMovement( [speed,0,0], True )
human.applyRotation( [0,0,rotation], True )
else :
scene = blenderapi.scene()
target = scene.objects['IK_Target_Empty.R']
target.applyMovement([0.0, rotation, 0.0], True)
target.applyMovement([0.0, 0.0, -speed], True)
@service
[docs] def move_head(self, pan, tilt):
""" Move the human head.
"""
human = self.bge_object
scene = blenderapi.scene()
target = scene.objects['Target_Empty']
if human['Manipulate']:
return
target.applyMovement([0.0, pan, 0.0], True)
target.applyMovement([0.0, 0.0, tilt], True)
@service
[docs] def move_hand(self, diff, tilt):
""" move the human hand (wheel). a request to use by a socket.
Done for wiimote remote control.
"""
human = self.bge_object
if human['Manipulate']:
scene = blenderapi.scene()
target = scene.objects['IK_Target_Empty.R']
target.applyMovement([diff, 0.0, 0.0], True)
@service
[docs] def toggle_manipulation(self):
""" change from and to manipulation mode. a request to use by a socket.
Done for wiimote remote control.
"""
human = self.bge_object
scene = blenderapi.scene()
hand_target = scene.objects['IK_Target_Empty.R']
head_target = scene.objects['Target_Empty']
if human['Manipulate']:
human['Manipulate'] = False
# Place the hand beside the body
hand_target.localPosition = [0.0, -0.3, 0.8]
head_target.setParent(human)
head_target.localPosition = [1.3, 0.0, 1.7]
else:
human['Manipulate'] = True
head_target.setParent(hand_target)
# Place the hand in a nice position
hand_target.localPosition = [0.6, 0.0, 1.4]
# Place the head in the same place
head_target.localPosition = [0.0, 0.0, 0.0]
[docs] def default_action(self):
""" Main function of this component. """
pass