Source code for morse.builder.robots.human

import logging; logger = logging.getLogger("morserobots." + __name__)
from morse.builder import bpymorse
from morse.builder import GroundRobot
from morse.builder.actuators import Armature
from morse.builder.sensors import ArmaturePose

class Human(GroundRobot):
    """ Append a human model to the scene.

    Usage example:

    .. code-block:: python

       #! /usr/bin/env morseexec

       from morse.builder import *

       human = Human()
       human.translate(x=5.5, y=-3.2, z=0.0)
       human.rotate(z=-3.0)

       human.skeleton.add_stream('pocolibs')

    Currently, only one human per simulation is supported.

    Detailed documentation
    ----------------------

    The MORSE human avatar is based on a 3D model generated from MakeHuman, and
    stored in human_rig.blend.

    The model is rigged with an armature (`human.skeleton`), used to control the
    postures of the human and to deform accordingly the human mesh.

    This armature is used by MORSE as both a :doc:`sensor to read and export
    the human pose <../sensors/armature_pose>` and :doc:`an actuator
    <../actuators/armature>` to modify the pose.

    TODO: give code examples to read and modify the pose

    The armature defines 5 particular points (**IK targets**) that can be
    manipulated to control the human model in a simpler way: the head, the two
    wrists and the two feet.

    """

    # list of human bones that we want to control via IK targets
    IK_TARGETS = ["head", "wrist_L", "wrist_R", "foot_L", "foot_R"]

    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 add_interface(self, interface):
        if interface == "socket":
            self.joint_states.add_stream("socket")
            self.joint_states.add_service("socket")
            self.skeleton.add_service('socket')

        elif interface == "ros":

            self.joint_states.add_stream("ros")

            self.skeleton.add_service("ros")
            self.skeleton.add_overlay("ros",
              "morse.middleware.ros.overlays.armatures.ArmatureController")

        elif interface == "pocolibs":
            self.skeleton.properties(classpath="morse.sensors.human_posture.HumanPosture")
            self.add_stream(interface)