def build():
# Add a robot with a position sensor and a motion controller
atrv = ATRV('robot1_instance')
"""
pr2 = BasePR2("navigator")
pr2_motion = Waypoint()
pr2_motion.properties(ObstacleAvoidance=False)
pr2_motion.add_interface('socket')
pr2.append(pr2_motion)
pr2_camera = SemanticCamera("camera")
pr2_camera.translate(0.0, 0.0, 40.0) # 20.0
pr2_camera.rotate(0.0, -pi/2.0, 0.0)
pr2.append(pr2_camera)
"""
orientation_robot1_instance = Orientation()
orientation_robot1_instance.translate(x=0, y=0, z=0)
orientation_robot1_instance.rotate(0, 0, 0)
atrv.append(orientation_robot1_instance)
orientation_robot1_instance.add_stream("socket")
orientation_robot1_instance.properties(speed=1.0)
pose_robot1_instance = Pose()
pose_robot1_instance.add_interface('socket')
atrv.append(pose_robot1_instance)
motion_robot1_instance = Waypoint()
#motion = Destination()
#motion.properties(ControlType = 'Position')
motion_robot1_instance.properties(ObstacleAvoidance=False)
motion_robot1_instance.add_interface('socket')
atrv.append(motion_robot1_instance)
# creates a new instance of the sensor
camera_robot1_instance = SemanticCamera('camera_robot1_instance')
# place your component at the correct location
camera_robot1_instance.translate(0.0, 0.0, 40.0) # 20.0
camera_robot1_instance.rotate(0.0, -pi / 2.0, 0.0)
# define one or several communication interface, like 'socket'
camera_robot1_instance.add_stream('socket')
atrv.append(camera_robot1_instance)
proximity_robot1_instance = Proximity()
atrv.append(proximity_robot1_instance)
proximity_robot1_instance.properties(Range=4.0, Track="Catch_me")
proximity_robot1_instance.add_stream('socket')
proximity_robot1_instance.add_service('socket')
#proximity.set_tracked_tag("Catch_me")
atrv.properties(Object=True)
#atrv.set_color(0, 0, 0)
atrv2 = ATRV(name='robot2_instance')
orientation_robot2_instance = Orientation()
orientation_robot2_instance.translate(x=3, y=3, z=0)
orientation_robot2_instance.rotate(0, 0, 0)
atrv2.append(orientation_robot2_instance)
orientation_robot2_instance.add_stream("socket")
orientation_robot2_instance.properties(speed=1.0)
#atrv2.scale = (1.5, 1.5, 1.5)
atrv2.set_color(.75, .75, .5)
#print(dir(atrv2))
#quit()
#atrv2 = ATRV('robot2_instance')
pose_robot2_instance = Pose()
pose_robot2_instance.add_interface('socket')
atrv2.append(pose_robot2_instance)
motion_robot2_instance = Waypoint()
#motion = Destination()
#motion.properties(ControlType = 'Position')
motion_robot2_instance.properties(ObstacleAvoidance=False)
motion_robot2_instance.add_interface('socket')
atrv2.append(motion_robot2_instance)
proximity_robot2_instance = Proximity()
atrv2.append(proximity_robot2_instance)
proximity_robot2_instance.properties(Range=4.0, Track="Catch_me")
proximity_robot2_instance.add_stream('socket')
proximity_robot2_instance.add_service('socket')
#assign(atrv2)
atrv2.translate(x=3.0, y=3.0, z=0.0)
# creates a new instance of the sensor
camera_robot2_instance = SemanticCamera('camera_robot2_instance')
#camera_robot2_instance.properties(tag="box")
# place your component at the correct location
camera_robot2_instance.translate(3.0, 3.0, 40.0)
camera_robot2_instance.rotate(0.0, -pi / 2.0, 0.0)
# define one or several communication interface, like 'socket'
camera_robot2_instance.add_stream('socket')
camera_robot1_instance.properties(noocclusion=True)
camera_robot2_instance.properties(noocclusion=True)
atrv2.append(camera_robot2_instance)
atrv2.properties(Object=True)
box1_instance = PassiveObject(box_path, 'RedBox_big')
box1_instance.setgraspable()
box1_instance.translate(x=6.0, y=6.0, z=1)
#box1.rotate(z=0.2)
box1_instance.properties(Object=True,
Label="box1_instance",
Type="box",
Catch_me=True,
Description=json.dumps({
'color': 'red',
'size': 2,
'weight': 10
}))
# box1.add_interface('socket')
#adding a 2nd box
box2_instance = PassiveObject(box_path, 'BlueBox')
box2_instance.setgraspable()
box2_instance.translate(x=-5.0, y=4.0, z=1)
#box2.rotate(z=0.2)
box2_instance.properties(Object=True,
Label="box2_instance",
Type="box",
Catch_me=True,
