morse.services package¶
Submodules¶
morse.services.communication_services module¶
- class Communication[source]¶
Bases:
AbstractObject
morse.services.supervision_services module¶
- class Supervision[source]¶
Bases:
AbstractObject
- deactivate(component_name)[source]¶
Stop the specified component from calling its default_action method
- details()[source]¶
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()[source]¶
Get the CamaraFP (MORSE’ environment camera) world position. [x, y, z]
- Returns:
The camera’s world position. [x, y, z].
- get_camarafp_projection_matrix()[source]¶
Get the CamaraFP (MORSE’ environment camera) 4x4 projection matrix
- get_camarafp_transform()[source]¶
Get the CamaraFP (MORSE’ environment camera) world space transform matrix.
- Returns:
The camera’s world space transform matrix. 4x4 Matrix [[float]]
- get_scene_objects()[source]¶
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()[source]¶
Return a list of the robots in the current scenario
Uses the list generated during the initialisation of the scenario
- reset_objects()[source]¶
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
- set_camarafp_far_clip(far_clip)[source]¶
Set the CamaraFP (MORSE’ environment camera) far clip distance
- Parameters:
far_clip (float) – The camera’s far clip distance.
- set_camarafp_position(position)[source]¶
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)[source]¶
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)[source]¶
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)[source]¶
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)[source]¶
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)[source]¶
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)[source]¶
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.
- get_obj_by_name(name)[source]¶
Return object in the scene associated to :param name: If it does not exists, throw a MorseRPCInvokationError
- get_structured_children_of(blender_object)[source]¶
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.