Model generator
Model generator
from pcg_gazebo.generators.creators import create_models_from_config
from pcg_gazebo.task_manager import Server
from pcg_gazebo.generators import WorldGenerator
import random
# Start an empty world Gazebo simulation
server = Server()
server.create_simulation('default')
simulation = server.get_simulation('default')
simulation.create_gazebo_empty_world_task()
print(simulation.get_task_list())
print('Is Gazebo running: {}'.format(
simulation.is_task_running('gazebo')))
simulation.run_all_tasks()
# Create a Gazebo proxy
gazebo_proxy = simulation.get_gazebo_proxy()
# Use the generator to spawn the model to the Gazebo instance
# running at the moment
generator = WorldGenerator(gazebo_proxy=gazebo_proxy)
def create_and_spawn(config):
models = create_models_from_config(config)
for model in models:
generator.spawn_model(
model=model,
robot_namespace=model.name,
pos=[
20 * random.random() - 10,
20 * random.random() - 10,
2 * random.random()])
Box-shaped models
Creating box models
config = [
dict(
type='box',
args=dict(
size=[2, 2, 2],
mass=10,
name='box',
pose=[0, 0, 1, 0, 0, 0],
color='random'
)
)
]
create_and_spawn(config)
Creating multiple boxes models using fixed arguments
config = [
dict(
type='box_factory',
args=dict(
size=[
[0.1, 0.4, 0.5],
[1, 2, 3]
],
name='box_static_var_size',
use_permutation=True,
color='xkcd'
)
),
dict(
type='box_factory',
args=dict(
size=[
[0.1, 0.4, 0.5],
[1, 2, 3]
],
mass=12,
name='box_dynamic_var_size',
use_permutation=False,
color='xkcd'
)
),
dict(
type='box_factory',
args=dict(
size=[
[0.2, 0.4, 0.15],
[1.2, 0.25, 0.7]
],
mass=[5, 2],
name='box_dynamic_permutate_size_mass',
use_permutation=True,
color='xkcd'
)
)
]
create_and_spawn(config)
Creating multiple boxes with lambda arguments
config = [
dict(
type='box_factory',
args=dict(
size="__import__('numpy').random.random((2, 3))",
use_permutation=True,
name='box_static_lambdas',
color='random'
)
),
dict(
type='box_factory',
args=dict(
size="__import__('numpy').random.random((4, 3))",
mass="__import__('numpy').arange(1, 10, 4)",
use_permutation=True,
name='box_dynamic_lambdas',
color='random'
)
)
]
create_and_spawn(config)
Cylinder-shaped models
config = [
dict(
type='cylinder',
args=dict(
radius=3,
length=2,
mass=10,
name='cylinder',
pose=[0, 0, 1, 0, 0, 0]
)
),
dict(
type='cylinder_factory',
args=dict(
length=[0.3, 0.5],
radius=[0.2, 0.4],
mass=[5, 2],
name='cylinder_dynamic_permutate_radius_length_mass',
use_permutation=True,
color='xkcd'
)
),
dict(
type='cylinder_factory',
args=dict(
length="__import__('numpy').linspace(0.1, 10, 2)",
radius="__import__('numpy').random.random(2)",
mass="__import__('numpy').arange(1, 4, 1)",
use_permutation=True,
name='cylinder_dynamic_lambdas',
color='xkcd'
)
)
]
create_and_spawn(config)
Sphere-shaped models
config = [
dict(
type='sphere',
args=dict(
radius=3,
mass=10,
name='sphere',
pose=[0, 0, 1.5, 0, 0, 0]
)
),
dict(
type='sphere_factory',
args=dict(
radius=[0.3, 0.9],
mass=[5, 2],
name='sphere_dynamic_permutate_radius_mass',
use_permutation=True,
color='xkcd'
)
),
dict(
type='sphere_factory',
args=dict(
radius="__import__('numpy').random.random(2) * 3",
mass="__import__('numpy').arange(1, 4, 1)",
use_permutation=True,
name='sphere_dynamic_lambdas',
color='xkcd'
)
)
]
create_and_spawn(config)
Mesh models
mesh_filename = 'package://pcg_examples/meshes/monkey_offset.dae'
config = [
dict(
type='mesh',
args=dict(
visual_mesh_filename=mesh_filename,
visual_mesh_scale=[1, 1, 1],
use_approximated_collision=False,
name='monkey_static_no_approx_collision',
color='xkcd'
)
),
dict(
type='mesh',
args=dict(
visual_mesh_filename=mesh_filename,
visual_mesh_scale=[1, 1, 1],
use_approximated_collision=False,
mass=10,
name='monkey_dynamic_no_approx_collision',
color='xkcd'
)
),
dict(
type='mesh',
args=dict(
visual_mesh_filename=mesh_filename,
visual_mesh_scale=[1, 1, 1],
use_approximated_collision=True,
approximated_collision_model='box',
name='monkey_static_with_approx_collision_box',
color='xkcd'
)
),
dict(
type='mesh',
args=dict(
visual_mesh_filename=mesh_filename,
visual_mesh_scale=[1, 1, 1],
use_approximated_collision=True,
approximated_collision_model='box',
mass=20,
name='monkey_dynamic_with_approx_collision_box',
color='xkcd'
)
),
dict(
type='mesh',
args=dict(
visual_mesh_filename=mesh_filename,
visual_mesh_scale=[1, 1, 1],
use_approximated_collision=True,
approximated_collision_model='cylinder',
name='monkey_static_with_approx_collision_cylinder',
color='xkcd'
)
),
dict(
type='mesh',
args=dict(
visual_mesh_filename=mesh_filename,
visual_mesh_scale=[1, 1, 1],
use_approximated_collision=True,
mass=15,
approximated_collision_model='cylinder',
name='monkey_dynamic_with_approx_collision_cylinder',
color='xkcd'
)
),
dict(
type='mesh',
args=dict(
visual_mesh_filename=mesh_filename,
visual_mesh_scale=[1, 1, 1],
use_approximated_collision=True,
approximated_collision_model='sphere',
name='monkey_static_with_approx_collision_sphere',
color='xkcd'
)
),
dict(
type='mesh',
args=dict(
visual_mesh_filename=mesh_filename,
visual_mesh_scale=[1, 1, 1],
use_approximated_collision=True,
mass=3,
approximated_collision_model='sphere',
name='monkey_dynamic_with_approx_collision_sphere',
color='xkcd'
)
),
dict(
type='mesh',
args=dict(
visual_mesh_filename=mesh_filename,
visual_mesh_scale=[1, 1, 1],
use_approximated_collision=True,
mass=3,
approximated_collision_model='sphere',
name='monkey_dynamic_defined_inertia',
color='xkcd',
use_approximated_inertia=False,
inertia=dict(
ixx=0.1,
iyy=0.1,
izz=0.1
)
)
)
]
create_and_spawn(config)