Description=json.dumps({
'color': 'blue',
'size': 2,
'weight': 8
}))
# #adding a 3rd box
box3_instance = PassiveObject(box_path, 'GreenBox')
box3_instance.setgraspable()
box3_instance.translate(x=-2, y=-8, z=1)
#box3.rotate(z=0.2)
box3_instance.properties(Object=True,
Label="box3_instance",
Catch_me=True,
Type="box",
Description=json.dumps({
'color': 'green',
'size': 2,
'weight': 8
}))
box4_instance = PassiveObject(box_path, 'RedBox_small')
box4_instance.setgraspable()
box4_instance.translate(x=3, y=-7.0, z=0)
#box4.rotate(z=0.2)
box4_instance.properties(Object=True,
Label="box4_instance",
Type="box",
Catch_me=True,
Description=json.dumps({
'color': 'red',
'size': 1,
'weight': 5
}))
"""
box5_instance = PassiveObject(indoor_path, 'PinkBox')
box5_instance.setgraspable()
box5_instance.translate(x=6, y=0.0, z=0)
#box4.rotate(z=0.2)
box5_instance.properties(Object=True, Label = "box5_instance", Type="box", Catch_me=True, Description=json.dumps({'color': 'pink', 'size': .5, 'weight': 3}))
"""
# Environment
#env = Environment('indoors-1/empty-room')
#empty =
env = Environment(empty)
env.add_service('socket')
def build():
# Place robots in the environment
atrv = ATRV('robot1_instance')
orientation_robot1_instance = Orientation()
orientation_robot1_instance.translate(x=0, y=0, z=0)
orientation_robot1_instance.rotate(0, 0, 0)
atrv.append(orientation_robot1_instance)
orientation_robot1_instance.add_stream("socket")
orientation_robot1_instance.properties(speed=1.0)
pose_robot1_instance = Pose()
pose_robot1_instance.add_interface('socket')
atrv.append(pose_robot1_instance)
motion_robot1_instance = Waypoint()
#motion = Destination()
#motion.properties(ControlType = 'Position')
motion_robot1_instance.properties(ObstacleAvoidance=False)
motion_robot1_instance.add_interface('socket')
atrv.append(motion_robot1_instance)
# creates a new instance of the sensor
camera_robot1_instance = SemanticCamera('camera_robot1_instance')
# place your component at the correct location
camera_robot1_instance.translate(0.0, 0.0, 40.0) # 20.0
camera_robot1_instance.rotate(0.0, -pi / 2.0, 0.0)
# define one or several communication interface, like 'socket'
camera_robot1_instance.add_stream('socket')
atrv.append(camera_robot1_instance)
proximity_robot1_instance = Proximity()
atrv.append(proximity_robot1_instance)
proximity_robot1_instance.properties(Range=4.0, Track="Catch_me")
proximity_robot1_instance.add_stream('socket')
proximity_robot1_instance.add_service('socket')
#proximity.set_tracked_tag("Catch_me")
atrv.properties(Object=True)
#atrv.set_color(0, 0, 0)
atrv2 = ATRV(name='robot2_instance')
orientation_robot2_instance = Orientation()
orientation_robot2_instance.translate(x=3, y=3, z=0)
orientation_robot2_instance.rotate(0, 0, 0)
atrv2.append(orientation_robot2_instance)
orientation_robot2_instance.add_stream("socket")
orientation_robot2_instance.properties(speed=1.0)
#atrv2.scale = (1.5, 1.5, 1.5)
atrv2.set_color(.75, .75, .5)
#print(dir(atrv2))
#quit()
#atrv2 = ATRV('robot2_instance')
pose_robot2_instance = Pose()
pose_robot2_instance.add_interface('socket')
atrv2.append(pose_robot2_instance)
motion_robot2_instance = Waypoint()
#motion = Destination()
#motion.properties(ControlType = 'Position')
motion_robot2_instance.properties(ObstacleAvoidance=False)
motion_robot2_instance.add_interface('socket')
atrv2.append(motion_robot2_instance)
proximity_robot2_instance = Proximity()
atrv2.append(proximity_robot2_instance)
proximity_robot2_instance.properties(Range=4.0, Track="Catch_me")
proximity_robot2_instance.add_stream('socket')
proximity_robot2_instance.add_service('socket')
#assign(atrv2)
atrv2.translate(x=3.0, y=3.0, z=0.0)
# creates a new instance of the sensor
camera_robot2_instance = SemanticCamera('camera_robot2_instance')
#camera_robot2_instance.properties(tag="box")
# place your component at the correct location
camera_robot2_instance.translate(3.0, 3.0, 40.0)
camera_robot2_instance.rotate(0.0, -pi / 2.0, 0.0)
# define one or several communication interface, like 'socket'
camera_robot2_instance.add_stream('socket')
