Source code for morse.robots.mocap_human

import logging; logger = logging.getLogger("morse." + __name__)
from morse.robots.grasping_robot import GraspingRobot
from morse.core.services import service
from morse.core import blenderapi

class MocapHuman(GraspingRobot):
    """ Class definition for the human avatar as a robot entity
    Sub class of Morse_Object.
    This human is set to be controlled using data from an Xtion/Kinect sensor
    """

    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')

    @service
    def move(self, speed, rotation):
        """ Move the human.
        """
        human = self.bge_object

        #if not human['Manipulate']:
        human.applyMovement( [speed, 0.0, 0.0], True )
        human.applyMovement( [0.0, rotation, 0.0], True )
        #else :
        #    scene = blenderapi.scene()
        #    target = scene.objects['Hand_Grab.R']
        #    target.applyMovement([0.0, rotation, 0.0], True)
        #    target.applyMovement([0.0, 0.0, -speed], True)


    @service
    def move_head(self, pan, tilt):
        """ Move the human head.
        """
        human = self.bge_object
        scene = blenderapi.scene()
        target = scene.objects['IK_Target_Empty.Head']

        if human['Manipulate']:
            return

        target.applyMovement([0.0, pan, 0.0], True)
        target.applyMovement([0.0, 0.0, tilt], True)

    @service
    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
    def toggle_manipulation(self):
        """ Switch manipulation mode on and off. 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['IK_Target_Empty.Head']
        torso = scene.objects['Torso_Reference_Empty']

        if human['Manipulate']:
            human['Manipulate'] = False
            # Place the hand beside the body
            hand_target.localPosition = [0.3, -0.3, 0.9]
            # Make the head follow the body
            head_target.setParent(torso)
            # Put the head_target in front and above the waist
            head_target.localPosition = [0.5, 0.0, 0.5]
            logger.debug("Moving head_target to CENTER: %s" % head_target.localPosition)

            #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
            # Place the hand in a nice position
            hand_target.localPosition = [0.6, 0.0, 1.4]
            # Make the head follow the hand
            head_target.setParent(hand_target)
            # Reset the head_target position to the same as its parent
            head_target.localPosition = [0.0, 0.0, 0.0]
            logger.debug("Moving head_target to HAND: %s" % head_target.localPosition)


            #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]

    @service
    def switch_cameras(self):
        """ Change between the main camera view in MORSE and the first person camera """
        scene = blenderapi.scene()
        index = blenderapi.persistantstorage().current_camera_index
        next_camera = scene.cameras[index]
        scene.active_camera = next_camera
        logger.info("Showing view from camera: '%s'" % next_camera.name)
        # Disable mouse cursor for Human camera
        if next_camera.name == "Human_Camera":
            blenderapi.mousepointer(visible = False)
        else:
            blenderapi.mousepointer(visible = True)
        # Update the index for the next call
        index = (index + 1) % len(scene.cameras)
        blenderapi.persistantstorage().current_camera_index = index



    def default_action(self):
        """ Main function of this component. """
        pass