2018-06-15 02:59:05 -07:00
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# In settings.json first activate computer vision mode:
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# https://github.com/Microsoft/AirSim/blob/master/docs/image_apis.md#computer-vision-mode
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2017-12-07 01:54:59 -08:00
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2018-06-15 02:59:05 -07:00
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import setup_path
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import airsim
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2017-12-07 01:54:59 -08:00
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2018-06-15 03:23:37 -07:00
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import pprint
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2018-06-15 02:59:05 -07:00
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client = airsim.VehicleClient()
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2017-12-07 01:54:59 -08:00
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client.confirmConnection()
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2018-06-21 21:06:05 -07:00
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# objects can be named in two ways:
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# 1. In UE Editor, select and object and change its name to something else. Note that you must *change* its name because
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# default name is auto-generated and varies from run-to-run.
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# 2. OR you can do this: In UE Editor select the object and then go to "Actor" section, click down arrow to see "Tags" property and add a tag there.
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#
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# The simGetObjectPose and simSetObjectPose uses first object that has specified name OR tag.
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# more info: https://answers.unrealengine.com/questions/543807/whats-the-difference-between-tag-and-tag.html
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# https://answers.unrealengine.com/revisions/790629.html
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# below works in Blocks environment
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#------------------------------------ Get current pose ------------------------------------------------
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# search object by name:
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pose1 = client.simGetObjectPose("OrangeBall");
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print("OrangeBall - Position: %s, Orientation: %s" % (pprint.pformat(pose1.position),
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pprint.pformat(pose1.orientation)))
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# search another object by tag
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pose2 = client.simGetObjectPose("PulsingCone");
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print("PulsingCone - Position: %s, Orientation: %s" % (pprint.pformat(pose2.position),
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pprint.pformat(pose2.orientation)))
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# search non-existent object
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pose3 = client.simGetObjectPose("Non-Existent"); # should return nan pose
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print("Non-Existent - Position: %s, Orientation: %s" % (pprint.pformat(pose3.position),
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pprint.pformat(pose3.orientation)))
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#------------------------------------ Set new pose ------------------------------------------------
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# here we move with teleport enabled so collisions are ignored
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pose1.position = pose1.position + airsim.Vector3r(-2, -2, -2)
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success = client.simSetObjectPose("OrangeBall", pose1, True);
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airsim.wait_key("OrangeBall moved. Success: %i" % (success))
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# here we move with teleport enabled so collisions are not ignored
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pose2.position = pose2.position + airsim.Vector3r(3, 3, -2)
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success = client.simSetObjectPose("PulsingCone", pose2, False);
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airsim.wait_key("PulsingCone moved. Success: %i" % (success))
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# move non-existent object
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success = client.simSetObjectPose("Non-Existent", pose2); # should return nan pose
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airsim.wait_key("Non-Existent moved. Success: %i" % (success))
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#------------------------------------ Get new pose ------------------------------------------------
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pose1 = client.simGetObjectPose("OrangeBall");
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print("OrangeBall - Position: %s, Orientation: %s" % (pprint.pformat(pose1.position),
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pprint.pformat(pose1.orientation)))
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# search another object by tag
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pose2 = client.simGetObjectPose("PulsingCone");
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print("PulsingCone - Position: %s, Orientation: %s" % (pprint.pformat(pose2.position),
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pprint.pformat(pose2.orientation)))
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# search non-existent object
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pose3 = client.simGetObjectPose("Non-Existent"); # should return nan pose
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print("Non-Existent - Position: %s, Orientation: %s" % (pprint.pformat(pose3.position),
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pprint.pformat(pose3.orientation)))
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