lookout-config 1.4.0__py3-none-any.whl → 1.6.0__py3-none-any.whl

lookout_config/generate_urdf.py

@@ -1,44 +1,58 @@
-from typing import List
 from lookout_config import LookoutConfig
-from greenstream_config import Camera, Offsets, get_cameras_urdf
-from gr_urchin import URDF, Joint, Material, Link, xyz_rpy_to_matrix, Visual, Mesh, Geometry
+from greenstream_config import Offsets, get_cameras_urdf
+from gr_urchin import URDF, Joint, Material, Link, xyz_rpy_to_matrix, Visual, Mesh, Geometry, Box
 from math import radians
 
 
+def joint_from_offsets(offsets: Offsets, parent: str, child: str) -> Joint:
+    return Joint(
+        name=f"{parent}_to_{child}",
+        parent=parent,
+        child=child,
+        joint_type="fixed",
+        origin=xyz_rpy_to_matrix(
+            [
+                offsets.forward or 0.0,
+                offsets.left or 0.0,
+                offsets.up or 0.0,
+                offsets.roll or 0.0,
+                offsets.pitch or 0.0,
+                offsets.yaw or 0.0,
+            ]
+        ),
+    )
+
+
 def generate_urdf(
     config: LookoutConfig,
-    cameras: List[Camera],
-    ins_offset: Offsets,
-    mesh_path: str,
-    waterline=0.0,  # meters between the waterline and the base_link
     add_optical_frame: bool = True,
 ):
-
+    mesh_path = f"package://lookout_bringup/meshes/{config.offsets.name}"
     file_path = f"/tmp/vessel_{config.mode.value}.urdf"
-
-    # generate links and joints for all vessel cameras
-    camera_links, camera_joints = get_cameras_urdf(
-        cameras, [None], add_optical_frame, namespace=config.namespace_vessel
-    )
-    namespace_prefix = f"{config.namespace_vessel}_" if config.namespace_vessel != "" else ""
+    camera_links, camera_joints = get_cameras_urdf(config.cameras, [], add_optical_frame)  # type: ignore
 
     urdf = URDF(
         name="origins",
         materials=[
-            Material(name="grey", color=[0.75, 0.75, 0.75, 1]),
-            Material(name="blue", color=[0, 0, 1, 1]),
+            Material(name="grey", color=[0.75, 0.75, 0.75, 0.6]),
+            Material(name="blue", color=[0, 0.12, 0.25, 0.9]),
         ],
         links=[
-            Link(name=f"{namespace_prefix}ins_link", inertial=None, visuals=None, collisions=None),
+            Link(name="ins", inertial=None, visuals=None, collisions=None),
             Link(
-                name=f"{namespace_prefix}waterline_link",
+                name="waterline",
+                visuals=[
+                    Visual(
+                        name="waterline",
+                        geometry=Geometry(box=Box([10.0, 10.0, 0.01])),
+                        material=Material(name="blue"),
+                    )
+                ],
                 inertial=None,
-                visuals=None,
                 collisions=None,
             ),
             Link(
-                name=f"{namespace_prefix}base_link",
-                inertial=None,
+                name="base_link",
                 visuals=[
                     Visual(
                         name="visual",
@@ -47,43 +61,22 @@ def generate_urdf(
                         ),
                         origin=xyz_rpy_to_matrix([0, 0, 0, radians(-90), 0, 0]),
                         material=Material(name="grey"),
-                    )
+                    ),
                 ],
+                inertial=None,
                 collisions=None,
             ),
             *camera_links,
         ],
         joints=[
-            Joint(
-                name=f"{namespace_prefix}base_to_ins",
-                parent=f"{namespace_prefix}base_link",
-                child=f"{namespace_prefix}ins_link",
-                joint_type="fixed",
-                origin=xyz_rpy_to_matrix(
-                    [
-                        ins_offset.forward,
-                        ins_offset.left,
-                        ins_offset.up,
-                        ins_offset.roll,
-                        ins_offset.pitch,
-                        ins_offset.yaw,
-                    ]
-                ),
-            ),
-            Joint(
-                name=f"{namespace_prefix}base_to_{namespace_prefix}waterline",
-                parent=f"{namespace_prefix}base_link",
-                child=f"{namespace_prefix}waterline_link",
-                joint_type="fixed",
-                origin=xyz_rpy_to_matrix([0, 0, -waterline, 0, 0, 0]),
-            ),
+            joint_from_offsets(config.offsets.baselink_to_ins, "base_link", "ins"),
+            joint_from_offsets(config.offsets.baselink_to_waterline, "base_link", "waterline"),
             *camera_joints,
         ],
     )
 
