This tutorial shows how to build a simulation with a robot and a human that is interactively controlled by the simulation user.
In this simple scenario, the robot is ordered to follow the human.
We will use the Builder API to create our scene.
Create a new scene hri.py and add these lines:
from morse.builder import *
# Import the human model.
human = Human()
# Use the standard environment 'indoor-1.blend'. You could use any other.
env = Environment('indoors-1/indoor-1')
Launch MORSE with this script (morse run hri.py).
Note
If you are running MORSE on a Unix machine, you can start your script with #! /usr/bin/env morseexec.
Mark then your script as executable (chmod +x hri.py). You can now quickly start your simulation by calling ./hri.py.
You can control the human with the w, a, s, d keys.
When moving the mouse, you displace the yellow IK target of the head. This allows you to control the head direction.
Our human can pick and release objects. Let’s add a new object (a cornflakes box, from the kitchen objects library) on one of the tables. Exit the simulation (Esc), and re-open your script.
Add the following lines:
from morse.builder import *
human = Human()
# Import, configure and place a static object from 'kitchen_objects.blend'.
cornflakes = PassiveObject("props/kitchen_objects", "Cornflakes")
cornflakes.setgraspable()
cornflakes.properties(Label = "My cornflakes")
cornflakes.translate(-7, 3, 1.1)
env = Environment('indoors-1/indoor-1')
You can learn more on passive objects here.
Start again the simulation (morse run hri.py), and press the x key to switch to the manipulation mode. You can control the hand with the mouse while holding Middle Mouse Button. Press the Left Mouse Button with the crosshairs over an object to pick it, and press Right Mouse Button to drop the object.
Check the human component documentation for more details on what can be done with the human component.
As a first step, we would like to export the position of the human in the world. To do so, we need the Pose sensor.
Appending a pose sensor to the human is easy:
from morse.builder import *
human = Human()
# Import the pose sensor and attach it to the human.
pose = Pose()
human.append(pose)
# [...]
In this tutorial, we will use sockets to stream the pose out of MORSE:
from morse.builder import *
human = Human()
pose = Pose()
human.append(pose)
# Set the pose sensor to use the socket interface to communicate
# with modules outside of MORSE.
pose.add_stream('socket')
# [...]
You can now re-run the simulation, as usual. The human pose is now exported.
We can retrieve the pose of the human from a regular Python script pymorse:
from pymorse import Morse
def printer(data):
print("Pose=" + str(data))
with Morse() as morse:
morse.human.pose.subscribe(printer)
# Listen to pose updates for 10 sec
morse.sleep(10)
You can run this script from any terminal, on the same machine as MORSE (or on a distant one, just replace localhost by the appropriate host).
Note
the script above uses the pymorse API which hides the socket interface. You could achieve roughly the same result with a direct socket connection:
import sys, socket, json host = "localhost" # Port of the 'stream' of the pose sensor. By default, #starts at 60000 and increments for each sensor. You can have a look to #MORSE console output to know exactly which port is used by which sensor. port = 60000 sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) sock.connect((host, port)) morse = sock.makefile("r") data = json.loads(morse.readline()) print(str(data))