To install all necessary python packages run
python3 -m pip install -r requirements.txt
Please follow the steps in the /Python-main/README.md to install the BFH-HuCE Framework
To start the interface run:
python3 main.py
which will give you a link in the console to open the ui
All the resources for the simulation can be found in the equaly names folder resources
The robots in available in the Interface can be configured in the robotSelect.json file which contains all the robots currently available. For every robot there is an id which is used as the name of the robot in the selection dropdown. The file attibute references a json file in the same directory which contains additional information about the robot like the configurations for the axis of the robot.
In this folder there are subfolder with for the robot simulation with each of the foldernames corresponding to the id field for the robot in the robotSelect.json file. Inside this folder there is a model.json file which contains the configuration for the simulation and also a field called files list of GLTF file which are in the same directory as the model.json file. These 3D models will be loaded in the order of the list, meaning the first file in the list will be the base of the robot and the last will be the outermost link of the robot. The field globalRotation is al list of 3D rotations to apply to the links of the robot including the base. The first entry corresponds to the first entry in the files field. The field jointLookupMatrix contains a matrix where the rows correspond to the links of the robot and the row gets multiplyed by the rotation of the corresponding link to get the euler rotations. The field offsets define the the offsets from the joints to the origin.
In the environment folder is a python file which describes the environment of the simulation. In the file there are three methods. The initialize function loads the environment with which the robot can interact. Object which are added to the graspable objects list, can be grasped by the robot and will be outlined in the simulation if the gripper is close enough to the object. If the gripper has gripped the object the color of the outline will change. If you want a additional camera in you scene, you can either call self.addEnvironmentCamera for a static camera in the initialize method, or the self.addGripperCamera in the initializeGripper method to add a camera attached to the gripper. The second method is to add object which are permanently attached to the robots last link, for example a gripper. The update method is to update the enviroment and is called once per update of the simulation. Any 3D you would like to use in the environment should be in the same folder as the environments.py and can be access in the code via /static/environment/youFileName.