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])