diff --git a/projects/python/perception/robotti_human_detection/Makefile b/projects/python/perception/robotti_human_detection/Makefile new file mode 100644 index 0000000000..30818a8344 --- /dev/null +++ b/projects/python/perception/robotti_human_detection/Makefile @@ -0,0 +1,23 @@ +# Copyright 2020-2023 OpenDR European Project +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +.PHONY: release debug profile clean + +release debug profile clean: + +@echo "# compile libraries" + +@make -s -C webots/libraries/bvh_util $@ + +@echo "# compile controller" + +@make -s -C webots/controllers/bvh_animation $@ + +@echo "# compile plugins" + +@make -s -C webots/plugins/robot_windows/robotti_window $@ diff --git a/projects/python/perception/robotti_human_detection/README.md b/projects/python/perception/robotti_human_detection/README.md new file mode 100644 index 0000000000..1e104e89e5 --- /dev/null +++ b/projects/python/perception/robotti_human_detection/README.md @@ -0,0 +1,51 @@ +# Simulation of human detection with Robotti + +This folder contains an example how to perform human detection with the Robotti model in simulation. +The human detection is performed using YOLOV5x. + +### Setup the environment + +To run this simulation, you need to install: +- Webots R2023b or newer ([installation instructions](https://cyberbotics.com/doc/guide/installing-webots)) +- `perception` module of the OpenDR toolkit ([installation instructions](https://github.com/opendr-eu/opendr/blob/master/docs/reference/installation.md)). +- Install additional libraries: + ```sh + pip install gym + sudo apt install libopenblas0 + ``` + +Then, you need to compile some libraries needed by the simulation, by opening a terminal, navigating +to this folder, i.e. `/opendr/projects/python/perception/robotti_human_detection`, and running: +```sh +export WEBOTS_HOME=/path/to/webots/installation +make +``` + +### Run the simulation + +First open a terminal and navigate to this folder. + +Start Webots and open the `webots/worlds/robotti_human_detection.wbt` world file: +```sh +export WEBOTS_HOME=/path/to/webots/installation +$WEBOTS_HOME/webots webots/worlds/robotti_human_detection.wbt +``` + +In a different terminal, navigate to your OpenDR root and activate the toolkit environment: +```sh +source bin/activate.sh +``` +Then navigate to this folder and start the controller program of the Robotti: +```sh +export WEBOTS_HOME=/path/to/webots/installation +$WEBOTS_HOME/webots-controller webots/controllers/human_detection/human_detection.py +``` +Finally, start the simulation by hitting the play button in Webots. + +By default, the YOLOV5x is run on CPU. +If you want to use CUDA device, you can `--cuda` to the previous command: +```sh +$WEBOTS_HOME/webots-controller webots/controllers/human_detection/human_detection.py --cuda +``` + +The Robotti should now start to move and the display image with annotation of detected person should appear in the robot window. diff --git a/projects/python/perception/robotti_human_detection/webots/controllers/bvh_animation/.gitignore b/projects/python/perception/robotti_human_detection/webots/controllers/bvh_animation/.gitignore new file mode 100644 index 0000000000..0ec339d65f --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/controllers/bvh_animation/.gitignore @@ -0,0 +1 @@ +/bvh_animation diff --git a/projects/python/perception/robotti_human_detection/webots/controllers/bvh_animation/Makefile b/projects/python/perception/robotti_human_detection/webots/controllers/bvh_animation/Makefile new file mode 100644 index 0000000000..781c5e4732 --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/controllers/bvh_animation/Makefile @@ -0,0 +1,31 @@ +# Copyright 2020-2023 OpenDR European Project +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# Webots Makefile system +# +# You may add some variable definitions hereafter to customize the build process +# See documentation in $(WEBOTS_HOME_PATH)/resources/Makefile.include + +ifndef WEBOTS_SKIN_ANIMATION_PATH +WEBOTS_SKIN_ANIMATION_PATH = ../../libraries +endif + +INCLUDE = -I"$(WEBOTS_SKIN_ANIMATION_PATH)/bvh_util/include" +LIBRARIES = -L"$(WEBOTS_SKIN_ANIMATION_PATH)/bvh_util" -lbvh_util + +### Do not modify: this includes Webots global Makefile.include +null := +space := $(null) $(null) +WEBOTS_HOME_PATH?=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME)))) +include $(WEBOTS_HOME_PATH)/resources/Makefile.include diff --git a/projects/python/perception/robotti_human_detection/webots/controllers/bvh_animation/bvh_animation.c b/projects/python/perception/robotti_human_detection/webots/controllers/bvh_animation/bvh_animation.c new file mode 100644 index 0000000000..8899d84cda --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/controllers/bvh_animation/bvh_animation.c @@ -0,0 +1,251 @@ +/* + * Copyright 2020-2023 OpenDR European Project + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#define TIME_STEP 32 + +static void print_usage(const char *command) { + printf("Usage: %s -d [-f | -s | -e | -l]\n", + command); + printf("Options:\n"); + printf(" -d: Skin device name.\n"); + printf(" -f: path to motion file.\n"); + printf(" -s: scale factor for motion translation. Default is 20.\n"); + printf(" -e: index of ending motion frame.\n"); + printf(" -l: loop motion without resetting to initial position.\n"); +} + +int main(int argc, char **argv) { + wb_robot_init(); + + WbFieldRef rotation_field = wb_supervisor_node_get_field(wb_supervisor_node_get_self(), "rotation"); + WbFieldRef children_field = wb_supervisor_node_get_field(wb_supervisor_node_get_self(), "children"); + WbFieldRef translation_field = + wb_supervisor_node_get_field(wb_supervisor_field_get_mf_node(children_field, 0), "translation"); + + char *skin_device_name = NULL; + char *motion_file_path = NULL; + int end_frame_index = 0; + int scale = 20; + bool loop = false; + int c; + while ((c = getopt(argc, argv, "d:f:s:e:l")) != -1) { + switch (c) { + case 'd': + skin_device_name = optarg; + break; + case 'f': + motion_file_path = optarg; + break; + case 's': + scale = atoi(optarg); + break; + case 'e': + end_frame_index = atoi(optarg); + break; + case 'l': + loop = true; + break; + case '?': + printf("?\n"); + if (optopt == 'd' || optopt == 'f' || optopt == 's' || optopt == 'e') + fprintf(stderr, "Option -%c requires an argument.\n", optopt); + else + fprintf(stderr, "Unknown option `-%c'.\n", optopt); + default: + print_usage(argv[0]); + return 1; + } + } + + if (skin_device_name == NULL || motion_file_path == NULL) { + fprintf(stderr, "Missing required arguments -d and -f.\n"); + print_usage(argv[0]); + return 1; + } + + WbDeviceTag skin = wb_robot_get_device(skin_device_name); + + // Open a BVH animation file. + WbuBvhMotion bvh_motion = wbu_bvh_read_file(motion_file_path); + if (bvh_motion == NULL) { + wb_robot_cleanup(); + return -1; + } + + int i, j; + + // Get the number of bones in the Skin device + const int skin_bone_count = wb_skin_get_bone_count(skin); + if (skin_bone_count == 0) { + printf("The Skin model has no bones to animate.\n"); + return 0; + } + + // Get the number of joints and frames in the BVH file. + const int bvh_joint_count = wbu_bvh_get_joint_count(bvh_motion); + const int bvh_frame_count = wbu_bvh_get_frame_count(bvh_motion); + printf("The BVH file \"%s\" has %d joints, and %d frames.\n", motion_file_path, bvh_joint_count, bvh_frame_count); + + // Get the bone names in the Skin device + char **joint_name_list; + joint_name_list = (char **)malloc((skin_bone_count) * sizeof(char *)); + int root_bone_index = -1; + for (i = 0; i < skin_bone_count; ++i) { + const char *name = wb_skin_get_bone_name(skin, i); + joint_name_list[i] = (char *)malloc(strlen(name) + 1); + strcpy(joint_name_list[i], name); + if (strcmp(name, "Hips") == 0) + root_bone_index = i; + } + + if (root_bone_index < 0) + fprintf(stderr, "Root joint not found\n"); + + // Find correspondencies between the Skin's bones and BVH's joint. + // For example 'hip' could be bone 0 in Skin device, and joint 5 in BVH motion file + int *index_skin_to_bvh = (int *)malloc(skin_bone_count * sizeof(int)); + for (i = 0; i < skin_bone_count; ++i) { + index_skin_to_bvh[i] = -1; + + if (i == 24 || i == 25 || i == 26 || i == 15 || i == 16 || i == 17) + continue; + + const char *skin_name = joint_name_list[i]; + for (j = 0; j < bvh_joint_count; ++j) { + const char *bvh_name = wbu_bvh_get_joint_name(bvh_motion, j); + if (strcmp(skin_name, bvh_name) == 0) + index_skin_to_bvh[i] = j; + } + } + + // Pass absolute and relative joint T pose orientation to BVH utility library + for (i = 0; i < skin_bone_count; ++i) { + if (index_skin_to_bvh[i] < 0) + continue; + const double *global_t_pose = wb_skin_get_bone_orientation(skin, i, true); + wbu_bvh_set_model_t_pose(bvh_motion, global_t_pose, index_skin_to_bvh[i], true); + const double *local_t_pose = wb_skin_get_bone_orientation(skin, i, false); + wbu_bvh_set_model_t_pose(bvh_motion, local_t_pose, index_skin_to_bvh[i], false); + } + + // Set factor converting from BVH skeleton scale to Webots skeleton scale. + // Only translation values are scaled by this factor. + wbu_bvh_set_scale(bvh_motion, scale); + + double root_position_offset[3] = {0.0, 0.0, 0.0}; + double initial_translation[3]; + const double *it = wb_supervisor_field_get_sf_vec3f(translation_field); + for (i = 0; i < 3; ++i) + initial_translation[i] = it[i]; + if (root_bone_index >= 0) { + const double *current_root_position = wbu_bvh_get_root_translation(bvh_motion); + // Use initial Skin position as zero reference position + for (i = 0; i < 3; ++i) + root_position_offset[i] = -current_root_position[i]; + } + + // Check end frame index + if (end_frame_index > 0 && end_frame_index >= bvh_frame_count) { + fprintf(stderr, "Invalid end frame index %d. This motion has %d frames.\n", end_frame_index, bvh_frame_count); + end_frame_index = bvh_frame_count; + } else + end_frame_index = bvh_frame_count; + + int current_step = 0; + while (wb_robot_step(TIME_STEP) != -1) { + for (i = 0; i < skin_bone_count; ++i) { + if (index_skin_to_bvh[i] < 0) + continue; + + // Get joint rotation for each joint. + // Note that we need to pass the joint index according to BVH file. + const double *orientation = wbu_bvh_get_joint_rotation(bvh_motion, index_skin_to_bvh[i]); + wb_skin_set_bone_orientation(skin, i, orientation, false); + } + + // Offset the position by a desired value if needed. + const double *root_position; + if (root_bone_index >= 0) { + root_position = wbu_bvh_get_root_translation(bvh_motion); + double position[3]; + position[0] = root_position[2] + root_position_offset[2] + initial_translation[0]; + position[1] = root_position[0] + root_position_offset[0] + initial_translation[1]; + position[2] = initial_translation[2]; + wb_supervisor_field_set_sf_vec3f(translation_field, position); + } + + // Fetch the next animation frame. + // The simulation update rate is lower than the BVH frame rate, so 4 BVH motion frames are fetched. + const int current_frame_index = wbu_bvh_get_frame_index(bvh_motion); + const int remaining_frames = end_frame_index - current_frame_index; + if (remaining_frames <= 4) { + if (loop && root_bone_index >= 0) { + // Save new global position offset + // based on last frame and not on loaded frame (1 over 4) + wbu_bvh_goto_frame(bvh_motion, end_frame_index - 1); + root_position = wbu_bvh_get_root_translation(bvh_motion); + const double *translation = wb_supervisor_field_get_sf_vec3f(translation_field); + for (i = 0; i < 3; ++i) + initial_translation[i] = translation[i]; + } + wbu_bvh_goto_frame(bvh_motion, 1); // skip initial pose + } else { + int f = 4; + while (f > 0) { + wbu_bvh_step(bvh_motion); + --f; + } + } + + if (current_step > 500) { + const double *rotation = wb_supervisor_field_get_sf_rotation(rotation_field); + double new_rotation[4]; + for (int i = 0; i < 4; i++) + new_rotation[i] = rotation[i]; + new_rotation[3] += M_PI; + wb_supervisor_field_set_sf_rotation(rotation_field, new_rotation); + const double *translation = wb_supervisor_field_get_sf_vec3f(translation_field); + initial_translation[0] = -translation[0]; + initial_translation[1] = -translation[1]; + initial_translation[2] = translation[2]; + wb_supervisor_field_set_sf_vec3f(translation_field, initial_translation); + wbu_bvh_goto_frame(bvh_motion, 1); // skip initial pose + current_step = 0; + } + current_step++; + } + + // Cleanup + for (i = 0; i < skin_bone_count; ++i) + free(joint_name_list[i]); + free(joint_name_list); + free(index_skin_to_bvh); + wbu_bvh_cleanup(bvh_motion); + wb_robot_cleanup(); + + return 0; +} diff --git a/projects/python/perception/robotti_human_detection/webots/controllers/human_detection/human_detection.py b/projects/python/perception/robotti_human_detection/webots/controllers/human_detection/human_detection.py new file mode 100644 index 0000000000..6060e63eea --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/controllers/human_detection/human_detection.py @@ -0,0 +1,26 @@ +# Copyright 2020-2023 OpenDR European Project +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import sys + +from human_detection_env import Env + +env = Env(args=sys.argv) + +env.reset() +while True: + obs, reward, dones, _ = env.step(0) + if dones: + obs = env.reset() + print("DONE") diff --git a/projects/python/perception/robotti_human_detection/webots/controllers/human_detection/human_detection_env.py b/projects/python/perception/robotti_human_detection/webots/controllers/human_detection/human_detection_env.py new file mode 100644 index 0000000000..9ffd9834d3 --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/controllers/human_detection/human_detection_env.py @@ -0,0 +1,223 @@ +# Copyright 2020-2023 OpenDR European Project +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + + +from controller import Supervisor + +import base64 + +from abc import ABC +import numpy as np +import gym + +from opendr.perception.object_detection_2d import YOLOv5DetectorLearner +from opendr.perception.object_detection_2d.datasets.transforms import BoundingBoxListToNumpyArray + +MAX_SPEED = 6.28 + + +class Env(gym.Env, ABC): + metadata = {'render.modes': ['human']} + + def __init__(self, args): + super(Env, self).__init__() + + self.cudaEnabled = '--cuda' in args + + self.robot = Supervisor() + self.timestep = int(self.robot.getBasicTimeStep()) + self.camera = self.robot.getDevice('front_bottom_camera') + self.camera.enable(self.timestep) + self.display = self.robot.getDevice('recognition display') + self.display.attachCamera(self.camera) + self.displaySize = [self.display.getWidth(), self.display.getHeight()] + self.recognizer, self.detector = None, None + self.gps = self.robot.getDevice("Hemisphere_v500") + self.gps.enable(self.timestep) + + self.left_motor_front = self.robot.getDevice("left_front_wheel_joint_motor") + self.left_motor_rear = self.robot.getDevice("left_rear_wheel_joint_motor") + self.right_motor_front = self.robot.getDevice("right_front_wheel_joint_motor") + self.right_motor_rear = self.robot.getDevice("right_rear_wheel_joint_motor") + self.left_motor_front.setPosition(float('inf')) + self.left_motor_rear.setPosition(float('inf')) + self.right_motor_front.setPosition(float('inf')) + self.right_motor_rear.setPosition(float('inf')) + + self.left_motors = [self.left_motor_front, self.left_motor_rear] + self.right_motors = [self.right_motor_front, self.right_motor_rear] + self.motors = self.left_motors + self.right_motors + self.move_action = 'forwards' + self.move_last_action = self.move_action + self.move_last_value = 0 + self.load_models() + self.forwards(0.2) + self.isStopped = False + self.steps_from_detection = 5 + + def load_models(self): + if self.cudaEnabled: + device = 'cuda' + else: + device = 'cpu' + self.detector = YOLOv5DetectorLearner(model_name='yolov5x', device=device) + + def reset(self): + self.robot.step(self.timestep) + obs = self.get_obs() + self.robot.step(self.timestep) + return obs + + def step(self, action): + done = False + reward = 0 + self.confidence = 0.0 + if action == 0: + # Stay + self.robot.step(self.timestep) + obs = self.get_obs() + reward = self.get_reward(action) + + obs = self.detect(obs) + + if not self.isStopped: + if self.move_action == 'forwards': + if self.gps.getValues()[0] > 2.5: + self.move_last_action = self.move_action + self.move_action = 'turnLeft' + self.turn('left') + elif self.gps.getValues()[0] < -44: + self.move_last_action = self.move_action + self.move_action = 'turnRight' + self.turn('right') + elif self.move_action == 'forwardsLeft' or self.move_action == "forwardsRight": + if abs(self.gps.getValues()[1] - self.move_last_value) > 3.2: + self.turn(self.move_action.lstrip('forwards').lower()) + self.move_last_action = self.move_action + self.move_action = "turn" + self.move_action.lstrip('forwards') + else: + # check that rotation is completed + if self.move_action == 'turnLeft': + if self.move_last_action != 'forwardsLeft' and self.compass.getValues()[0] > 0.999: + self.move_last_action = self.move_action + self.move_action = "forwards" + self.move_action.lstrip('turn') + self.forwards(0.1) + self.move_last_value = self.gps.getValues()[1] + elif self.compass.getValues()[1] < -0.999: + self.move_last_action = self.move_action + self.move_action = "forwards" + self.forwards(0.2) + elif self.move_action == 'turnRight': + if self.move_last_action != 'forwardsRight' and self.compass.getValues()[0] > 0.999: + self.move_last_action = self.move_action + self.move_action = "forwards" + self.move_action.lstrip('turn') + self.forwards(0.1) + self.move_last_value = self.gps.getValues()[1] + elif self.compass.getValues()[1] > 0.999: + self.move_last_action = self.move_action + self.move_action = "forwards" + self.forwards(0.2) + + return obs, reward, done, {} + + def get_obs(self): + cameraData = self.camera.getImage() + if cameraData: + frame = np.frombuffer(cameraData, np.uint8).reshape((self.camera.getHeight(), self.camera.getWidth(), 4)) + frame = frame[:, :, :3] + return frame + + def get_reward(self, action): + reward = 0 + return reward + + def detect(self, img): + if self.steps_from_detection < 10: + self.steps_from_detection += 1 + + # clear previous annotations on display + self.display.setAlpha(0) + self.display.fillRectangle(0, 0, self.displaySize[0], self.displaySize[1]) + + class_names = self.detector.classes + boxes = self.detector.infer(img) + bounding_boxes = BoundingBoxListToNumpyArray()(boxes) + if len(bounding_boxes) == 0: + self.sendImage() + return + boxes = bounding_boxes[:, :4] + classes = bounding_boxes[:, 5].astype(np.int) + for idx, pred_box in enumerate(boxes): + pred_box_w, pred_box_h = pred_box[2] - pred_box[0], pred_box[3] - pred_box[1] + if pred_box_w > 200 or pred_box_h > 200 or pred_box[0] < 300 or pred_box[3] > 800: + continue + valid = pred_box_w > 15 or pred_box_h > 15 + if valid: + self.steps_from_detection = 0 + + c1 = (max(0, int(pred_box[0] * 0.5)), max(0, int(pred_box[1] * 0.5))) + c2 = (min(img.shape[1] * 0.5, int(pred_box[2] * 0.5)), min(img.shape[0] * 0.5, int(pred_box[3] * 0.5))) + + self.display.setAlpha(1) + self.display.setColor(0x0000FF) + self.display.drawRectangle(c1[0], c1[1], c2[0] - c1[0], c2[1] - c1[1]) + + if class_names is not None: + label = "{}".format(class_names[classes[idx]]) + self.display.fillRectangle(c1[0], c2[1] - 20, 60, 20) + self.display.setColor(0xFFFFFF) + self.display.setFont('Arial', 10, True) + self.display.drawText(label, c1[0] + 2, c2[1] - 15) + self.sendImage() + if self.isStopped and self.steps_from_detection >= 5: + self.go() + elif not self.isStopped and self.steps_from_detection < 5: + self.stop() + + def turn(self, direction): + self.robot.wwiSendText('log:Turn ' + direction + '.') + left_speed = -0.1 if direction == 'left' else 0.1 + right_speed = 0.1 if direction == 'left' else -0.1 + for motor in self.left_motors: + motor.setVelocity(left_speed * MAX_SPEED) + for motor in self.right_motors: + motor.setVelocity(right_speed * MAX_SPEED) + + def forwards(self, speed): + self.robot.wwiSendText('log:Move forwards.') + for motor in self.motors: + motor.setVelocity(speed * MAX_SPEED) + + def stop(self): + self.robot.wwiSendText('log:Stop.') + self.previousVelocities = [] + self.isStopped = True + for motor in self.motors: + self.previousVelocities.append(motor.getVelocity()) + motor.setVelocity(0) + + def go(self): + self.robot.wwiSendText('log:Go.') + self.isStopped = False + i = 0 + for motor in self.motors: + motor.setVelocity(self.previousVelocities[i]) + i += 1 + + def sendImage(self): + self.display.imageSave(None, 'display.jpg') + with open('display.jpg', 'rb') as f: + fileString = f.read() + fileString64 = base64.b64encode(fileString).decode() + self.robot.wwiSendText('display-image:data:image/jpeg;base64,' + fileString64) diff --git a/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/Makefile b/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/Makefile new file mode 100644 index 0000000000..675b6f7d0f --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/Makefile @@ -0,0 +1,28 @@ +# Copyright 2020-2023 OpenDR European Project +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +null := +space := $(null) $(null) +WEBOTS_HOME_PATH?=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME)))) +include $(WEBOTS_HOME_PATH)/resources/Makefile.os.include + +LIBRARY_SOURCES_PATH = ./src +LIBRARY_INCLUDE_PATH = ./include + +# enable automatic library copy from build subfolder in main library folder +WEBOTS_DISABLE_BINARY_COPY = + +C_SOURCES = $(wildcard $(LIBRARY_SOURCES_PATH)/*.c) +INCLUDE = -I"$(LIBRARY_INCLUDE_PATH)" +include $(WEBOTS_HOME_PATH)/resources/Makefile.include diff --git a/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/include/webots/bvh_util.h b/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/include/webots/bvh_util.h new file mode 100644 index 0000000000..b80bddadec --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/include/webots/bvh_util.h @@ -0,0 +1,56 @@ +/* + * Copyright 2020-2023 OpenDR European Project + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/* + * Description: BVH file format utility class to be used with 'Skin' node to animate the mesh. + * It provides function to read the BVH file and adapt it to the 'Skin' model mesh. + */ + +#ifndef WBU_BVH_UTIL_H +#define WBU_BVH_UTIL_H + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +typedef struct WbuBvhMotionPrivate *WbuBvhMotion; + +WbuBvhMotion wbu_bvh_read_file(const char *filename); +void wbu_bvh_cleanup(WbuBvhMotion motion); + +const char *wbu_bvh_get_filename(WbuBvhMotion motion); +int wbu_bvh_get_joint_count(const WbuBvhMotion motion); +const char *wbu_bvh_get_joint_name(const WbuBvhMotion motion, int joint_id); + +int wbu_bvh_get_frame_count(const WbuBvhMotion motion); +int wbu_bvh_get_frame_index(const WbuBvhMotion motion); +bool wbu_bvh_step(WbuBvhMotion motion); +bool wbu_bvh_goto_frame(WbuBvhMotion motion, int frame_number); +bool wbu_bvh_reset(WbuBvhMotion motion); + +void wbu_bvh_set_scale(WbuBvhMotion motion, double scale); +const double *wbu_bvh_get_root_translation(const WbuBvhMotion motion); +const double *wbu_bvh_get_joint_rotation(const WbuBvhMotion motion, int joint_id); + +void wbu_bvh_set_model_t_pose(const WbuBvhMotion motion, const double *axisAngle, int joint_id, bool global); + +#ifdef __cplusplus +} +#endif + +#endif // WBU_BVH_UTIL_H diff --git a/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/src/bvh_util.c b/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/src/bvh_util.c new file mode 100644 index 