morse.services package

Submodules

morse.services.communication_services module

class Communication

Bases: morse.core.abstractobject.AbstractObject

action()

distance_and_view(robot1, robot2)

Return the distance between the two robots, and a boolean which described if one can view the other.

name()

The name of the component, as appearing when exposing services for instance.

morse.services.supervision_services module

class Supervision

Bases: morse.core.abstractobject.AbstractObject

action()

activate(component_name)

Enable the functionality of the component specified

deactivate(component_name)

Stop the specified component from calling its default_action method

details()

Returns a structure containing all possible details about the simulation currently running, including the list of robots, the list of services and datastreams, the list of middleware in use, etc.

get_camarafp_position()

Get the CamaraFP (MORSE’ environment camera) world position. [x, y, z]

Returns:The camera’s world position. [x, y, z].

get_camarafp_projection_matrix()

Get the CamaraFP (MORSE’ environment camera) 4x4 projection matrix

get_camarafp_transform()

Get the CamaraFP (MORSE’ environment camera) world space transform matrix.

Returns:The camera’s world space transform matrix. 4x4 Matrix [[float]]

get_scene_objects()

Returns a hierarchial dictonary structure of all objects in the scene along with their positions and orientations, formated as a Python string representation. The structure: {object_name: [dict_of_children, position_tuple, quaternion_tuple], object_name: [dict_of_children, position_tuple, quaternion_tuple], …}

list_robots()

Return a list of the robots in the current scenario

Uses the list generated during the initialisation of the scenario

name()

The name of the component, as appearing when exposing services for instance.

quit()

Cleanly quit the simulation

reset_objects()

Restore all simulation objects to their original position

Upon receiving the request using sockets, call the ‘reset_objects’ function located in morse/blender/main.py

restore_dynamics()

Resumes physics for all object in the scene.

set_camarafp_far_clip(far_clip)

Set the CamaraFP (MORSE’ environment camera) far clip distance

Parameters:far_clip (float) – The camera’s far clip distance.

set_camarafp_position(position)

Set the CamaraFP (MORSE’ environment camera) world position. [x, y, z]

Parameters:position (list(float)) – The camera’s world position. [x, y, z].

set_camarafp_projection_matrix(projection_matrix)

Set the CamaraFP (MORSE’ environment camera) 4x4 projection matrix

Parameters:projection_matrix (4x4 Matrix [[float]]) – The camera’s 4x4 projection matrix.

set_camarafp_transform(transform)

Set the CamaraFP (MORSE’ environment camera) world space transform matrix.

Parameters:transform (4x4 Matrix [[float]]) – The camera’s world space transform matrix.

set_log_level(component, level)

Allow to change the logger level of a specific component

Parameters:

• component (string) – the name of the logger you want to modify
• level (string) – the desired level of logging

set_object_dynamics(object_name, state)

Enable or disable the dynamics for an individual object.

Note: When turning on dynamics, the object will continue with the velocities it had when it was turned off.

Parameters:

• object_name (string) – The name of the object to change.
• boolean (state) – Turn on dynamics(True), or off (False)

set_object_position(object_name, position, orientation=None)

Set the position (and optionally orientation of an object in the simulation. [x, y, z]

param position:The objects’s world position. [x, y, z]. type position:list(float) param orientation:  (optional) The object’s world

orientation [roll pitch yaw] in radians :type: orientation: list(float)

set_object_visibility(object_name, visible, do_children)

Set the visibility of an object in the simulation.

Note: The object will still have physics and dynamics despite being invisible.

Parameters:

• object_name (string) – The name of the object to change visibility of.
• boolean (do_children) – Make the object visible(True) or invisible(False)
• boolean – If True then the visibility of all children of

object_name is also set.

suspend_dynamics()

Suspends physics for all object in the scene.

terminate()

Terminate the simulation (no finalization done!)

get_obj_by_name(name)

Return object in the scene associated to :param name: If it does not exists, throw a MorseRPCInvokationError

get_structured_children_of(blender_object)

Returns a nested dictionary of the given objects children, recursively. The retun format is as follows:

{blender_object.name: [children_dictionary, position, orientation]}

where children_dictionary is another of the same format, but with the keys being the children of blender_object. This continues down the entire tree structure.

Parameters:blender_object (KX_GameObject) – The Blender object to return children

for.

morse.services.time_services module

class TimeServices

Bases: morse.core.abstractobject.AbstractObject

action()

mode()

Return the current time management mode

name()

The name of the component, as appearing when exposing services for instance.

now()

Return the simulator time, in seconds, since Epoch

set_time_scale(value)

Modify the time_scale parameter, allowing to slowing or accelerating time

sleep(callback, *param)

Sleep for time seconds

Param:a float representing the time to wait (in second)

statistics()

Return various statistics associated to the specific time management mode

Module contents