Object Modelling and Placement Tool

Important

This tool has now been integrated into the scenery_builder. As a result, this repository has been archived and is unmaintained.

This tool is a companion tool for the FloorPlan DSL, which enables the modelling of objects and their placement in the indoor environments from the FloorPlan DSL.

Features:

• Model objects with movement constraits: the tool enables the specification of objects with revolute, prismatic, or fixed joints.
• Place objects in indoor environments: by using the composable modelling approach the FloorPlan models can become scenes filled with objects with ease.
• Model object states: the tool allows for finate state machines for objects with motion constraints to be modelled, as well as selecting the intial state of each object in the scene.
• Gazebo world generation and plugin: the tool generates SDF format world files for gazebo, while a companion plugin sets up the scene as determined by the initial state. The plugin is available here

Getting Startedith Python 3.8.10,

Install the requirements, then you may run the example:

python3 main.py <input folder> 

Tested on Python 3.8.10

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.