Add 3d mesh and occ. grid generation from DSL repo

.dockerignore

@@ -0,0 +1,7 @@
+.git
+.github
+.idea
+build
+output
+test
+*.egg-info

Dockerfile

@@ -0,0 +1,23 @@
+# syntax=docker/dockerfile:1
+FROM ubuntu:24.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt update
+RUN apt install -y software-properties-common
+RUN apt install -y python3 python3-pip
+RUN apt install -y blender
+
+
+WORKDIR /usr/src/app/modules
+WORKDIR /tmp
+COPY . .
+RUN pip install . -t /usr/src/app/modules
+
+ENV BLENDER_USER_SCRIPTS=/usr/src/app
+
+WORKDIR /usr/src/app/
+
+ENTRYPOINT ["blender", "-b", "--python", "modules/fpm/cli.py", "--", "generate"]
+
+CMD ["-i", "/usr/src/app/models/", "--output-path", "/usr/src/app/output/"]

README.md

@@ -2,6 +2,27 @@
 
 ## Installation
 
+Install all the requirements:
+
+```shell
+sudo apt-get install blender python3-pip python3-venv -y
+```
+
+First, create a virtual environment and activate it: 
+
+```shell
+python -m venv .venv
+source .venv/bin/activate
+```
+
+For Blender to regonize the virtual environment, add it to your `PYTHONPATH`:
+
+```shell
+export PYTHONPATH=<Path to .venv directory>/lib/python3.11/site-packages   
+```
+
+From the root directory of the repo, install the python packages by running: 
+
 ```shell
 pip install -e .
 ```
@@ -18,22 +39,82 @@ Where the input folder must contain:
 - the composable models generated from the [FloorPlan DSL](https://github.com/secorolab/FloorPlan-DSL)
     - `coordinate.json`
     - `floorplan.json`
+    - `polyhedron.json`
     - `shape.json`
     - `skeleton.json`
     - `spatial_relations.json`
-- the door object models
+- the door object models (optional)
     - `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.
+- any object instance models (optional), e.g. `object-door-instance-X.json` where `X` is a unique numeric ID.
+
+For more information on the parameters that can be used to customize the generation simply call 
+
+```bash
+floorplan generate --help
+```
+
+The command above currently generates the following artefacts: 
+- 3D mesh in `.stl` format
+- Gazebo models and worlds (`.sdf`, `.config`)
+- Launch files for ROS1 and/or ROS2 (`.launch`)
+- Occupancy grid map for the ROS map_server (`.pgm` and `.yaml`)
+- Tasks with a list of waypoints in `.yaml`
+
+### Docker
+
+To use the scenery_builder via Docker, simply mount the input and output paths as volumes and pass any arguments to the container:
+
+```bash
+docker run -v <local input path>:/usr/src/app/models -v <local output path>:/usr/src/app/output  -it scenery_builder:latest <optional arguments>
+```
+
+## Example
+
+![3D asset generated from the environment description](docs/images/hospital_no_brackground.png)
+
+An example model for a building is available [here](https://github.com/secorolab/FloorPlan-DSL/blob/devel/models/examples/hospital.fpm2). After transforming the floorplan model into its composable representation, generate the artefacts by passing the folder with the JSON-LD models as inputs:
+
+
+```sh
+floorplan generate -i hospital/json-ld --output-path hospital/gen
+```
+
+That should generate the following files:
+
+```bash
+.
+├── 3d-mesh
+│   └── hospital.stl
+├── gazebo
+│   ├── models
+│   │   └── hospital
+│   │       ├── model.config
+│   │       └── model.sdf
+│   └── worlds
+│       └── hospital.sdf
+├── maps
+│   ├── hospital.pgm
+│   └── hospital.yaml
+├── ros
+│   └── launch
+│       └── hospital.ros2.launch
+└── tasks
+    ├── hallway_task.yaml
+    ├── reception_task.yaml
+    ├── room_A_task.yaml
+    └── room_B_task.yaml
+```
+
 
 ## 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](config/config.toml)
+It uses the FloorPlan corners to generate a task specification to visit all corners in a space.
+The option `--waypoint-dist-to-corner` is a float value representing the distance between the corner of a space and its center.
 
 ## Object placing
 
-This tool places objects in indoor environments. 
+This tool places objects (e.g. doors) in indoor environments. 
 By using the composable modelling approach, a scenery can compose the static FloorPlan models with objects such as doors.
 
 ![](docs/images/gazebo-screenshot.png)

config/config.toml

@@ -4,3 +4,21 @@ inset_width = 0.7
 
 [roslaunch]
 ros_pkg = "floorplan_models"
+
+[model]
+format = "stl"
+output_folder = "../output/{{model_name}}/mesh"
+
+[map_yaml]
+resolution = 0.05
+occupied_thresh = 0.65
+free_thresh = 0.196
+negate = 0
+
+[map]
+unknown = 200
+occupied = 0
+free = 255
+laser_height = 0.7
+output_folder  = "../output/{{model_name}}/map"
+border = 50

pyproject.toml

@@ -10,9 +10,10 @@ dependencies = [
     "Jinja2>=3.0.3",
     "matplotlib>=3.7.2",
     "numpy>=1.24.4,<2.0.0",
-    "PyLD==2.0.3",
-    "rdflib==6.2.0",
+    "PyLD>=2.0.3",
+    "rdflib>=7.1.0",
     "click>=8.1.7",
+    "pyyaml",
 ]
 requires-python = ">= 3.11"
 readme = "README.md"
@@ -26,5 +27,8 @@ dev = ["black>=24.4.2"]
 [project.scripts]
 floorplan = "fpm.cli:floorplan"
 
+[tool.setuptools.packages.find]
+where = ["src"]  # list of folders that contain the packages (["."] by default)
+
 [tool.setuptools.package-data]
 "*" = ["*.jinja"]