Feel free to edit this template as you like!
"""
from morse.builder import *
from strands_sim.builder.robots import Scitosa5
from strands_sim.builder.robots import HumanStrands
#robot = Ranger()
robot = Scitosa5()
# tum_kitchen
robot.translate(x=0, y=-2, z=0.0)
# 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=0, y=-1, z=0.1)
pose = Pose()
human.append(pose)
# Set the environment
model_file = os.path.join(os.path.dirname(os.path.abspath(__file__)),
'data/StudyRestaurant.blend')
env = Environment(model_file, fastmode=False)
env.place_camera([0, 10, 6])
env.aim_camera([1.0470, 0, 3.1])
Feel free to edit this template as you like!
"""
from morse.builder import *
from strands_sim.builder.robots import Scitosa5
from strands_sim.builder.robots import HumanStrands
#robot = Ranger()
robot = Scitosa5()
# tum_kitchen
robot.translate(x=2.5, y=3.2, z=0.0)
# 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=0.0)
pose = Pose()
human.append(pose)
pose.add_stream('ros')
# Set the environment
env = Environment('tum_kitchen/tum_kitchen')
env.aim_camera([1.0470, 0, 0.7854])
Feel free to edit this template as you like!
"""
from morse.builder import *
from strands_sim.builder.robots import Scitosa5
from strands_sim.builder.robots import HumanStrands
#robot = Ranger()
robot = Scitosa5()
# tum_kitchen
robot.translate(x=2.5, y=3.2, z=0.0)
# 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=0.0)
pose = Pose()
human.append(pose)
pose.add_stream('ros')
# Set the environment
env = Environment('tum_kitchen/tum_kitchen')
env.aim_camera([1.0470, 0, 0.7854])
Feel free to edit this template as you like! """ from morse.builder import * from strands_sim.builder.robots import Scitosa5 from strands_sim.builder.robots import HumanStrands #robot = Ranger() robot = Scitosa5() # tum_kitchen robot.translate(x=0, y=-2, z=0.0) # 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=0, y=-1, z=0.1) pose = Pose() human.append(pose) # Set the environment model_file=os.path.join(os.path.dirname(os.path.abspath( __file__ )),'data/StudyRestaurant.blend') env = Environment(model_file,fastmode=False) env.place_camera([0, 10, 6]) env.aim_camera([1.0470, 0, 3.1])
semanticcamera.translate(0.00, 0.02, 1.5)
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])