camera_robot1_instance.properties(noocclusion=True)
camera_robot2_instance.properties(noocclusion=True)
atrv2.append(camera_robot2_instance)
atrv2.properties(Object=True)
box1_instance = PassiveObject(box_path, 'RedBox_big')
box1_instance.setgraspable()
box1_instance.translate(x=6.0, y=6.0, z=2)
box1_instance.properties(Object=True,
Label="box1_instance",
Type="box",
Catch_me=True,
Description=json.dumps({
'color': 'red',
'size': 2
}))
#adding a 2nd box
box2_instance = PassiveObject(box_path, 'BlueBox')
box2_instance.setgraspable()
box2_instance.translate(x=-5.0, y=4.0, z=2)
box2_instance.properties(Object=True,
Label="box2_instance",
Type="box",
Catch_me=True,
Description=json.dumps({
'color': 'blue',
'size': 2
}))
#adding a 3rd box
box3_instance = PassiveObject(box_path, 'GreenBox')
box3_instance.setgraspable()
# box3_instance.translate(x=-2, y=8, z=2)
box3_instance.translate(x=-2, y=-8, z=2)
#box3.rotate(z=0.2)
box3_instance.properties(Object=True,
Label="box3_instance",
Catch_me=True,
Type="box",
Description=json.dumps({
'color': 'green',
'size': 2
}))
box4_instance = PassiveObject(box_path, 'RedBox_small')
box4_instance.setgraspable()
box4_instance.translate(x=3, y=-7.0, z=2)
#box4.rotate(z=0.2)
box4_instance.properties(Object=True,
Label="box4_instance",
Type="box",
Catch_me=True,
Description=json.dumps({
'color': 'red',
'size': 1
}))
box5_instance = PassiveObject(indoor_path, 'PinkBox')
box5_instance.setgraspable()
# box5_instance.translate(x=-8, y=9.0, z=2)
box5_instance.translate(x=6, y=0.0, z=2)
#box4.rotate(z=0.2)
box5_instance.properties(Object=True,
Label="box5_instance",
Type="box",
Catch_me=True,
Description=json.dumps({
'color': 'pink',
'size': .5
}))
desk_instance = PassiveObject(indoor_path, 'Desk_1.001')
desk_instance.setgraspable()
desk_instance.translate(x=-10, y=-10.0, z=3)
desk_instance.properties(Object=True,
Label="desk_instance",
Type="desk",
Catch_me=True,
Description=json.dumps({
'color': 'brown',
'size': 4
}))
# Environment
env = Environment(empty)
env.add_service('socket')
# can see the desk from here...
env.set_camera_location([-5.0, 5.0, 3.0])
env.set_camera_rotation([1.2470, -0.0, -0.9854])
# diagonal bird eye
env.set_camera_location([-20.0, -20.0, 15.0])
env.set_camera_rotation([0.8470, -0.0, -0.9854])
def build():
# Add a robot with a position sensor and a motion controller
atrv = ATRV('robot1_instance')
robot_pose = Pose()
robot_pose.add_interface('socket')
atrv.append(robot_pose)
motion = Waypoint()
#motion = Destination()
#motion.properties(ControlType = 'Position')
motion.properties(ObstacleAvoidance=False)
motion.add_interface('socket')
atrv.append(motion)
# motion_collide = Destination()
# #motion.properties(ControlType = 'Position')
# motion_collide.add_interface('socket')
# atrv.append(motion_collide)
# creates a new instance of the sensor
camera = SemanticCamera('camera')
# place your component at the correct location
camera.translate(0.0, 0.0, 20.0)
camera.rotate(0.0, -pi / 2.0, 0.0)
atrv.append(camera)
# define one or several communication interface, like 'socket'
camera.add_stream('socket')
# environments/indoors-1/
box1 = PassiveObject('environments/indoors-1/boxes', 'RedBox_big')
box1.setgraspable()
box1.translate(x=6.0, y=6.0, z=1)
#box1.rotate(z=0.2)
box1.properties(Object=True, Label="box1_instance")
# box1.add_interface('socket')
#adding a 2nd box
box2 = PassiveObject('environments/indoors-1/boxes', 'BlueBox')
box2.setgraspable()
box2.translate(x=-5.0, y=4.0, z=1)
#box2.rotate(z=0.2)
box2.properties(Object=True, Label="box2_instance")
# #adding a 3rd box
box3 = PassiveObject('environments/indoors-1/boxes', 'GreenBox')
box3.setgraspable()
box3.translate(x=-2, y=-8, z=1)
#box3.rotate(z=0.2)
box3.properties(Object=True, Label="box3_instance")
box4 = PassiveObject('environments/indoors-1/boxes', 'RedBox_small')
box4.setgraspable()
box4.translate(x=3, y=-7.0, z=0)
#box4.rotate(z=0.2)
box4.properties(Object=True, Label="box4_instance")
# Environment
env = Environment('indoors-1/empty-room')
