def visualise_spawn_volume(self,
task: SupportedTasks,
gazebo: scenario.GazeboSimulator,
color: Tuple[float, float, float,
float] = (0, 0, 1, 0.8),
color_with_height: Tuple[float, float, float,
float] = (1, 0, 1,
0.7)):
# Insert translucent boxes visible only in simulation with no physical interactions
models.Box(world=task.world,
name="object_spawn_volume",
position=task._object_spawn_centre,
orientation=(0, 0, 0, 1),
size=task._object_spawn_volume,
collision=False,
visual=True,
gui_only=True,
static=True,
color=color)
models.Box(world=task.world,
name="object_spawn_volume_with_height",
position=task._object_spawn_centre,
orientation=(0, 0, 0, 1),
size=task._object_spawn_volume,
collision=False,
visual=True,
gui_only=True,
static=True,
color=color_with_height)
# Execute a paused run to process model insertion
if not gazebo.run(paused=True):
raise RuntimeError("Failed to execute a paused Gazebo run")
def add_default_object(self, task: SupportedTasks,
gazebo: scenario.GazeboSimulator):
object_model = None
if 'box' == task._object_type:
object_model = models.Box(
world=task.world,
position=task._object_spawn_centre,
orientation=conversions.Quaternion.to_wxyz(
task._object_quat_xyzw),
size=task._object_dimensions,
mass=task._object_mass,
collision=task._object_collision,
visual=task._object_visual,
static=task._object_static,
color=task._object_color)
elif 'sphere' == task._object_type:
object_model = models.Sphere(
world=task.world,
position=task._object_spawn_centre,
orientation=conversions.Quaternion.to_wxyz(
task._object_quat_xyzw),
radius=task._object_dimensions[0],
mass=task._object_mass,
collision=task._object_collision,
visual=task._object_visual,
static=task._object_static,
color=task._object_color)
elif 'cylinder' == task._object_type:
object_model = models.Cylinder(
world=task.world,
position=task._object_spawn_centre,
orientation=conversions.Quaternion.to_wxyz(
task._object_quat_xyzw),
radius=task._object_dimensions[0],
length=task._object_dimensions[1],
mass=task._object_mass,
collision=task._object_collision,
visual=task._object_visual,
static=task._object_static,
color=task._object_color)
task.object_names.append(object_model.name())
# Execute a paused run to process model insertion
if not gazebo.run(paused=True):
raise RuntimeError("Failed to execute a paused Gazebo run")