Пример #1
0
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")
Пример #2
0
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')
Пример #3
0
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')
Пример #4
0
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')
Пример #5
0
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])
Пример #6
0
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')
Пример #7
0
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')
Пример #8
0
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])