env.add_service('socket')
def build():
# Add a robot with a position sensor and a motion controller
atrv = ATRV('robot1_instance')
robot_pose = Pose()
robot_pose.add_interface('socket')
atrv.append(robot_pose)
motion = Waypoint()
#motion = Destination()
#motion.properties(ControlType = 'Position')
motion.properties(ObstacleAvoidance = False)
motion.add_interface('socket')
atrv.append(motion)
proximity = Proximity()
atrv.append(proximity)
proximity.properties(Range = 2.0, Track = "Catch_me")
proximity.add_stream('socket')
proximity.add_service('socket')
#proximity.set_tracked_tag("Catch_me")
# motion_collide = Destination()
# #motion.properties(ControlType = 'Position')
# motion_collide.add_interface('socket')
# atrv.append(motion_collide)
# creates a new instance of the sensor
camera = SemanticCamera('camera')
# place your component at the correct location
camera.translate(0.0, 0.0, 20.0)
camera.rotate(0.0, -pi/2.0, 0.0)
atrv.append(camera)
# define one or several communication interface, like 'socket'
camera.add_stream('socket')
# environments/indoors-1/
box1_instance = PassiveObject('environments/indoors-1/boxes', 'RedBox_big')
box1_instance.setgraspable()
box1_instance.translate(x=6.0, y=6.0, z=1)
#box1.rotate(z=0.2)
box1_instance.properties(Object=True, Label = "box1_instance", Type="box", Catch_me=True, Description=json.dumps({'color': 'red', 'size': 2}))
# box1.add_interface('socket')
#adding a 2nd box
box2_instance = PassiveObject('environments/indoors-1/boxes', 'BlueBox')
box2_instance.setgraspable()
box2_instance.translate(x=-5.0, y=4.0, z=1)
#box2.rotate(z=0.2)
box2_instance.properties(Object=True, Label = "box2_instance", Type="box", Catch_me=True, Description=json.dumps({'color': 'blue', 'size': 2}))
# #adding a 3rd box
box3_instance = PassiveObject('environments/indoors-1/boxes', 'GreenBox')
box3_instance.setgraspable()
box3_instance.translate(x=-2, y=-8, z=1)
#box3.rotate(z=0.2)
box3_instance.properties(Object=True, Label = "box3_instance", Catch_me=True, Type="box", Description=json.dumps({'color': 'green', 'size': 2}))
box4_instance = PassiveObject('environments/indoors-1/boxes', 'RedBox_small')
box4_instance.setgraspable()
box4_instance.translate(x=3, y=-7.0, z=0)
#box4.rotate(z=0.2)
box4_instance.properties(Object=True, Label = "box4_instance", Type="box", Catch_me=True, Description=json.dumps({'color': 'red', 'size': 1}))
"""
box5 = PassiveObject('environments/indoors-1/indoor-1', 'PinkBox')
box5.setgraspable()
box5.translate(x=6, y=0.0, z=0)
#box4.rotate(z=0.2)
box5.properties(Object=True, Label = "box5", Type="box", Catch_me=True, Description=json.dumps({'color': 'pink', 'size': .5}))
# Adding a table?
desk1 = PassiveObject('environments/indoors-1/indoor-1', 'Desk_1')
desk1.translate(x=3, y=3.0, z=0)
#box4.rotate(z=0.2)
desk1.properties(Object=True, Label = "desk1", Type='desk', Catch_me=True, Description=json.dumps({'color': 'white', 'size': 1}))
"""
# Environment
env = Environment('indoors-1/empty-room')
env.add_service('socket')
left_camera_resolution=left_camera_resolution,
right_camera_resolution=right_camera_resolution,
back_camera_resolution=back_camera_resolution,
bottom_camera_resolution=bottom_camera_resolution,
create_teleport_actuator=create_teleport_actuator)
robot.translate(0, 0, 0.035)
# Add /clock publisher
fake_robot = FakeRobot()
clock = Clock()
#clock.frequency(101)
clock.add_interface('ros', topic='/clock')
fake_robot.append(clock)
# set 'fastmode' to True to switch to wireframe mode
env = Environment('environment.blend', fastmode=False)
# These have to be set for the imu (really the magnetometer in the imu) to work.
env.properties(latitude=0.0, longitude=0.0, altitude=0.0)
#env.simulator_frequency(101)
env.set_time_strategy(TimeStrategies.FixedSimulationStep)
env.set_camera_location([-18.0, -6.7, 10.8])
env.set_camera_rotation([1.09, 0, -1.14])
# Set floor material
# Must be run after environment is loaded
import bpy
mat = bpy.data.materials.get(floor_material_name)
bpy.data.objects['Plane'].data.materials[0] = mat