     urdf.save(file_path)
 
-    # stringify urdf response for robot description
     with open(file_path) as infp:
         robot_description = infp.read()
 

lookout_config/schemas/lookout.schema.json

@@ -442,17 +442,6 @@
           "title": "Password",
           "type": "string"
         },
-        "joystick_topic": {
-          "anyOf": [
-            {
-              "type": "string"
-            },
-            {
-              "type": "null"
-            }
-          ],
-          "title": "Joystick Topic"
-        },
         "ptz_components": {
           "items": {
             "$ref": "#/$defs/PTZComponent"
@@ -478,7 +467,6 @@
         "port",
         "username",
         "password",
-        "joystick_topic",
         "ptz_components"
       ],
       "title": "PTZOnvif",

lookout_config/types.py

@@ -2,12 +2,12 @@
 # * lookout_interfaces/msg/Config.msg
 # * lookout_config_manager/mappers.py
 
-from typing import List, Any
+from typing import Optional, Any
 from enum import Enum
 from pydantic import BaseModel, field_validator, ConfigDict
 from pydantic.fields import Field
 
-from greenstream_config.types import Camera
+from greenstream_config.types import Camera, Offsets
 
 
 class Mode(str, Enum):
@@ -87,6 +87,12 @@ class CameraExtended(Camera):
         return ignore_regions
 
 
+class VesselOffsets(BaseModel):
+    name: str
+    baselink_to_ins: Offsets
+    baselink_to_waterline: Offsets
+
+
 class LookoutConfig(BaseModel):
     # So enum values are written and read to the yml correctly
     model_config = ConfigDict(
@@ -110,6 +116,13 @@ class LookoutConfig(BaseModel):
     gpu: bool = True
     geolocation_mode: GeolocationMode = GeolocationMode.NONE
     positioning_system: PositioningSystem = PositioningSystem.NONE
+    offsets: VesselOffsets = VesselOffsets(
+        name="mars.stl",
+        baselink_to_ins=Offsets(forward=1.4160, left=0.153, up=0.184),
+        baselink_to_waterline=Offsets(
+            up=0.3,
+        ),
+    )
     components: Any = Field(default_factory=dict)
     prod: bool = True
     log_directory: str = "~/greenroom/lookout/logs"

{lookout_config-1.4.0.dist-info → lookout_config-1.6.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: lookout_config
-Version: 1.4.0
+Version: 1.6.0
 Summary: A library for reading / writing Lookout config files
 Home-page: https://github.com/Greenroom-Robotics/lookout
 Author: Greenroom Robotics
@@ -19,7 +19,7 @@ Requires-Dist: setuptools
 Requires-Dist: dacite
 Requires-Dist: PyYAML
 Requires-Dist: dc-schema
-Requires-Dist: greenstream-config==3.5.3
+Requires-Dist: greenstream-config==3.6.3
 Requires-Dist: gr-urchin
 
