semanticcamera.rotate(0.0, 0.0, 0.0)
semanticcamera.properties(relative=True, cam_width=640, cam_height=480, cam_far=20, cam_near= 0.1, cam_focal=25)
semanticcamera.add_interface('ros', topic= "/humancam", frame_id= "/head_xtion_rgb_optical_frame")
# tum_kitchen
robot.translate(x=2.5, y=3.2, z=0.0)
rpose = Pose()
robot.append(rpose)
rpose.add_stream('ros', method="morse.middleware.ros.pose.TFPublisher", frame_id='/world', child_frame_id="/robot")
# Battery discharging rate, in percent per seconds
# The bateery state is published to /battery
robot.battery.properties(DischargingRate=1.0)
human=HumanStrands()
human.use_world_camera()
human.translate(x=4.5, y=3.2, z=0.1)
human.properties(Object = True)
pose = Pose()
human.append(pose)
pose.add_stream('ros', method="morse.middleware.ros.pose.TFPublisher", frame_id='/world', child_frame_id="/human")
pose.add_stream('ros', frame_id='/world')
# Set the environment
model_file=os.path.join(os.path.dirname(os.path.abspath( __file__ )),'data/MHTThirdFloor.blend')
env = Environment(model_file,fastmode=False)
env.aim_camera([1.0470, 0, 0.7854])
