warehouse_config_file = os.path.join(
os.path.dirname(__file__),
'../../configs/smart_factory_config_storages.json')
#warehouse_config_file = os.path.join(os.path.dirname(__file__), '../../configs/smart_factory_config_simple_storages.json')
robot_config_file = os.path.join(os.path.dirname(__file__),
'../../configs/robot_config.json')
package_config_file = os.path.join(os.path.dirname(__file__),
'../../configs/package_config.json')
# read configurations from JSON files
with open(warehouse_config_file, 'r') as f:
map_config = json.load(f)
with open(robot_config_file, 'r') as f:
robot_config = json.load(f)
with open(package_config_file, 'r') as f:
package_configs = json.load(f)
simplfy_flag = True
# setup map
setup_warehouse_map(map_config, robot_config, simplfy_flag)
add_packages(map_config, package_configs)
# set 'fastmode' to True to switch to wireframe mode
env = Environment('empty_environment.blend', fastmode=False)
map_size_x = map_config['map']['width']
map_size_y = map_config['map']['height']
env.set_camera_location([-2., 8.0, 4.5])
env.set_camera_rotation([0.95, 0, -1.2])
# specify configuration files
warehouse_config_file = os.path.join(
os.path.dirname(__file__), '../../configs/large_warehouse_config.json')
robot_config_file = os.path.join(os.path.dirname(__file__),
'../../configs/robot_config.json')
package_config_file = os.path.join(os.path.dirname(__file__),
'../../configs/package_config.json')
# read configurations from JSON files
with open(warehouse_config_file, 'r') as f:
map_config = json.load(f)
with open(robot_config_file, 'r') as f:
robot_config = json.load(f)
with open(package_config_file, 'r') as f:
package_configs = json.load(f)
# setup map
setup_warehouse_map(map_config, robot_config)
add_packages(map_config, package_configs)
# set 'fastmode' to True to switch to wireframe mode
env = Environment('empty_environment.blend', fastmode=False)
map_size_x = map_config['map']['width']
map_size_y = map_config['map']['height']
env.set_camera_location(
[map_size_x / 2., map_size_y / 2.,
max(map_size_x, map_size_y)])
env.set_camera_rotation([0., 0., 0.])