Added sensors for now

.gitignore

@@ -136,3 +136,8 @@ dmypy.json
 
 # Cython debug symbols
 cython_debug/
+
+.idea
+
+output/
+/output/

TestPaperbot.py

@@ -13,12 +13,12 @@ height =30
 
 #a.makeOutput("output/Paperbot_Whole", thickness=1, tree=False, display=False, botId=botId, Webots=True)
 
-for length in range(80,120,20):
-    for width in range(60,120,20):
-        for height in range(20,60,10):
+for length in range(80,200,30):
+    for width in range(60,200,30):
+        for height in range(20,200,30):
             a=None
             a = getComponent("Paperbot", length=length, width=width, height=height)
-            a.makeOutput("output/Paperbot/%(length)d_%(width)d_%(height)d/" %locals(), thickness=.3, tree=False, display=False, Webots=False)
+            a.makeOutput("output/Paperbot/%(length)d_%(width)d_%(height)d/" %locals(), thickness=.3, tree=False, display=False, Webots=True)
 
 
 

rocolib/api/composables/graph/WboExporter.py

@@ -62,6 +62,11 @@ class WboRobotGenerator:
             #other parts are added with solid
             robotChildrenNodes.append(self.generateSolidNode(shapeName, shape))
 
+        # TODO: remove this part ASAP
+        #  Currently force to add sensors, but we don't technically have those information yet
+        robotChildrenNodes.append(self.generateCompassNode())
+        robotChildrenNodes.append(self.generateGpsNode())
+
         #generate robot node and export
         self.exportRobotWbo(self.generateRobotNode(robotChildrenNodes))
 
@@ -134,6 +139,53 @@ class WboRobotGenerator:
                 """  %locals()
 
 
+    def generateCompassNode(self):
+        return """
+        Compass {
+          children [
+            Solid {
+              translation 0 0.005 -0.072
+              children [
+                Shape {
+                  appearance PBRAppearance {
+                    baseColor 0.76463 0.937881 0
+                    metalness 0
+                  }
+                  geometry Cylinder {
+                    height 0.02
+                    radius 0.005
+                  }
+                }
+              ]
+            }
+          ]
+          name "Compass"
+        }"""
+
+    def generateGpsNode(self):
+        return """
+            GPS {
+              children [
+                Solid {
+                  translation 0 0.005 -0.072
+                  children [
+                    DEF GPS Shape {
+                      appearance PBRAppearance {
+                        baseColor 1 0 0.0184329
+                        metalness 0
+                      }
+                      geometry Cylinder {
+                        height 0.01
+                        radius 0.01
+                      }
+                    }
+                  ]
+                }
+              ]
+              name "Globe_GPS"
+            }"""
+
+
 class WboShapeGenerator:
     # """
     # WboExporter is a class to generate wbo file for webots simulations