0000000000..7ab4d656da --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/src/bvh_util.c @@ -0,0 +1,528 @@ +/* + * Copyright 2020-2023 OpenDR European Project + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "quaternion.h" +#include "vector3.h" +#include "webots/bvh_util.h" + +#include +#include +#include +#include + +#define MAX_LINE 4096 +#define D2R (((double)M_PI) / 180.0) +const char DELIM[] = " :,\t\r\n"; + +typedef enum BvhChannelType { + X_POSITION = 0, + Y_POSITION = 1, + Z_POSITION = 2, + X_ROTATION = 3, + Y_ROTATION = 4, + Z_ROTATION = 5 +} BvhChannelType_t; + +typedef struct BvhMotionJointPrivate { + char *name; // name of the joint + + struct BvhMotionJointPrivate *parent; // pointer to parent joint. NULL for root joint. + int n_children; // number of children + struct BvhMotionJointPrivate **children; // list of pointers to children joints. NULL if there are no children + + int + n_channels; // number of channels. Typically 6 (3 rotation and 3 translation) for root joints and 3 (3 rotation) otherwise + int n_position_channels; // number of translation channels. Typically 3 for root joints and 0 otherwise + BvhChannelType_t *channels; // list of channels in order. We need to know in what order to apply rotations + WbuQuaternion *frame_rotation; // list of rotations per frame. List size is [motion->n_frames] + double **frame_position; // list of translations per frame. List size is [motion->n_frames]x[3] + + double offset[3]; // offset from the parent bone + double bone_vector[3]; // vector relative to parent representing the "bone head" -> "bone tail" vector. In many conventions + // (including Webots) this vector matches the bone Y-axis + + WbuQuaternion bvh_t_pose; // joint orientation relative to parent to set the BVH skeleton in T pose + WbuQuaternion wbt_global_t_pose; // joint absolute orientation to set the Webots skeleton in T pose + WbuQuaternion wbt_local_t_pose; // joint orientation relative to parent to set the Webots skeleton in T pose +} BvhMotionJointPrivate_t; + +typedef struct WbuBvhMotionPrivate { + double frame_time; // approximate time per frame + int n_frames; // number of frames in the BVH motion file + int current_frame; // index of the current frame during animation + int n_joints; // number of joints + double + scale_factor; // scale factor for translation. Typically set according to bone lengths of BVH skeleton vs. target skeleton. + BvhMotionJointPrivate_t **joint_list; // list of joints +} WbuBvhMotionPrivate_t; + +//***********************************// +// Utility functions // +//***********************************// + +static BvhMotionJointPrivate_t *add_new_joint(FILE *file, WbuBvhMotion motion, char *this_name, BvhMotionJointPrivate_t *parent, + int *channels_count) { + // create and init new joint + BvhMotionJointPrivate_t *new_joint = malloc(sizeof(BvhMotionJointPrivate_t)); + new_joint->name = (char *)malloc(strlen(this_name) + 1); + strcpy(new_joint->name, this_name); + new_joint->parent = parent; + new_joint->bvh_t_pose = wbu_quaternion_zero(); + new_joint->wbt_global_t_pose = wbu_quaternion_zero(); + new_joint->wbt_local_t_pose = wbu_quaternion_zero(); + new_joint->n_channels = 0; + new_joint->n_position_channels = 0; + new_joint->frame_position = NULL; + new_joint->frame_rotation = NULL; + + // update the motion structure + motion->n_joints = motion->n_joints + 1; + motion->joint_list = + (BvhMotionJointPrivate_t **)realloc(motion->joint_list, (motion->n_joints) * sizeof(BvhMotionJointPrivate_t *)); + motion->joint_list[motion->n_joints - 1] = new_joint; + + // initialize the children list + new_joint->n_children = 0; + new_joint->children = NULL; + + char line[MAX_LINE]; + while (fgets(line, MAX_LINE, file)) { + char *token = strtok(line, DELIM); + + // opening bracket of joint + if (strcmp(token, "{") == 0) + continue; + + // offset: note that offsets are relative to the parent bone, + // and are not in the absolute reference frame + if (strcmp(token, "OFFSET") == 0) { + token = strtok(NULL, DELIM); + new_joint->offset[0] = atof(token); + token = strtok(NULL, DELIM); + new_joint->offset[1] = atof(token); + token = strtok(NULL, DELIM); + new_joint->offset[2] = atof(token); + } + + // channels + if (strcmp(token, "CHANNELS") == 0) { + token = strtok(NULL, DELIM); + int n_channels = atoi(token); + new_joint->n_channels = n_channels; + new_joint->channels = (BvhChannelType_t *)malloc(n_channels * sizeof(BvhChannelType_t)); + int i = 0; + for (i = 0; i < n_channels; ++i) { + token = strtok(NULL, DELIM); + if (strcmp(token, "Xrotation") == 0) + new_joint->channels[i] = X_ROTATION; + else if (strcmp(token, "Yrotation") == 0) + new_joint->channels[i] = Y_ROTATION; + else if (strcmp(token, "Zrotation") == 0) + new_joint->channels[i] = Z_ROTATION; + else if (strcmp(token, "Xposition") == 0) { + new_joint->channels[i] = X_POSITION; + ++new_joint->n_position_channels; + } else if (strcmp(token, "Yposition") == 0) { + new_joint->channels[i] = Y_POSITION; + ++new_joint->n_position_channels; + } else if (strcmp(token, "Zposition") == 0) { + new_joint->channels[i] = Z_POSITION; + ++new_joint->n_position_channels; + } + } + } + + // child joints + if (strcmp(token, "JOINT") == 0) { + token = strtok(NULL, DELIM); + new_joint->n_children = new_joint->n_children + 1; + new_joint->children = + (BvhMotionJointPrivate_t **)realloc(new_joint->children, (new_joint->n_children) * sizeof(BvhMotionJointPrivate_t *)); + + char child_name[50]; + strcpy(child_name, token); + new_joint->children[new_joint->n_children - 1] = add_new_joint(file, motion, child_name, new_joint, channels_count); + } + + // EndPoint + if (strcmp(token, "End") == 0) { + token = strtok(NULL, DELIM); + if (strcmp(token, "Site") == 0) { + if (fgets(line, MAX_LINE, file) == NULL) + break; + if (fgets(line, MAX_LINE, file) == NULL) + break; + // end site offset + token = strtok(line, DELIM); + if (strcmp(token, "OFFSET") == 0) { + token = strtok(NULL, DELIM); + new_joint->bone_vector[0] = atof(token); + token = strtok(NULL, DELIM); + new_joint->bone_vector[1] = atof(token); + token = strtok(NULL, DELIM); + new_joint->bone_vector[2] = atof(token); + } + if (fgets(line, MAX_LINE, file) == NULL) + break; + } + } + + // closing bracket of the joint + if (strcmp(token, "}") == 0) { + *channels_count += new_joint->n_channels; + return new_joint; + } + } + + fprintf(stderr, "Error: wbu_bvh_read_file() Error reading skeleton information. Check syntax of file.\n"); + return NULL; +} + +static void read_motion(FILE *file, WbuBvhMotion motion, int frame_channels_count) { + int n_frames = motion->n_frames; + char *token; + int joint_index; + + // init joints + for (joint_index = 0; joint_index < motion->n_joints; ++joint_index) { + BvhMotionJointPrivate_t *joint = motion->joint_list[joint_index]; + if (joint->n_position_channels > 0) + joint->frame_position = malloc(n_frames * sizeof(double *)); + if ((joint->n_channels - joint->n_position_channels) > 0) + joint->frame_rotation = malloc(n_frames * sizeof(WbuQuaternion)); + } + + int frame_index = 0; + char line[MAX_LINE]; + while (fgets(line, MAX_LINE, file) && frame_index < motion->n_frames) { + joint_index = 0; + int motion_index = 0; + + while (joint_index < motion->n_joints && motion_index < frame_channels_count) { + BvhMotionJointPrivate_t *joint = motion->joint_list[joint_index]; + assert(motion_index + joint->n_channels <= frame_channels_count); + + // initialize frame_position if needed + if (joint->n_position_channels > 0) { + joint->frame_position[frame_index] = malloc(3 * sizeof(double)); + int i = 0; + for (; i < 3; ++i) + joint->frame_position[frame_index][i] = 0; + } + + // initialize variables needed to compute rotation + WbuQuaternion frame_rotation = wbu_quaternion_zero(); + WbuQuaternion q; + WbuVector3 axes[3]; + axes[0] = wbu_vector3(X_AXIS); + axes[1] = wbu_vector3(Y_AXIS); + axes[2] = wbu_vector3(Z_AXIS); + + int channel_index = 0; + for (channel_index = 0; channel_index < joint->n_channels; ++channel_index) { + if (motion_index == 0 && channel_index == 0) + token = strtok(line, DELIM); + else + token = strtok(NULL, DELIM); + double motion_value = atof(token); + BvhChannelType_t channel_type = joint->channels[channel_index]; + if (channel_type <= Z_POSITION) + // store position + joint->frame_position[frame_index][channel_type] = motion_value; + + else if (joint->channels[channel_index] <= Z_ROTATION && motion_value != 0.0) { + // compute and store rotation + double angle = motion_value * D2R; + int rotation_index = joint->channels[channel_index] - X_ROTATION; + q = wbu_quaternion_from_axis_angle(axes[rotation_index].x, axes[rotation_index].y, axes[rotation_index].z, angle); + int j = 0; + for (; j < 3; ++j) { + if (j != rotation_index) + axes[j] = wbu_vector3_rotate_by_quaternion(axes[j], q); + } + frame_rotation = wbu_quaternion_multiply(q, frame_rotation); + frame_rotation = wbu_quaternion_normalize(frame_rotation); + } + } + + joint->frame_rotation[frame_index] = frame_rotation; + motion_index += joint->n_channels; + ++joint_index; + } + + ++frame_index; + } +} + +static void compute_bone_vectors(WbuBvhMotion motion) { + int i; + for (i = 0; i < motion->n_joints; ++i) { + BvhMotionJointPrivate_t *joint = motion->joint_list[i]; + int n_children = joint->n_children; + if (n_children == 1) { + joint->bone_vector[0] = joint->children[0]->offset[0]; + joint->bone_vector[1] = joint->children[0]->offset[1]; + joint->bone_vector[2] = joint->children[0]->offset[2]; + } else if (n_children > 1) { + int j; + for (j = 0; j < n_children; ++j) { + joint->bone_vector[0] += joint->children[j]->offset[0]; + joint->bone_vector[1] += joint->children[j]->offset[1]; + joint->bone_vector[2] += joint->children[j]->offset[2]; + } + joint->bone_vector[0] = joint->bone_vector[0] / n_children; + joint->bone_vector[1] = joint->bone_vector[1] / n_children; + joint->bone_vector[2] = joint->bone_vector[2] / n_children; + } // else already set when parsing End Site + } +} + +//***********************************// +// API functions // +//***********************************// + +WbuBvhMotion wbu_bvh_read_file(const char *filename) { + // initialize the motion structure + WbuBvhMotion motion = malloc(sizeof(WbuBvhMotionPrivate_t)); + motion->n_joints = 0; + motion->scale_factor = 1.0; + + if (!filename || !filename[0]) { + fprintf(stderr, "Error: wbu_bvh_read_file() called with NULL or empty 'filename' argument.\n"); + free(motion); + return NULL; + } + + FILE *file = fopen(filename, "r"); + if (!file) { + fprintf(stderr, "Error: wbu_bvh_read_file(): could not open '%s' file.\n", filename); + free(motion); + return NULL; + } + + int channels_count = 0; + char line[MAX_LINE]; + while (fgets(line, MAX_LINE, file)) { + char *token; + token = strtok(line, DELIM); + // skeleton section + if (strcmp(token, "HIERARCHY") == 0) + continue; + // skeleton structure + if (strcmp(token, "ROOT") == 0) { + token = strtok(NULL, DELIM); + char name[50]; + strcpy(name, token); + motion->joint_list = NULL; + add_new_joint(file, motion, name, NULL, &channels_count); + compute_bone_vectors(motion); + } + // motion section + if (strcmp(token, "MOTION") == 0) + continue; + // frame Count + if (strcmp(token, "Frames") == 0) { + token = strtok(NULL, DELIM); + motion->n_frames = atoi(token); + } + // frame time and motion section + if (strcmp(token, "Frame") == 0) { + token = strtok(NULL, DELIM); + if (strcmp(token, "Time") == 0) { + token = strtok(NULL, DELIM); + motion->frame_time = atof(token); + read_motion(file, motion, channels_count); + motion->current_frame = 0; + // compute_frame(motion, motion->current_frame); + // compute_bvh_T_pose(motion); + break; + } + } + } + + if (ferror(file)) + fprintf(stderr, "Error: wbu_bvh_read_file(): file '%s' is possibly empty.