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cleanups for nested model in ignition #195

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cleanups for nested model in ignition #195

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425fb95
cleanups for nested model in ignition
Kevinskwk Jul 22, 2020
55aabd9
Merge branch 'main' into support_ign_nested_model
luca-della-vedova Dec 16, 2022
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2 changes: 1 addition & 1 deletion rmf_building_map_tools/building_map/building.py
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Original file line number Diff line number Diff line change
Expand Up @@ -418,7 +418,7 @@ def generate_sdf_world(self, options):
print(f'[{lift_name}] is not serving any floor, ignoring.')
continue
lift.generate_shaft_doors(world)
lift.generate_cabin(world, options)
lift.generate_cabin(world)

charger_waypoints_ele = SubElement(
world,
Expand Down
76 changes: 4 additions & 72 deletions rmf_building_map_tools/building_map/lift.py
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Original file line number Diff line number Diff line change
Expand Up @@ -148,67 +148,6 @@ def generate_door_plugin(self, model_ele, name):
door_ele.set('right_joint_name', 'right_joint')
door_ele.set('type', 'DoubleSlidingDoor')

# TODO: remove this function once nesting model is supported in ignition.
def generate_cabin_door_ign(self, lift_model_ele, name):
# This is for cabin door generation for ignition gazebo as it doesn't
# support nested models yet. Once ignition gazebo supports nested
# models, this should be removed.
(x, y) = self.cabin_door_pose
yaw = self.motion_axis_orientation
right_x = x + np.cos(yaw) * self.width/4
left_x = x - np.cos(yaw) * self.width/4
right_y = y + np.sin(yaw) * self.width/4
left_y = y - np.sin(yaw) * self.width/4

door_size = [self.width / 2, self.thickness, self.height]
right_door_pose = Element('pose')
right_door_pose.text = \
f'{right_x} {right_y} {self.height / 2} 0 0 {yaw}'

lift_model_ele.append(box_link(f'{name}_right_door',
door_size,
right_door_pose,
material=lift_material(),
bitmask='0x02'))

lift_model_ele.append(joint(f'{name}_right_joint',
'prismatic',
'platform',
f'{name}_right_door',
joint_axis='x',
lower_limit=0,
upper_limit=self.width / 2))

left_door_pose = Element('pose')
left_door_pose.text = f'{left_x} {left_y} {self.height / 2} 0 0 {yaw}'

lift_model_ele.append(box_link(f'{name}_left_door',
door_size,
left_door_pose,
material=lift_material(),
bitmask='0x02'))

lift_model_ele.append(joint(f'{name}_left_joint',
'prismatic',
'platform',
f'{name}_left_door',
joint_axis='x',
lower_limit=-self.width / 2,
upper_limit=0))

if self.plugin:
plugin_ele = SubElement(lift_model_ele, 'plugin')
plugin_ele.set('name', 'door')
plugin_ele.set('filename', 'libdoor.so')
for param_name, param_value in self.params.items():
ele = SubElement(plugin_ele, param_name)
ele.text = f'{param_value}'
door_ele = SubElement(plugin_ele, 'door')
door_ele.set('left_joint_name', f'{name}_left_joint')
door_ele.set('name', f'{name}')
door_ele.set('right_joint_name', f'{name}_right_joint')
door_ele.set('type', 'DoubleSlidingDoor')


class Lift:
def __init__(self, yaml_node, name, transform, levels, coordinate_system):
Expand Down Expand Up @@ -378,7 +317,7 @@ def generate_wall(self, side, pair, name, platform):
platform.append(visual(f'{name}_visual', pose, dims, lift_material()))
platform.append(collision(f'{name}_collision', pose, dims, '0x01'))

def generate_cabin(self, world_ele, options):
def generate_cabin(self, world_ele):
# materials missing for now
lift_model_name = f'{self.name}'
lift_model_ele = SubElement(world_ele, 'model')
Expand Down Expand Up @@ -429,16 +368,9 @@ def generate_cabin(self, world_ele, options):
joint_axis='z'))

# cabin doors
# TODO: remove the if statement here once nesting model is supported
# in ignition.
if 'ignition' in options:
for lift_door in self.doors:
lift_door.generate_cabin_door_ign(
lift_model_ele, f'CabinDoor_{self.name}_{lift_door.name}')
else:
for lift_door in self.doors:
lift_door.generate_cabin_door(
lift_model_ele, f'CabinDoor_{self.name}_{lift_door.name}')
for lift_door in self.doors:
lift_door.generate_cabin_door(
lift_model_ele, f'CabinDoor_{self.name}_{lift_door.name}')

# lift cabin plugin
if self.plugins:
Expand Down