 # Lookout Config

lookout_config-1.6.0.dist-info/RECORD

@@ -0,0 +1,13 @@
+lookout_config/__init__.py,sha256=3D-vqwfTPSuvLVBo4wiYQglpPUm4Fj6Y5MYGIS-e0fI,1738
+lookout_config/generate_schemas.py,sha256=yFNvrZ6gie1tnTM_1TO8_wBa0lFHJAABSI3ZAZqw_Wg,457
+lookout_config/generate_urdf.py,sha256=Emve-fVAjCT89Lz2wyyat5t3Yjxa-SdWPgnT9Pu4KPs,2723
+lookout_config/helpers.py,sha256=3GkGRPDzQ67I5srwcWoI8PI1dgrWvTsUwA8-yRUttLM,603
+lookout_config/launch_parameters.py,sha256=1q49Abigr6WQ3MCJtRcS-h5wQLFNW0yx-zHXOkjn3QM,180
+lookout_config/types.py,sha256=RUc34rXcYp3262n9FZIBjSxft5-688A8ArDJwrqzVIU,3596
+lookout_config/schemas/lookout.schema.json,sha256=wg7hK6vFLk90w4B5cCtOwYYfKMNcggli0S3c1P-vTDs,12750
+lookout_config/test/lookout_config_test.py,sha256=TdOzIEWnyrckhmK7OtShtoWwSAP8QDCiKalNhvScd2U,73
+lookout_config-1.6.0.dist-info/METADATA,sha256=DUxXzTbSN1xNL9V3eUm5oci-yNBwl_GsULD6SKIHyAo,1436
+lookout_config-1.6.0.dist-info/WHEEL,sha256=P9jw-gEje8ByB7_hXoICnHtVCrEwMQh-630tKvQWehc,91
+lookout_config-1.6.0.dist-info/top_level.txt,sha256=IiZRgJhNrNL87uLMQm9lQRrMCqJnTOl7aYlA7zRSYyg,15
+lookout_config-1.6.0.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
+lookout_config-1.6.0.dist-info/RECORD,,

lookout_config-1.4.0.dist-info/RECORD

@@ -1,13 +0,0 @@
-lookout_config/__init__.py,sha256=3D-vqwfTPSuvLVBo4wiYQglpPUm4Fj6Y5MYGIS-e0fI,1738
-lookout_config/generate_schemas.py,sha256=yFNvrZ6gie1tnTM_1TO8_wBa0lFHJAABSI3ZAZqw_Wg,457
-lookout_config/generate_urdf.py,sha256=_LaBPlp6BDFP68DMxF-VQS1SDt4iX1pmb0kITQM-I9E,3103
-lookout_config/helpers.py,sha256=3GkGRPDzQ67I5srwcWoI8PI1dgrWvTsUwA8-yRUttLM,603
-lookout_config/launch_parameters.py,sha256=1q49Abigr6WQ3MCJtRcS-h5wQLFNW0yx-zHXOkjn3QM,180
-lookout_config/types.py,sha256=2Vb4D-3gOSnurLjbSRdJjfinrSWTGCFW2szgGZRbrME,3255
-lookout_config/schemas/lookout.schema.json,sha256=WK4HvtAYYUwLTV0lybj6-9FxXvQUx1ZKTgOoamSpJPA,13002
-lookout_config/test/lookout_config_test.py,sha256=TdOzIEWnyrckhmK7OtShtoWwSAP8QDCiKalNhvScd2U,73
-lookout_config-1.4.0.dist-info/METADATA,sha256=H4-cc7FvJIQ_bJeqRSSxlLeRsvhCrk-yR6Cu4rsi1fw,1436
-lookout_config-1.4.0.dist-info/WHEEL,sha256=P9jw-gEje8ByB7_hXoICnHtVCrEwMQh-630tKvQWehc,91
-lookout_config-1.4.0.dist-info/top_level.txt,sha256=IiZRgJhNrNL87uLMQm9lQRrMCqJnTOl7aYlA7zRSYyg,15
-lookout_config-1.4.0.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
-lookout_config-1.4.0.dist-info/RECORD,,