\n", filename); + + fclose(file); + return motion; +} + +void wbu_bvh_cleanup(WbuBvhMotion motion) { + int n_frames = motion->n_frames; + int i, j; + for (i = 0; i < motion->n_joints; ++i) { + BvhMotionJointPrivate_t *joint = motion->joint_list[i]; + if (joint->n_position_channels > 0) { + for (j = 0; j < n_frames; ++j) + free(joint->frame_position[j]); + free(joint->frame_position); + } + free(joint->children); + free(joint->frame_rotation); + free(joint->channels); + free(joint->name); + free(joint); + } + free(motion->joint_list); + free(motion); + motion = NULL; +} + +int wbu_bvh_get_joint_count(WbuBvhMotion motion) { + if (motion != NULL) + return motion->n_joints; + + fprintf(stderr, "Error: wbu_bvh_get_joint_count(): WbuBvhMotion argument is NULL.\n"); + return -1; +} + +const char *wbu_bvh_get_joint_name(const WbuBvhMotion motion, int joint_id) { + if (motion != NULL) { + if (joint_id < motion->n_joints) + return motion->joint_list[joint_id]->name; + + fprintf(stderr, "Error: wbu_bvh_get_joint_name(): 'joint_id' argument (%d) is greater than the number of joints (%d).\n", + joint_id, motion->n_joints); + return ""; + } + + fprintf(stderr, "Error: wbu_bvh_get_joint_name(): WbuBvhMotion argument is NULL.\n"); + return ""; +} + +int wbu_bvh_get_frame_count(const WbuBvhMotion motion) { + if (motion != NULL) + return motion->n_frames; + + fprintf(stderr, "Error: wbu_bvh_get_frame_count(): WbuBvhMotion argument is NULL.\n"); + return -1; +} + +int wbu_bvh_get_frame_index(const WbuBvhMotion motion) { + if (motion != NULL) + return motion->current_frame; + + fprintf(stderr, "Error: wbu_bvh_get_frame_index(): WbuBvhMotion argument is NULL.\n"); + return -1; +} + +bool wbu_bvh_step(WbuBvhMotion motion) { + if (motion != NULL) { + if (motion->current_frame < motion->n_frames - 1) + motion->current_frame = motion->current_frame + 1; + else + motion->current_frame = 0; + return true; + } + + fprintf(stderr, "Error: wbu_bvh_step(): WbuBvhMotion argument is NULL.\n"); + return false; +} + +bool wbu_bvh_goto_frame(WbuBvhMotion motion, int frame_number) { + if (motion != NULL) { + if (frame_number < motion->n_frames) { + motion->current_frame = frame_number; + return true; + } + + fprintf(stderr, "Error: wbu_bvh_goto_frame(): frame_number argument is greater than the number of frames.\n"); + return false; + } + + fprintf(stderr, "Error: wbu_bvh_goto_frame(): WbuBvhMotion argument is NULL.\n"); + return false; +} + +bool wbu_bvh_reset(WbuBvhMotion motion) { + if (motion != NULL) { + motion->current_frame = 0; + return true; + } + + fprintf(stderr, "Error: wbu_bvh_reset(): WbuBvhMotion argument is NULL.\n"); + return false; +} + +void wbu_bvh_set_model_t_pose(const WbuBvhMotion motion, const double *axisAngle, int joint_id, bool global) { + if (global) + motion->joint_list[joint_id]->wbt_global_t_pose = + wbu_quaternion_from_axis_angle(axisAngle[0], axisAngle[1], axisAngle[2], axisAngle[3]); + else + motion->joint_list[joint_id]->wbt_local_t_pose = + wbu_quaternion_from_axis_angle(axisAngle[0], axisAngle[1], axisAngle[2], axisAngle[3]); +} + +void wbu_bvh_set_scale(WbuBvhMotion motion, double scale) { + if (motion != NULL) + motion->scale_factor = 1.0 / scale; + else + fprintf(stderr, "Error: wbu_bvh_set_scale(): WbuBvhMotion argument is NULL.\n"); +} + +const double *wbu_bvh_get_root_translation(const WbuBvhMotion motion) { + static double result[3]; + int frame_index = motion->current_frame; + double *frame_position = motion->joint_list[0]->frame_position[frame_index]; + int i = 0; + for (; i < 3; ++i) + result[i] = frame_position[i] * motion->scale_factor; + return result; +} + +const double *wbu_bvh_get_joint_rotation(const WbuBvhMotion motion, int joint_id) { + static double result[4]; + if (joint_id >= motion->n_joints) { + fprintf(stderr, + "Error: wbu_bvh_get_joint_rotation(): 'joint_id' argument (%d) is greater than the number of joints (%d).\n", + joint_id, motion->n_joints); + result[0] = 0; + result[1] = 0; + result[2] = 0; + result[3] = 0; + return result; + } + + BvhMotionJointPrivate_t *joint = motion->joint_list[joint_id]; + + WbuQuaternion frame_rotation = joint->frame_rotation[motion->current_frame]; + frame_rotation = wbu_quaternion_normalize(frame_rotation); + + // retrieve BVH model T pose from first frame + if (motion->current_frame == 0) { + joint->bvh_t_pose = frame_rotation; + wbu_quaternion_to_axis_angle(joint->wbt_local_t_pose, result); + return result; + } + + // current frame bone orientation based on T pose + frame_rotation = wbu_quaternion_multiply(wbu_quaternion_conjugate(joint->bvh_t_pose), frame_rotation); + + // convert rotation axis to Webots bone T pose coordinate system + wbu_quaternion_to_axis_angle(frame_rotation, result); + double angle = result[3]; + WbuQuaternion axis = wbu_quaternion(0.0, result[0], result[1], result[2]); + WbuQuaternion g = joint->wbt_global_t_pose; + axis = wbu_quaternion_multiply(axis, g); + axis = wbu_quaternion_multiply(wbu_quaternion_conjugate(g), axis); + wbu_quaternion_to_axis_angle(axis, result); + + // add converted frame rotation to Webots bone T pose rotation + frame_rotation = wbu_quaternion_from_axis_angle(result[0], result[1], result[2], angle); + frame_rotation = wbu_quaternion_multiply(joint->wbt_local_t_pose, frame_rotation); + wbu_quaternion_to_axis_angle(frame_rotation, result); + return result; +} diff --git a/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/src/quaternion.c b/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/src/quaternion.c new file mode 100644 index 0000000000..d0141432a4 --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/src/quaternion.c @@ -0,0 +1,126 @@ +/* + * Copyright 2020-2023 OpenDR European Project + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "quaternion.h" + +#include +#include + +WbuQuaternion wbu_quaternion_zero() { + WbuQuaternion q; + q.w = 1.0; + q.x = 0.0; + q.y = 0.0; + q.z = 0.0; + return q; +} + +WbuQuaternion wbu_quaternion(double w, double x, double y, double z) { + WbuQuaternion res; + res.w = w; + res.x = x; + res.y = y; + res.z = z; + return res; +} + +WbuQuaternion wbu_quaternion_normalize(WbuQuaternion q) { + WbuQuaternion res; + double d = q.w * q.w + q.x * q.x + q.y * q.y + q.z * q.z; + if (d == 0.0) { + res.w = 1.0; + res.x = q.x; + res.y = q.y; + res.z = q.z; + return res; + } + if (fabs(1.0 - d) < 2.107342e-08) // 2.107342e-08 magic number (> ULP/2 for IEEE doubles) + d = 2.0 / (1.0 + d); // first order Padé approximant + else + d = 1.0 / sqrt(d); + res.w = q.w * d; + res.x = q.x * d; + res.y = q.y * d; + res.z = q.z * d; + + return res; +} + +WbuQuaternion wbu_quaternion_multiply(WbuQuaternion q1, WbuQuaternion q2) { + WbuQuaternion res; + res.w = q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z; + res.x = q1.w * q2.x + q1.x * q2.w + q1.y * q2.z - q1.z * q2.y; + res.y = q1.w * q2.y + q1.y * q2.w + q1.z * q2.x - q1.x * q2.z; + res.z = q1.w * q2.z + q1.z * q2.w + q1.x * q2.y - q1.y * q2.x; + return res; +} + +WbuQuaternion wbu_quaternion_conjugate(WbuQuaternion q) { + WbuQuaternion res; + res.w = q.w; + res.x = -q.x; + res.y = -q.y; + res.z = -q.z; + return wbu_quaternion_normalize(res); +} + +WbuQuaternion wbu_quaternion_from_axis_angle(double x, double y, double z, double angle) { + WbuQuaternion res = wbu_quaternion_zero(); + double l = x * x + y * y + z * z; + if (l > 0.0) { + angle *= 0.5; + l = sin(angle) / sqrt(l); + res.w = cos(angle); + res.x = x * l; + res.y = y * l; + res.z = z * l; + } + // res = wbu_quaternion_normalize(res); + return res; +} + +void wbu_quaternion_to_axis_angle(WbuQuaternion q, double *axis_angle) { + // if q.w > 1, acos will return nan + // if this actually happens we should normalize the quaternion here + if (q.w > 1.0) + wbu_quaternion_normalize(q); + if (q.w <= -1.0) + axis_angle[3] = 2.0 * M_PI; + else if (q.w < 1.0) + axis_angle[3] = 2.0 * acos(q.w); + else + // q.w could still be slightly greater than 1.0 (floating point inaccuracy) + axis_angle[3] = 0.0; + + if (axis_angle[3] < 0.0001) { + // if e[3] close to zero then direction of axis not important + axis_angle[0] = 0.0; + axis_angle[1] = 1.0; + axis_angle[2] = 0.0; + axis_angle[3] = 0.0; + return; + } + + // normalize axes + const double inv = 1.0 / sqrt(q.x * q.x + q.y * q.y + q.z * q.z); + axis_angle[0] = q.x * inv; + axis_angle[1] = q.y * inv; + axis_angle[2] = q.z * inv; +} + +void wbu_quaternion_print(WbuQuaternion q) { + printf("quaternion %f %f %f %f\n", q.w, q.x, q.y, q.z); +} diff --git a/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/src/quaternion.h b/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/src/quaternion.h new file mode 100644 index 0000000000..3e4ad46aa8 --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/src/quaternion.h @@ -0,0 +1,38 @@ +/* + * Copyright 2020-2023 OpenDR European Project + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef QUATERNION_H +#define QUATERNION_H + +#include + +typedef struct wbu_quaternion { + double w; + double x; + double y; + double z; +} WbuQuaternion; + +WbuQuaternion wbu_quaternion_zero(); +WbuQuaternion wbu_quaternion(double w, double x, double y, double z); +WbuQuaternion wbu_quaternion_normalize(WbuQuaternion q); +WbuQuaternion wbu_quaternion_multiply(WbuQuaternion q1, WbuQuaternion q2); // This returns q1 * q2 +WbuQuaternion wbu_quaternion_conjugate(WbuQuaternion q); +WbuQuaternion wbu_quaternion_from_axis_angle(double x, double y, double z, double angle); +void wbu_quaternion_to_axis_angle(WbuQuaternion q, double *axis_angle); +void wbu_quaternion_print(WbuQuaternion q); + +#endif /* QUATERNION_H */ diff --git a/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/src/vector3.c b/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/src/vector3.c new file mode 100644 index 0000000000..d52f78348c --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/src/vector3.c @@ -0,0 +1,79 @@ +/* + * Copyright 2020-2023 OpenDR European Project + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include +#include +#include "vector3.h" + +double wbu_vector3_length(WbuVector3 v) { + return sqrt(v.x * v.x + v.y * v.y + v.z * v.z); +} + +WbuVector3 wbu_vector3_normalize(WbuVector3 v) { + const double n = wbu_vector3_length(v); + WbuVector3 res; + res.x = v.x / n; + res.y = v.y / n; + res.z = v.z / n; + return res; +} + +double wbu_vector3_dot(WbuVector3 v1, WbuVector3 v2) { + return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z; +} + +WbuVector3 wbu_vector3_cross(WbuVector3 v1, WbuVector3 v2) { + WbuVector3 result; + result.x = v1.y * v2.z - v1.z * v2.y; + result.y = v1.z * v2.x - v1.x * v2.z; + result.z = v1.x * v2.y - v1.y * v2.x; + return result; +} + +WbuVector3 wbu_vector3_rotate_by_quaternion(WbuVector3 v, WbuQuaternion q) { + q = wbu_quaternion_normalize(q); + WbuQuaternion q_ = wbu_quaternion_conjugate(q); + q_ = wbu_quaternion_normalize(q_); + + WbuQuaternion p; + p.w = 0; + p.x = v.x; + p.y = v.y; + p.z = v.z; + + WbuQuaternion w; + w = wbu_quaternion_multiply(q, wbu_quaternion_multiply(p, q_)); + WbuVector3 res; + res.x = w.x; + res.y = w.y; + res.z = w.z; + return res; +} + +WbuVector3 wbu_vector3(WbuVector3Type type) { + WbuVector3 v; + v.x = 0; + v.y = 0; + v.z = 0; + + if (type == X_AXIS) + v.x = 1; + else if (type == Y_AXIS) + v.y = 1; + else if (type == Z_AXIS) + v.z = 1; + return v; +} diff --git a/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/src/vector3.h b/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/src/vector3.h new file mode 100644 index 0000000000..d9b60a9c18 --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/libraries/bvh_util/src/vector3.h @@ -0,0 +1,38 @@ +/* + * Copyright 2020-2023 OpenDR European Project + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef VECTOR3_H +#define VECTOR3_H + +#include +#include "quaternion.h" + +typedef enum { X_AXIS, Y_AXIS, Z_AXIS, ZERO } WbuVector3Type; + +typedef struct wbu_vector3 { + double x; + double y; + double z; +} WbuVector3; + +WbuVector3 wbu_vector3(WbuVector3Type type); +double wbu_vector3_length(WbuVector3 v); +WbuVector3 wbu_vector3_normalize(WbuVector3 v); +double wbu_vector3_dot(WbuVector3 v1, WbuVector3 v2); +WbuVector3 wbu_vector3_cross(WbuVector3 v1, WbuVector3 v2); +WbuVector3 wbu_vector3_rotate_by_quaternion(WbuVector3 v, WbuQuaternion q); + +#endif /* VECTOR3_H */ diff --git a/projects/python/perception/robotti_human_detection/webots/motions/walk.bvh b/projects/python/perception/robotti_human_detection/webots/motions/walk.bvh new file mode 100644 index 0000000000..4a96f00b82 --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/motions/walk.bvh @@ -0,0 +1,515 @@ +HIERARCHY +ROOT Hips +{ + OFFSET 0.00000 0.00000 0.00000 + CHANNELS 6 Xposition Yposition Zposition Zrotation Yrotation Xrotation + JOINT LHipJoint + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftUpLeg + { + OFFSET 1.85590 -1.73949 0.84976 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftLeg + { + OFFSET 2.36836 -6.50702 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftFoot + { + OFFSET 2.53268 -6.95849 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftToeBase + { + OFFSET 0.15935 -0.43781 1.94506 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET 0.00000 -0.00000 1.00661 + } + } + } + } + } + } + JOINT RHipJoint + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightUpLeg + { + OFFSET -1.68297 -1.73949 0.84976 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightLeg + { + OFFSET -2.44709 -6.72334 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightFoot + { + OFFSET -2.43843 -6.69953 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightToeBase + { + OFFSET -0.20854 -0.57295 2.02172 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET -0.00000 -0.00000 1.05594 + } + } + } + } + } + } + JOINT LowerBack + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT Spine + { + OFFSET -0.01560 2.23971 -0.03712 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT Spine1 + { + OFFSET 0.05490 2.19225 -0.19086 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT Neck + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT Neck1 + { + OFFSET -0.12403 1.43168 0.27585 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT Head + { + OFFSET 0.17855 1.46173 -0.32578 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET 0.07217 1.51590 -0.14537 + } + } + } + } + JOINT LeftShoulder + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftArm + { + OFFSET 3.27650 0.85634 0.05396 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftForeArm + { + OFFSET 4.96755 -0.00000 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftHand + { + OFFSET 3.35751 -0.00000 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftFingerBase + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftHandIndex1 + { + OFFSET 0.79697 -0.00000 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET 0.64254 -0.00000 0.00000 + } + } + } + JOINT LThumb + { + OFFSET 0 0 0 + CHANNELS 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b/projects/python/perception/robotti_human_detection/webots/plugins/robot_windows/robotti_window/Makefile @@ -0,0 +1,23 @@ +# Copyright 2020-2023 OpenDR European Project +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# Webots Makefile system +# +# You may add some variable definitions hereafter to customize the build process +# See documentation in $(WEBOTS_HOME_PATH)/resources/Makefile.include + +null := +space := $(null) $(null) +WEBOTS_HOME_PATH?=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME)))) +include $(WEBOTS_HOME_PATH)/resources/Makefile.include diff --git a/projects/python/perception/robotti_human_detection/webots/plugins/robot_windows/robotti_window/robotti_window.c b/projects/python/perception/robotti_human_detection/webots/plugins/robot_windows/robotti_window/robotti_window.c new file mode 100644 index 0000000000..5f351baff2 --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/plugins/robot_windows/robotti_window/robotti_window.c @@ -0,0 +1,111 @@ +/* + * Copyright 2020-2023 OpenDR European Project + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include +#include +#include +#include + +#include +#include +#include +#include + +static double FIELD_SIZE[2] = {40, 14}; +static double FIELD_TRANSLATION[2] = {-20, 0}; +static WbFieldRef root_children_field = NULL; +static WbDeviceTag display = 0; +static WbDeviceTag camera = 0; +static int i = 1; + +// Window initialization: get some robot devices. +void wb_robot_window_init() { + WbNodeRef root_node = wb_supervisor_node_get_root(); + root_children_field = wb_supervisor_node_get_field(root_node, "children"); + display = wb_robot_get_device("recognition display"); + camera = wb_robot_get_device("front_bottom_camera"); + srand((unsigned int)time(NULL)); +} + +// A simulation step occurred. +void wb_robot_window_step(int time_step) { + // Window initialization: get some robot devices. + const char *message; + while ((message = wb_robot_wwi_receive_text())) { + printf("%s\n", message); + if (strcmp(message, "shot") == 0) { + char file_name[128]; + sprintf(file_name, "image_%d.jpeg", i); + printf("%s\n", file_name); + wb_camera_save_image(camera, file_name, 100); + i++; + + } else if (strncmp(message, "add obstacle", strlen("add obstacle")) == 0) { + // Add new obstacle + char class[64], def_name[64]; + float x, y; + const int found = sscanf(message, "add obstacle %s %s %f %f", class, def_name, &x, &y); + if (found != 2 && found != 4) { + fprintf(stderr, "Invalid instructions to add obstacle.\n"); + continue; + } + if (found == 2) { + // random position + const double rx = (double)rand() / (double)(RAND_MAX); + const double ry = (double)rand() / (double)(RAND_MAX); + x = (rx - 0.5) * FIELD_SIZE[0] + FIELD_TRANSLATION[0]; + y = (ry - 0.5) * FIELD_SIZE[1] + FIELD_TRANSLATION[1]; + } + // random orientation + const double angle = (double)rand() / (double)(RAND_MAX)*2 * M_PI; + char new_node_string[200]; + char optional_parameters[32] = ""; + for (int i = 0; i < strlen(class); i++) + class[i] = tolower(class[i]); + if (strcmp(class, "horse") == 0) + strcpy(optional_parameters, "colorBody 0.388 0.271 0.173 "); + class[0] = toupper(class[0]); + sprintf(new_node_string, "DEF %s %s { translation %f %f 0.05 rotation 0 0 1 %f %s}", def_name, class, x, y, angle, + optional_parameters); + printf("Import '%s'.\n", new_node_string); + wb_supervisor_field_import_mf_node_from_string(root_children_field, -1, new_node_string); + printf("Added '%s' at position (%f, %f).\n", def_name, x, y); + } else if (strncmp(message, "remove obstacle", strlen("remove obstacle")) == 0) { + char def_name[64]; + const int found = sscanf(message, "remove obstacle %s", def_name); + if (found != 1) { + fprintf(stderr, "Invalid instructions to remove obstacle.\n"); + continue; + } + printf("DEF name %s: %s\n", def_name, message); + WbNodeRef node = wb_supervisor_node_get_from_def(def_name); + if (!node) { + fprintf(stderr, "Invalid obstacle DEF name to be removed.\n"); + continue; + } + wb_supervisor_node_remove(node); + printf("Removed obstacle '%s'\n", def_name); + } else + // This should not occur. + fprintf(stderr, "Unkown message: '%s'\n", message); + } +} + +void wb_robot_window_cleanup() { + // This is called when the robot window is destroyed. + // There is nothing to do here in this example. + // This callback can be used to store information. +} diff --git a/projects/python/perception/robotti_human_detection/webots/plugins/robot_windows/robotti_window/robotti_window.css b/projects/python/perception/robotti_human_detection/webots/plugins/robot_windows/robotti_window/robotti_window.css new file mode 100644 index 0000000000..8bcbb8e5a2 --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/plugins/robot_windows/robotti_window/robotti_window.css @@ -0,0 +1,65 @@ +body { + font-family: Arial, sans-serif; + background-color: #2B2B2B; + color: #F6F6F6; +} +p { + text-align: justify; + text-justify: inter-word; + text-indent: 20px; +} +h2 { + margin-top: 40px; +} +.group-box { + border-radius: 5px; +} +.group-box-legend { + font-weight: bold; +} +.environment-button { + display: inline-block; + margin-left: 20px; + padding: 7px; + background: #4CAF50; + color: #F6F6F6; + border-radius: 3px; + width: 150px; +} +.environment-button input { + display: none; +} +.environment-button:hover { + box-shadow: 0 12px 16px 0 rgba(100,100,100,0.24), 0 17px 50px 0 rgba(100, 100, 100,0.19); +} +#remove-button{ +background: #BA2805; +} +#input-check.checked { + background: #DC143C; + color: black; + font-weight: bold; +} +.combo-box { + padding-left: 2px; +} +.text-field { + padding-left: 5px; +} +.number-field { + padding-left: 2px; + width: 70px; +} +#console { + border-radius: 3px; + padding: 20px; + margin-left: 20px; + margin-right: 20px; + background-color: #F4F2BE; + color: #4B4B4B; + list-style-type: none; + font-style: italic; +} +#picture-button { + vertical-align: top; +} diff --git a/projects/python/perception/robotti_human_detection/webots/plugins/robot_windows/robotti_window/robotti_window.html b/projects/python/perception/robotti_human_detection/webots/plugins/robot_windows/robotti_window/robotti_window.html new file mode 100644 index 0000000000..b72ee930b1 --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/plugins/robot_windows/robotti_window/robotti_window.html @@ -0,0 +1,58 @@ + + + + + + + + + + +
+

Robotti Window

+
+ Robot Camera + + Image not available. + + +
+

+

+ Environment Manager +

+ Spawn or remove obstacles from the simulation environment. +

+
+ + DEF name: + + class: + + x: + + y: + +
+

+

+ + DEF name: + +
+
+

+

+ Log +
    +
    +
    + + + + diff --git a/projects/python/perception/robotti_human_detection/webots/plugins/robot_windows/robotti_window/robotti_window.js b/projects/python/perception/robotti_human_detection/webots/plugins/robot_windows/robotti_window/robotti_window.js new file mode 100644 index 0000000000..440a40882e --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/plugins/robot_windows/robotti_window/robotti_window.js @@ -0,0 +1,50 @@ +import RobotWindow from 'https://cyberbotics.com/wwi/R2023b/RobotWindow.js'; +/* eslint no-unused-vars: ['error', { 'varsIgnorePattern': 'handleBodyLEDCheckBox|toggleStopCheckbox' }] */ + +// Send instruction to add a new obstacle. +window.addObstacle = function(obj) { + const class_name = document.getElementById('add-class').value; + const def_name = document.getElementById('add-def-name').value; + const x = document.getElementById('add-position-x').value; + const y = document.getElementById('add-position-y').value; + console.log('add obstacle ' + def_name + ' ' + class_name + ' ' + x.toString() + ' ' + y.toString()); + window.robotWindow.send(`add obstacle ${class_name} ${def_name} ${x.toString()} ${y.toString()}`); +} + +// Remove obstacle from the scene. +window.removeObstacle = function(obj) { + const def_name = document.getElementById('remove-def-name').value; + if (def_name) + window.robotWindow.send('remove obstacle ' + def_name); + else + console.error('Invalid obstacle DEF name to be removed.'); +} + +window.takePicture = function(obj) { + window.robotWindow.send('shot'); +} + +// A message coming from the robot has been received. +function receive(message, robot) { + if (message.startsWith('display-image')) { + const imageElement = document.getElementById('robot-camera') + if (imageElement) + imageElement.setAttribute('src', message.substring(message.indexOf(':') + 1)); + } else if (message.startsWith('log')) { + const ul = document.getElementById('console'); + let li = document.createElement('li'); + li.appendChild(document.createTextNode(message.substring(message.indexOf(':') + 1))); + ul.appendChild(li); + var elements = ul.getElementsByTagName('li'); + if (elements.length > 10) + ul.removeChild(elements[0]); + } +} + +// Initialize the RobotWindow class in order to communicate with the robot. +window.onload = function() { + console.log('HTML page loaded.'); + window.robotWindow = new RobotWindow(); + window.robotWindow.setTitle('Robotti Window'); + window.robotWindow.receive = receive; +}; diff --git a/projects/python/perception/robotti_human_detection/webots/protos/AgriculturalWarehouse.proto b/projects/python/perception/robotti_human_detection/webots/protos/AgriculturalWarehouse.proto new file mode 100644 index 0000000000..e399907323 --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/protos/AgriculturalWarehouse.proto @@ -0,0 +1,199 @@ +#VRML_SIM R2023b utf8 +# license: Creative Commons Attribution 4.0 International License. +# license url: https://creativecommons.org/licenses/by/4.0/legalcode +# A warehouse with optional boundingObject. +# template language: javascript + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/CorrugatedMetal.proto" + +PROTO AgriculturalWarehouse [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 0 1 0 + field SFString name "warehouse" + field SFBool enableBoundingObject TRUE # Defines whether the warehouse should have a bounding object. +] +{ + Solid { + translation IS translation + rotation IS rotation + children [ + Shape { + appearance CorrugatedMetal { + colorOverride 1 0.972549 0.666667 + textureTransform TextureTransform { + scale 7 5.8 + translation 0.1 -0.03 + } + } + geometry IndexedFaceSet { + coord Coordinate { + point [ + -4.698400 -16.244801 2.592300 -5.636000 -16.244801 2.587800 -4.698400 -16.244801 0.000000 -5.636000 -16.244801 0.000000 -0.348200 16.232599 0.009000 -0.348200 15.853800 0.009000 -0.348200 16.232599 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"robotti" # Is `Robot.controller`. + field MFString controllerArgs [] # Is `Robot.controllerArgs`. + field SFString customData "" # Is `Robot.customData`. + field SFVec2f cameraResolution 1024 768 # Camera resolution of the front top, front bottom and rear cameras. + field SFVec2f cropCameraResolution 148 109 # Camera resolution of the downwards cameras. + field SFBool supervisor FALSE # Is `Robot.supervisor`. + field SFBool synchronization TRUE # Is `Robot.synchronization`. + field SFBool selfCollision FALSE # Is `Robot.selfCollision`. + field SFString window "" # Is `Robot.window`. + field MFNode implementSlot [] # Extends the robot with an implement attached to the robot's hitch. + field SFBool enablePhysics TRUE # Defines whether the table should have physics. +] +{ + Robot { + translation IS translation + rotation IS rotation + children [ + Pose { + translation 0.485 0 1.013250 + children [ + DEF BOOM_SHAPE CadShape { + url "meshes/boom.dae" + } + Solid { + rotation 1 0 0 1.570796 + children [ + Shape { + appearance DEF BOOM_MATERIAL PBRAppearance { + baseColor 0.26 0.3 0.38 + roughness 1 + metalness 0 + } + geometry Cylinder { + height 3.0 + radius 0.09 + } + } + ] + name "boom" + boundingObject Cylinder { + height 3 + radius 0.09 + } + %< if (fields.enablePhysics.value) { >% + physics Physics { + density -1 + mass 10 + centerOfMass [ + 0 0 0 + ] + inertiaMatrix [ + 6.122056 10.6502 6.21507 + -5.072528e-05 -0.0002030411 -0.0006095219 + ] + } + %< } >% + } + Solid { + translation 0.395805 0 0.159 + rotation 0 1 0 0.19635 + children [ + DEF LIDAR_MOUNT_SHAPE CadShape { + url "meshes/lidar_mount.dae" + } + Solid { + translation 0 0 0.033 + children [ + DEF VLP16_SHAPE CadShape { + url "meshes/VLP16.dae" + } + VelodyneVLP-16 { + translation 0 0 0.0681 + name "velodyne" + } + ] + name "velodyne_base" + boundingObject Cylinder { + height 0.0717 + radius 0.0516 + } + %< if (fields.enablePhysics.value) { >% + physics Physics { + density -1 + mass 0.83 + centerOfMass [ + 0 0 0 + ] + inertiaMatrix [ + 0.0009080594 0.0009080594 0.001104962 + 0 0 0 + ] + } + %< } >% + } + ] + name "lidar_mount" + boundingObject Pose { + translation 0 0 0.08 + children [ + Box { + size 0.05 0.108 0.055951 + } + ] + } + %< if (fields.enablePhysics.value) { >% + physics Physics { + density -1 + mass 0.037492 + centerOfMass [ + -8.8e-05 0 0.017777 + ] + inertiaMatrix [ + 7.417026e-05 1.690666e-05 7.242299e-05 + -1.815613e-19 2.198022e-09 -1.624981e-19 + ] + } + %< } >% + } + Solid { + translation 0.215 0 0.913 + children [ + DEF GNSS_MOUNT_SHAPE CadShape { + url [ + "meshes/gnss_mount.dae" + ] + } + Solid { + children [ + DEF DGPSs_SHAPE CadShape { + url [ + "meshes/DGPSs.dae" + ] + } + DEF HEMISPHERE_V500 GPS { + name "Hemisphere_v500" + accuracy 0.02 + } + ] + name "gnss_base" + boundingObject Box { + size 0.21099 0.663 0.17 + } + %< if (fields.enablePhysics.value) { >% + physics Physics { + density -1 + mass 3.7 + centerOfMass [ + 0 0 0 + ] + inertiaMatrix [ + 0.1495386 0.01953905 0.1597784 + 0 0 0 + ] + } + %< } >% + } + ] + name "gnss_mount" + boundingObject Pose { + translation -0.085 0 -0.002 + children [ + Box { + size 0.45 0.4 0.004 + } + ] + } + %< if (fields.enablePhysics.value) { >% + physics Physics { + density -1 + mass 5.398037 + centerOfMass [ + -0.084129 -0.00072 -0.002 + ] + inertiaMatrix [ + 0.07170553 0.08873431 0.1604255 + -0.0007416371 1.336684e-13 1.137221e-15 + ] + } + %< } >% + } + HingeJoint { + jointParameters HingeJointParameters { + axis 0 1 0 + anchor 0.18 0 -0.16 + dampingConstant 0.1 + staticFriction 0.1 + } + device [ + RotationalMotor { + name "hitch_joint" + minPosition -0.8621927 + maxTorque 500 + } + PositionSensor { + name "hitch_joint_sensor" + } + ] + endPoint Solid { + translation 0.18 0 -0.16 + children [ + DEF HITCH_SHAPE CadShape { + url [ + "meshes/hitch.dae" + ] + } + Pose { + children [ + Shape { + appearance PBRAppearance { + baseColor 0.043584 0.059371 0.095631 + roughness 0.8 + metalness 0 + } + } + ] + } + Solid { + translation -0.57167 0 0.042073 + children [ + DEF IMPLEMENT_MOUNT_SHAPE CadShape { + url [ + "meshes/implement_mount.dae" + ] + } + Pose { + children IS implementSlot + } + ] + name "implement_mount" + boundingObject Pose { + translation 0.134598 0 -0.011704 + children [ + Box { + size 0.373075 0.9 0.163649 + } + ] + } + %< if (fields.enablePhysics.value) { >% + physics Physics { + density -1 + mass 12.721758 + centerOfMass [ + 0.125494 0 -0.030185 + ] + inertiaMatrix [ + 0.0131941 0.05418321 0.04238296 + 3.555719e-16 -0.005559994 -7.516696e-18 + ] + } + %< } >% + } + ] + name "hitch" + boundingObject Pose { + translation -0.017724 0.001742 0 + children [ + Box { + size 0.765716 0.966535 0.124162 + } + ] + } + physics Physics { + density -1 + mass 84.68921 + centerOfMass [ + 0.029914 0 -0.012761 + ] + inertiaMatrix [ + 3.020058 1.654383 4.445581 + -5.913949e-08 -0.03076022 -1.119355e-07 + ] + } + } + } + Solid { + translation 0.7335 0 -0.025 + children [ + DEF FRONT_BUMPER_SHAPE CadShape { + url [ + "meshes/front_bumper.dae" + ] + } + Pose { + rotation 1 0 0 1.570796 + children [ + Shape { + appearance DEF FRONT_BUMPER_MATERIAL PBRAppearance { + baseColor 0.8 0 0 + roughness 0.8 + metalness 0 + } + geometry Cylinder { + height 3 + radius 0.009 + } + } + ] + } + ] + name "front_bumper" + boundingObject Group { + children [ + Pose { + translation -0.26362 0 0 + children [ + Box { + size 0.486241 2.669 0.098197 + } + ] + } + Pose { + translation -0.26362 0 0 + children [ + Box { + size 0.486241 2.669 0.098197 + } + ] + } + Pose { + rotation 1 0 0 1.570796 + children [ + Cylinder { + height 3 + radius 0.009 + } + ] + } + ] + } + %< if (fields.enablePhysics.value) { >% + physics Physics { + density -1 + mass 10.538222 + centerOfMass [ + -0.096156 0 0 + ] + inertiaMatrix [ + 4.482922 0.03389693 4.512136 + -5.656204e-14 5.135939e-16 -1.653267e-09 + ] + } + %< } >% + } + Solid { + translation 0.68 0 0 + children [ + DEF PLANT_CAMERA_RACK_SHAPE CadShape { + url [ + "meshes/plant_camera_rack.dae" + ] + } + RobottiCamera { + translation -0.054 1.1025 0 + rotation 0 1 0 1.570796 + name "camera_downwards1" + width %<= Math.floor(fields.cropCameraResolution.value.x) >% + height %<= Math.floor(fields.cropCameraResolution.value.y) >% + type "plant" + enablePhysics IS enablePhysics + } + RobottiCamera { + translation -0.054 0.3675 0 + rotation 0 1 0 1.570796 + name "camera_downwards2" + width %<= Math.floor(fields.cropCameraResolution.value.x) >% + height %<= Math.floor(fields.cropCameraResolution.value.y) >% + type "plant" + enablePhysics IS enablePhysics + } + RobottiCamera { + translation -0.054 -0.3675 0 + rotation 0 1 0 1.570796 + name "camera_downwards3" + width %<= Math.floor(fields.cropCameraResolution.value.x) >% + height %<= Math.floor(fields.cropCameraResolution.value.y) >% + type "plant" + enablePhysics IS enablePhysics + } + RobottiCamera { + translation -0.054 -1.1025 0 + rotation 0 1 0 1.570796 + name "camera_downwards4" + width %<= Math.floor(fields.cropCameraResolution.value.x) >% + height %<= Math.floor(fields.cropCameraResolution.value.y) >% + type "plant" + enablePhysics IS enablePhysics + } + ] + name "plant_camera_rack" + boundingObject Pose { + translation 0.01 0 0 + children [ + Box { + size 0.02 2.669 0.05 + } + ] + } + %< if (fields.enablePhysics.value) { >% + physics Physics { + density -1 + mass 5.255702 + centerOfMass [ + 0.010041 0 0 + ] + inertiaMatrix [ + 3.118867 0.001850315 3.117707 + -3.943686e-14 -1.629629e-17 7.006061e-16 + ] + } + %< } >% + } + RobottiCamera { + translation 0.395805 0 0.809 + rotation 0 1 0 0.981748 + name "front_top_camera" + width %<= Math.floor(fields.cameraResolution.value.x) >% + height %<= Math.floor(fields.cameraResolution.value.y) >% + enablePhysics IS enablePhysics + } + RobottiCamera { + translation 0.368305 0 0.484 + rotation 0 1 0 0.5236 + name "front_bottom_camera" + width %<= Math.floor(fields.cameraResolution.value.x) >% + height %<= Math.floor(fields.cameraResolution.value.y) >% + recognition TRUE + enablePhysics IS enablePhysics + } + RobottiCamera { + translation 0.094 0 0.72531 + rotation -0.38268410513826284 5.000001373695567e-06 0.9238792538256972 3.141571 + name "rear_camera" + width %<= Math.floor(fields.cameraResolution.value.x) >% + height %<= Math.floor(fields.cameraResolution.value.y) >% + enablePhysics IS enablePhysics + } + ] + } + RobottiModule { + translation 0.485 -1.5 1.01325 + side "right" + enablePhysics IS enablePhysics + } + HingeJoint { + jointParameters HingeJointParameters { + axis 0 1 0 + anchor 0.485 1.5 1.01325 + dampingConstant 15 + staticFriction 15 + } + device [ + RotationalMotor { + name "left_module_joint" + minPosition -0.3 + maxPosition 0.3 + maxTorque 10000 + } + PositionSensor { + name "left_module_joint_sensor" + } + ] + endPoint RobottiModule { + translation 0.485 1.5 1.01325 + enablePhysics IS enablePhysics + } + } + ] + name IS name + boundingObject Pose { + translation 0.623752 0 1.43489 + children [ + Box { + size 0.566636 1.165 1.362585 + } + ] + } + %< if (fields.enablePhysics.value) { >% + physics Physics { + density -1 + mass 428 + centerOfMass [ + 0.05 0.2 1 + ] + inertiaMatrix [ + 0.01 0.01 0.01 + 0.0 0.0 0.0 + ] + } + %< } >% + controller IS controller + controllerArgs IS controllerArgs + customData IS customData + supervisor IS supervisor + synchronization IS synchronization + selfCollision IS selfCollision + window IS window + recognitionColors [ + 0.71 0.71 0.71 + ] + } +} diff --git a/projects/python/perception/robotti_human_detection/webots/protos/RobottiCamera.proto b/projects/python/perception/robotti_human_detection/webots/protos/RobottiCamera.proto new file mode 100644 index 0000000000..ce7f1e4f82 --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/protos/RobottiCamera.proto @@ -0,0 +1,101 @@ +#VRML_SIM R2023b utf8 +# template language: javascript +# license: Apache License 2.0 +# license url: http://www.apache.org/licenses/LICENSE-2.0 +# tags: hidden +# Triton 3.2MP spehrical camera from LUCID with the EVETAR fisheye lens E3402A. +# Different supporting frames are used depending on the camera type. + +PROTO RobottiCamera [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 0 1 0 + field SFString name "camera" + field SFInt32 width 1024 + field SFInt32 height 768 + field SFBool recognition FALSE + field SFString{"field", "plant"} type "field" + field SFBool enablePhysics TRUE # Defines whether the table should have physics. +] +{ + Solid { + translation IS translation + rotation IS rotation + children [ + %< if (fields.type.value == "field") { >% + CadShape { + url [ + "meshes/camera_mount.dae" + ] + } + %< } else { >% + Pose { + translation 0 0 0.033 + rotation 0 1 0 -1.57 + children [ + CadShape { + url [ + "meshes/plant_camera_mount.dae" + ] + } + ] + } + %< } >% + Camera { + translation 0.08 0 0.043 + children [ + Pose { + translation -0.08 0 -0.01 + children [ + CadShape { + url [ + "meshes/camera.dae" + ] + } + ] + } + ] + %< if (fields.recognition.value) { >% + recognition Recognition { + maxRange 400 + segmentation TRUE + } + %< } >% + name IS name + fieldOfView 3.31 + width IS width + height IS height + projection "spherical" + focus Focus { + focalLength 2.3 + } + } + ] + name %<= '"' + fields.name.value + '_mount"' >% + boundingObject Pose { + %< if (fields.type.value == 'field') { >% + translation 0.022 0 0.0436 + %< } else { >% + translation 0.024 0 0.048 + %< } >% + children [ + Box { + %< if (fields.type.value == 'field') { >% + size 0.120944 0.108 0.136436 + %< } else { >% + size 0.115 0.03 0.03 + %< } >% + } + ] + } + %< if (fields.enablePhysics.value) { >% + physics Physics { + density -1 + %< if (fields.type.value == 'field') { >% + mass 0.126595 + %< } else { >% + mass 0.32 + %< } >% + } + %< } >% + } +} diff --git a/projects/python/perception/robotti_human_detection/webots/protos/RobottiModule.proto b/projects/python/perception/robotti_human_detection/webots/protos/RobottiModule.proto new file mode 100644 index 0000000000..f5901091cc --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/protos/RobottiModule.proto @@ -0,0 +1,118 @@ +#VRML_SIM R2023b utf8 +# template language: javascript +# license: Apache License 2.0 +# license url: http://www.apache.org/licenses/LICENSE-2.0 +# tags: hidden +# Robotti side module. + +EXTERNPROTO "RobottiModuleWheel.proto" + +PROTO RobottiModule [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 0 1 0 + field SFString{"left", "right"} side "left" + field SFBool enablePhysics TRUE # Defines whether the table should have physics. +] +{ + %< + let offset = fields.side.value == 'left' ? 0.726 : 0; + let rotation = fields.side.value == 'left' ? 0.726 : 0; + >% + Solid { + translation IS translation + rotation IS rotation + children [ + %< if (fields.side.value == 'left') { >% + Pose { + translation 0 0.726 0 + children [ + %< } >% + CadShape { + url [ + "meshes/module.dae" + ] + } + %< if (fields.side.value == 'left') { >% + ] + } + %< } >% + Pose { + %< if (fields.side.value == 'left') { >% + translation -1.706 0.7855 -0.025 + rotation 1 0 0 3.14159 + %< } else { >% + translation -1.706 -0.7855 -0.025 + %< } >% + children [ + CadShape { + url [ + "meshes/module_bumper.dae" + ] + } + ] + } + RobottiModuleWheel { + %< if (fields.side.value == 'left') { >% + translation 0.29 0.13 -0.075 + rotation 0 0 1 3.14159 + %< } else { >% + translation 0.29 -0.13 -0.075 + %< } >% + name %<= '"' + fields.side.value + '_front_wheel"' >% + enablePhysics IS enablePhysics + } + RobottiModuleWheel { + %< if (fields.side.value == 'left') { >% + translation -1.26 0.13 -0.075 + rotation 0 0 1 3.14159 + %< } else { >% + translation -1.26 -0.13 -0.075 + %< } >% + name %<= '"' + fields.side.value + '_rear_wheel"' >% + enablePhysics IS enablePhysics + } + ] + name %<= '"' + fields.side.value + '_module"' >% + boundingObject Group { + children [ + Pose { + %< if (fields.side.value == 'left') { >% + translation -0.53225 0.372545 0.417 + %< } else { >% + translation -0.53225 -0.353111 0.417 + %< } >% + children [ + Box { + size 2.359 0.756777 0.984 + } + ] + } + Pose { + %< if (fields.side.value == 'left') { >% + translation -0.48625 0.39325 -0.025 + %< } else { >% + translation -0.48625 -0.39325 -0.025 + %< } >% + children [ + Box { + size 2.4395 0.7845 0.05 + } + ] + } + ] + } + %< if (fields.enablePhysics.value) { >% + physics Physics { + density -1 + mass 452 + centerOfMass [ + -0.57 -0.36 0.3 + ] + inertiaMatrix [ + 0.3660412 6.028122 6.39087 + 0.8561765 7.804295e-14 -1.107559e-14 + ] + } + %< } >% + } +} diff --git a/projects/python/perception/robotti_human_detection/webots/protos/RobottiModuleWheel.proto b/projects/python/perception/robotti_human_detection/webots/protos/RobottiModuleWheel.proto new file mode 100644 index 0000000000..d665d19137 --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/protos/RobottiModuleWheel.proto @@ -0,0 +1,177 @@ +#VRML_SIM R2023b utf8 +# template language: javascript +# license: Apache License 2.0 +# license url: http://www.apache.org/licenses/LICENSE-2.0 +# tags: hidden +# Wheel of Robotti module. + +PROTO RobottiModuleWheel [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 0 1 0 + field SFString name "wheel" + field SFBool enablePhysics TRUE # Defines whether the table should have physics. +] +{ + %< + let rear = fields.name.value.includes("rear") + let left = fields.name.value.includes("left") + >% + HingeJoint { + jointParameters HingeJointParameters { + axis 0 0 1 + anchor IS translation + dampingConstant 15 + staticFriction 15 + } + device [ + RotationalMotor { + name %<= '"' + fields.name.value + '_mount_joint_motor"' >% + minPosition -0.959931 + maxPosition 1.13446 + maxTorque 10000 + } + PositionSensor { + name %<= '"' + fields.name.value + '_mount_joint_sensor"' >% + } + ] + endPoint Solid { + translation IS translation + rotation IS rotation + children [ + CadShape { + url [ + "meshes/wheel_mount.dae" + ] + } + Pose { + translation 0 0 -0.57825 + children [ + CadShape { + url [ + "meshes/wheel_motor.dae" + ] + } + Pose { + translation 0 0.02 -0.011 + rotation 1 0 0 -1.5708 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.123 0.147 0.17 + roughness 1 + metalness 0 + } + geometry Cylinder { + height 0.12 + radius 0.071 + } + } + ] + } + HingeJoint { + jointParameters HingeJointParameters { + %< if (left) { >% + axis 0 -1 0 + %< } else { >% + axis 0 1 0 + %< } >% + anchor 0 0.13 -0.01 + dampingConstant 30 + staticFriction 15 + suspensionSpringConstant 1e+06 + suspensionDampingConstant 1e+04 + suspensionAxis 0 0 1 + } + device [ + RotationalMotor { + name %<= '"' + fields.name.value + '_joint_motor"' >% + maxTorque 1e+08 + } + PositionSensor { + name %<= '"' + fields.name.value + '_joint_sensor"' >% + } + ] + endPoint Solid { + translation 0 0.13 -0.01 + children [ + Transform { + scale 0.72 0.264 0.72 + children [ + CadShape { + url [ + "meshes/wheel.dae" + ] + } + ] + } + ] + name IS name + contactMaterial "wheel_material" + boundingObject Pose { + rotation 1 0 0 1.570796 + children [ + Cylinder { + height 0.264 + radius 0.36 + } + ] + } + %< if (fields.enablePhysics.value) { >% + physics Physics { + density -1 + mass 110.066 + centerOfMass [ + -5e-06 -0.034608 0.002335 + ] + inertiaMatrix [ + 6.122056 10.6502 6.21507 + -5.072528e-05 -0.0002030411 -0.0006095219 + ] + } + %< } >% + } + } + ] + } + ] + name %<= '"' + fields.name.value + '_mount"' >% + boundingObject Group { + children [ + Pose { + translation 0 -0.09967 -0.235125 + children [ + Box { + size 0.35 0.433 0.92625 + } + ] + } + Pose { + translation -6.4e-05 -0.109405 -0.572777 + children [ + Box { + size 0.296312 0.2916 0.26194 + } + ] + } + ] + } + %< if (fields.enablePhysics.value) { >% + physics Physics { + density -1 + %< if (rear) { >% + mass 150 + %< } else { >% + mass 130 + %< } >% + centerOfMass [ + 0 -0.101 -0.502 + ] + inertiaMatrix [ + 1.81065 1.852208 0.6175029 + -3.015355e-09 3.192393e-08 -0.1268145 + ] + } + %< } >% + } + } +} diff --git a/projects/python/perception/robotti_human_detection/webots/protos/icons/AgriculturalWarehouse.png b/projects/python/perception/robotti_human_detection/webots/protos/icons/AgriculturalWarehouse.png new file mode 100644 index 0000000000..e132816d51 Binary files /dev/null and b/projects/python/perception/robotti_human_detection/webots/protos/icons/AgriculturalWarehouse.png differ diff --git a/projects/python/perception/robotti_human_detection/webots/protos/icons/Robotti.png b/projects/python/perception/robotti_human_detection/webots/protos/icons/Robotti.png new file mode 100644 index 0000000000..e17c24c2d8 Binary files /dev/null and b/projects/python/perception/robotti_human_detection/webots/protos/icons/Robotti.png differ diff --git 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    +     + + + +

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Console:All:All +renderingDevicePerspectives: Robotti:camera_downwards1;0;1;0;0 +renderingDevicePerspectives: Robotti:camera_downwards2;0;1;0;0 +renderingDevicePerspectives: Robotti:camera_downwards3;0;1;0;0 +renderingDevicePerspectives: Robotti:camera_downwards4;0;1;0;0 +renderingDevicePerspectives: Robotti:front_bottom_camera;0;0.884766;0;0 +renderingDevicePerspectives: Robotti:front_top_camera;0;0.884766;0;0 +renderingDevicePerspectives: Robotti:rear_camera;0;0.390625;0;0 +renderingDevicePerspectives: Robotti:recognition display;1;1;0;0 diff --git a/projects/python/perception/robotti_human_detection/webots/worlds/robotti_human_detection.wbt b/projects/python/perception/robotti_human_detection/webots/worlds/robotti_human_detection.wbt new file mode 100644 index 0000000000..dda55858f9 --- /dev/null +++ b/projects/python/perception/robotti_human_detection/webots/worlds/robotti_human_detection.wbt @@ -0,0 +1,5647 @@ +#VRML_SIM R2023b utf8 + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/garden/protos/PicketFenceWithDoor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/garden/protos/PicketFence.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Grass.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/trees/protos/Forest.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/HouseWithGarage.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/StraightRoadSegment.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/RoadIntersection.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/SandyGround.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/BungalowStyleHouse.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/vehicles/protos/generic/Tractor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/master/projects/objects/buildings/protos/Silo.