scenery_builder

Installation

pip install -e .

Usage

This module adds floorplan as a command line interface. You can use the generate command as shown below:

floorplan generate <path to config file> -i <path to input folder>

Where the input folder must contain:

• the composable models generated from the FloorPlan DSL
  • coordinate.json
  • floorplan.json
  • shape.json
  • skeleton.json
  • spatial_relations.json
• the door object models
  • object-door.json
  • object-door-states.json
• any object instance models, e.g. object-door-instance-X.json where X is a unique numeric ID.

Task generator

It uses the FloorPlan insets to generate a task specification. The inset width -- a float value representing the distance between the sides of the inset and original shapes -- can be configured in the config

Object placing

This tool places objects in indoor environments. By using the composable modelling approach, a scenery can compose the static FloorPlan models with objects such as doors.

Models that can be composed into a scenery

• Model objects with movement constraits: composition of objects with revolute, prismatic, or fixed joints into a scenery.
• Model object states: composition of objects with motion constraints defined as finite state machines, and their intial state in the scene.

Gazebo world generation

The tool generates SDF format world files for Gazebo. The initial state plugin sets up the scene as determined by the initial state for each object included in the world file.

Tutorials

Tutorials on how to model objects with movement constraints, and how to place them in floor plan models is available here.

Acknowledgement

This work is part of a project that has received funding from the European Union's Horizon 2020 research and innovation programme SESAME under grant agreement No 101017258.