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/master/projects/objects/floors/protos/Ditch.proto" +EXTERNPROTO "../protos/AgriculturalWarehouse.proto" +EXTERNPROTO "../protos/Robotti.proto" +IMPORTABLE EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/solids/protos/SolidBox.proto" +IMPORTABLE EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/trees/protos/SimpleTree.proto" +IMPORTABLE EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/humans/skin_animated_humans/protos/CharacterSkin.proto" +IMPORTABLE EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/animals/protos/Cat.proto" +IMPORTABLE EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/animals/protos/Cow.proto" +IMPORTABLE EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/animals/protos/Deer.proto" +IMPORTABLE EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/animals/protos/Dog.proto" +IMPORTABLE EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/animals/protos/Fox.proto" +IMPORTABLE EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/animals/protos/Horse.proto" +IMPORTABLE EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/animals/protos/Rabbit.proto" +IMPORTABLE EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/animals/protos/Sheep.proto" +IMPORTABLE EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/Barn.proto" +IMPORTABLE EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Soil.proto" + +WorldInfo { + info [ + "This simulation shows a Robotti detecting humans in a field environment." + ] + title "Simulation of Agrointelli Robotti field robot" + CFM 0.0001 + ERP 0.4 + lineScale 1 + contactProperties [ + ContactProperties { + material1 "ground" + material2 "wheel_material" + coulombFriction [ + 5 + ] + softERP 0.5 + softCFM 1e-05 + } + ] +} +Viewpoint { + orientation -0.10996782587396065 -0.36205758534830884 0.9256464671591992 5.6490947137517065 + position -83.63780248723208 47.00428324846145 22.50355875258501 + follow "Robotti" + followType "None" +} +TexturedBackground { + texture "noon_cloudy_countryside" +} +TexturedBackgroundLight { + texture "noon_cloudy_countryside" + luminosity 2 +} +Solid { + translation -122.5 -52.5 0 + children [ + Shape { + appearance Grass { + colorOverride 0.477089 0.553338 0.26006 + type "mossy" + } + geometry IndexedFaceSet { + coord Coordinate { + point [ + -77.5 -147.5 0 + 77.5 -147.5 0 + -77.5 147.5 0 + 77.5 147.5 0 + ] + } + texCoord TextureCoordinate { + point [ + 0 0 + 77.5 0 + 0 147.5 + 77.5 147.5 + ] + } + coordIndex [ + 2, 0, 1, 3, -1 + ] + texCoordIndex [ + 2, 0, 1, 3, -1 + ] + } + } + ] + name "grass" + model "floor" + contactMaterial "ground" + boundingObject Pose { + translation 0 0 0.005 + children [ + Box { + size 155 292 0.01 + } + ] + } + locked TRUE +} +Solid { + translation 79.5 -52.5 0 + children [ + Shape { + appearance Grass { + colorOverride 0.477089 0.553338 0.26006 + type "mossy" + } + geometry IndexedFaceSet { + coord Coordinate { + point [ + -120.5 -147.5 0 + 120.5 -147.5 0 + -120.5 147.5 0 + 120.5 147.5 0 + ] + } + texCoord TextureCoordinate { + point [ + 0 0 + 120.5 0 + 0 147.5 + 120.5 147.5 + ] + } + coordIndex [ + 2, 0, 1, 3, -1 + ] + texCoordIndex [ + 2, 0, 1, 3, -1 + ] + } + } + ] + name "grass(2)" + model "floor" + contactMaterial "ground" + boundingObject Pose { + translation 0 0 0.005 + children [ + Box { + size 241 295 0.01 + } + ] + } + locked TRUE +} +Solid { + translation 0 147.5 0 + children [ + Shape { + appearance Grass { + colorOverride 0.477089 0.553338 0.26006 + type "mossy" + } + geometry IndexedFaceSet { + coord Coordinate { + point [ + -200 -52.5 0 + 200 -52.5 0 + -200 52.5 0 + 200 52.5 0 + ] + } + texCoord TextureCoordinate { + point [ + 0 0 + 200 0 + 0 52.5 + 200 52.5 + ] + } + coordIndex [ + 2, 0, 1, 3, -1 + ] + texCoordIndex [ + 2, 0, 1, 3, -1 + ] + } + } + ] + name "grass(1)" + model "floor" + contactMaterial "ground" + boundingObject Pose { + translation 0 0 0.005 + children [ + Box { + size 400 105 0.01 + } + ] + } + locked TRUE +} +Solid { + translation -43 95 -0.55 + rotation 1 0 0 1.5707996938995747 + children [ + Shape { + appearance SandyGround { + colorOverride 0.28333 0.222705 0.16527 + textureTransform NULL + } + geometry IndexedFaceSet { + coord Coordinate { + point [ + -2 -0.55 0 + 2 -0.55 0 + -2 0.55 0 + 2 0.55 0 + ] + } + texCoord TextureCoordinate { + point [ + 0 0 + 2 0 + 0 0.55 + 2 0.55 + ] + } + coordIndex [ + 2, 0, 1, 3, -1 + ] + texCoordIndex [ + 2, 0, 1, 3, -1 + ] + } + } + ] + name "ditch end" + model "floor" + contactMaterial "ground" + boundingObject Plane { + size 4 1.1 + } + locked TRUE +} +Ditch { + translation -43 -52.5 0 + rotation 0 0 1 1.5708 + size 295 4 1 + waterHeight 0.19 + appearance SandyGround { + colorOverride 0.28333 0.222705 0.16527 + textureTransform TextureTransform { + scale 200 4 + } + } +} +Robotti { + translation -21.0925 6.93132 0.03 + rotation -0.8849144806843816 -0.3985595870443581 -0.2409909074013416 0.0028107951406763526 + controller "" + cameraResolution 1024 1024 + supervisor TRUE + synchronization FALSE + window "robotti_window" + implementSlot [ + Display { + name "recognition display" + width 512 + height 512 + } + ] +} +DEF ROBERT Robot { + translation 2.58568 14.9503 0.01 + rotation 0 0 1 -2.094395307179586 + children [ + CharacterSkin { + name "Robert" + model "Robert" + } + ] + name "robert" + controller "bvh_animation" + controllerArgs [ + "-d" + "Robert" + "-f" + "../../motions/walk.bvh" + "-l" + ] + supervisor TRUE +} +AgriculturalWarehouse { + translation 73.64 -26.99 0 +} +Barn { + translation 61.0024 29.1738 0 + rotation 0 0 1 -2.8797953071795863 + scale 1.5 +} +Barn { + translation 61.5815 19.908 0 + rotation 0 0 1 -2.8797953071795863 + name "barn(1)" +} +Barn { + translation 56.8388 37.4065 0 + rotation 0 0 1 -2.8797953071795863 + name "barn(2)" +} +Barn { + translation -170.61 -65.8974 0 + rotation 0 0 -1 2.05009e-06 + scale 1.5 + name "barn(3)" +} +Barn { + translation 132.431 174.496 1.13687e-13 + rotation 0 0 1 -1.5707953071795862 + scale 1.5 + name "barn(4)" +} +Tractor { + translation 76.1981184178993 -3.6353614283550355 0.41751063278521583 + rotation -0.05057328368620563 0.01516057157924168 0.9986052773977239 2.559861337583246 +} +BungalowStyleHouse { + translation 157.561 171.415 -2.84217e-14 + rotation 0 0 1 3.14159 + appearance PBRAppearance { + baseColor 0.736706 0.936004 0.986664 + roughness 1 + metalness 0 + } +} +PicketFenceWithDoor { + translation 42.31 18.7 0 + rotation 0 0 1 0.261799 +} +PicketFence { + translation 42.31 18.7 0 + rotation 0 0 1 0.261799 + numberOfSegments 5 +} +PicketFence { + translation 44.5164 10.4722 0 + rotation 0 0 1 1.0472 + name "picket fence(1)" + numberOfSegments 3 +} +PicketFence { + translation 48.9756 7.8972 0 + rotation 0 0 1 1.5708 + name "picket fence(2)" + numberOfSegments 3 +} +PicketFence { + translation 54.0956 7.8972 0 + rotation 0 0 1 1.8326 + name "picket fence(3)" + numberOfSegments 15 +} +PicketFence { + translation 41.1283 23.1046 0 + rotation 0 0 1 -2.8797953071795863 + name "picket fence(4)" + numberOfSegments 8 +} +PicketFence { + translation 37.5945 36.3002 0 + rotation 0 0 1 2.87979 + name "picket fence(5)" + numberOfSegments 3 +} +PicketFence { + translation 38.9231 41.2558 0 + rotation 0 0 -1 -2.094395307179586 + name "picket fence(6)" + numberOfSegments 3 +} +PicketFence { + translation 43.3632 43.8208 0 + rotation 0 0 -1 -1.8325953071795862 + name "picket fence(7)" + numberOfSegments 15 +} +SimpleTree { + translation -23.8392 17.7294 -3.55271e-15 +} +SimpleTree { + translation -28.947 17.7816 -3.55271e-15 + name "tree(1)" +} +SimpleTree { + translation -34.5777 17.4849 2.34479e-13 + name "tree(2)" +} +SimpleTree { + translation -31.9863 -36.2336 7.10543e-15 + name "tree(3)" + type "hackberry tree" +} +SimpleTree { + translation -38.639 -31.2876 -3.55271e-15 + name "tree(4)" + type "hackberry tree" +} +SimpleTree { + translation -51.9 -36.6071 -3.55271e-15 + name "tree(5)" + type "hackberry tree" +} +DEF FIELD_MUD SolidBox { + translation -0.51 -55.11 0 + name "field mud" + size 81 65 0.1 + contactMaterial "ground" + appearance Soil { + textureTransform TextureTransform { + scale 100 100 + } + color 0.233341 0.176318 0.112779 + } + castShadows FALSE +} +Forest { + translation 9.65 85.13 0 + shape [ + -120 -10 + -120 -11 + 75 -11 + 75 -10 + ] + type "hackberry tree" + groundTexture [] +} +Forest { + translation 9.65 -108.61 0 + shape [ + -110 -10 + -110 -11 + 90 -11 + 90 -10 + ] + density 0.5 + type "hackberry tree" + groundTexture [] +} +Forest { + translation -86.21 18.15 0 + rotation 0 0 1 1.5707996938995747 + shape [ + -100 -10 + -100 -11 + 100 -11 + 100 -10 + ] + type "hackberry tree" + groundTexture [] +} +Forest { + translation 107.85 -10.71 0 + rotation 0 0 1 1.5707996938995747 + shape [ + -100 -10 + -100 -11 + 100 -11 + 100 -10 + ] + density 0.3 + type "hackberry tree" + groundTexture [] +} +HouseWithGarage { + translation -167.98 114.94 0 +} +StraightRoadSegment { + translation -152.83 -200.62 0.2 + rotation 0 0 1 1.5708 + length 342 +} +StraightRoadSegment { + translation -152.83 158.37 0.2 + rotation 0 0 1 1.5708 + name "road(1)" + length 42 +} +StraightRoadSegment { + translation -161.309 149.857 0.2 + rotation 0 0 1 -3.1415853071795863 + name "road(2)" + length 39 +} +StraightRoadSegment { + translation -144.339 149.857 0.2 + rotation 0 0 1 7.33682e-06 + name "road(3)" + length 345 +} +StraightRoadSegment { + translation 84.891 146.007 0.2 + rotation 0 0 1 -1.5707853071795865 + name "road(4)" + numberOfLanes 1 + rightBorder FALSE + leftBorder FALSE + length 204 + appearance SandyGround { + colorOverride 0.313329 0.236713 0.127428 + } +} +RoadIntersection { + translation -152.808 149.88 0.2 + rotation 0 0 1 0.785398 +} +Silo { + translation 74.2149 -50.7068 -7.10543e-15 + rotation 0 0 1 -2.6179956132800117 +} +DEF FIELD_SOIL Pose { + translation -34.59 -11.2 -0.08 + children [ + SimpleTree { + rotation 0 0 1 0.09967846155453562 + name "plant_0_0" + type "hazel tree" + height 0.4 + radius 0.4 + enableBoundingObject FALSE + } + SimpleTree { + translation 0 1.6 0 + rotation 0 0 1 1.9580175549979046 + name "plant_0_1" + type "hazel tree" + height 0.4 + radius 0.4 + enableBoundingObject FALSE + } + SimpleTree { + translation 0 3.2 0 + rotation 0 0 1 2.6318232037150358 + name "plant_0_2" + type "hazel tree" + height 0.4 + radius 0.4 + enableBoundingObject FALSE + } + SimpleTree { + translation 0 4.8 0 + rotation 0 0 1 1.9243189727688355 + name "plant_0_3" + type "hazel tree" + height 0.4 + radius 0.4 + enableBoundingObject FALSE + } + SimpleTree { + translation 0 6.4 0 + rotation 0 0 1 1.213272060454268 + name "plant_0_4" + type "hazel tree" + height 0.4 + radius 0.4 + enableBoundingObject FALSE + } + SimpleTree { + translation 0 8 0 + rotation 0 0 1 0.19126515924137916 + name "plant_0_5" + type "hazel tree" + height 0.4 + radius 0.4 + enableBoundingObject FALSE + } + SimpleTree { + translation 0 9.6 0 + rotation 0 0 1 2.1746548142672384 + name "plant_0_6" + type "hazel tree" + height 0.4 + radius 0.4 + enableBoundingObject FALSE + } + SimpleTree { + translation 0 11.2 0 + rotation 0 0 1 0.296518422320965 + name "plant_0_7" + type "hazel tree" + height 0.4 + radius 0.4 + enableBoundingObject FALSE + } + SimpleTree { + translation 0 12.8 0 + rotation 0 0 1 2.916063978010084 + name "plant_0_8" + type "hazel tree" + height 0.4 + radius 0.4 + enableBoundingObject FALSE + } + SimpleTree { + translation 0 14.4 0 + rotation 0 0 1 0.41135307291266 + name "plant_0_9" + type "hazel tree" + height 0.4 + radius 0.4 + enableBoundingObject FALSE + } + SimpleTree { + translation 0 16 0 + rotation 0 0 1 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FALSE + } + SimpleTree { + translation 1 12.8 0 + rotation 0 0 1 3.0626504258793763 + name "plant_1_8" + type "hazel tree" + height 0.4 + radius 0.4 + enableBoundingObject FALSE + } + SimpleTree { + translation 1 14.4 0 + rotation 0 0 1 0.36369938750354625 + name "plant_1_9" + type "hazel tree" + height 0.4 + radius 0.4 + enableBoundingObject FALSE + } + SimpleTree { + translation 1 16 0 + rotation 0 0 1 1.7353639177324567 + name "plant_1_10" + type "hazel tree" + height 0.4 + radius 0.4 + enableBoundingObject FALSE + } + SimpleTree { + translation 1 17.6 0 + rotation 0 0 1 2.2683621076802534 + name "plant_1_11" + type "hazel tree" + height 0.4 + radius 0.4 + enableBoundingObject FALSE + } + SimpleTree { + translation 1 19.2 0 + rotation 0 0 1 0.4134679952000626 + name "plant_1_12" + type "hazel tree" + height 0.4 + radius 0.4 + enableBoundingObject FALSE + } + SimpleTree { + translation 1 20.8 0 + rotation 0 0 1 0.22249037362596388 + name "plant_1_13" + type "hazel tree" + height 0.4 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