sim.world_gen.in_house_2026_node#

Attributes#

`RGBA`
`XY`
`XYR`
`SHAPE_MODELS`
`SHAPE_RADII`
`SCALED_XY_PATHS`
`MAX_PLACEMENT_ATTEMPTS`
`TAG_FAMILY`
`TAG_MODEL`
`TAG_CELLS`
`TAG_QUIET_CELLS`
`TAG_Z`
`OBJECT_STATE_SERVICE`
`NO_TAG_ID`
`DEFAULT_PALETTE`
`BORDER_MODEL`
`DEFAULT_BORDER_MATERIAL`

Classes#

`Material`	SDF <material> colours, each RGBA in 0-1.
`BorderConfig`	Red outline drawn around the shape spawn area.
`TagConfig`	AprilTag decal stamped on each spawned shape.
`SizeConfig`	Per-instance X/Y scale drawn for each spawned shape. Thickness is never scaled.
`InHouse2026Config`	Schema for world.config in simulations/in_house_2026/*.yaml
`InHouse2026WorldNode`	World generation node for the In House 2026 challenge.

Functions#

main([args])

Module Contents#

RGBA#

XY#

XYR#

SHAPE_MODELS#

SHAPE_RADII#

SCALED_XY_PATHS = ('./model/link/pose', './model/link/visual/geometry/mesh/scale', './model/link/collision/pose',...#

MAX_PLACEMENT_ATTEMPTS = 200#

TAG_FAMILY = 'tag36h11'#

TAG_MODEL = 'AprilTag36h11'#

TAG_CELLS = 8#

TAG_QUIET_CELLS = 1#

TAG_Z = 0.012#

OBJECT_STATE_SERVICE = 'publish_object_state'#

NO_TAG_ID = -1#

class Material(/, **data: Any)#

Bases: pydantic.BaseModel

SDF <material> colours, each RGBA in 0-1.

ambient: RGBA#

diffuse: RGBA#

specular: RGBA = (0.01, 0.01, 0.01, 1.0)#

emissive: RGBA = (0.0, 0.0, 0.0, 1.0)#

DEFAULT_PALETTE#

BORDER_MODEL = 'InHouse2026Border'#

DEFAULT_BORDER_MATERIAL#

class BorderConfig(/, **data: Any)#

Bases: pydantic.BaseModel

Red outline drawn around the shape spawn area.

enabled: bool = True#

margin: float = 0.5#

thickness: float = 0.15#

height: float = 0.02#

material: Material#

class TagConfig(/, **data: Any)#

Bases: pydantic.BaseModel

AprilTag decal stamped on each spawned shape.

enabled: bool = True#

size: float = 0.0254#

id_range: tuple[int, int] = (10, 586)#

class SizeConfig(/, **data: Any)#

Bases: pydantic.BaseModel

Per-instance X/Y scale drawn for each spawned shape. Thickness is never scaled.

enabled: bool = True#

min_scale: float#

max_scale: float#

class InHouse2026Config(/, **data: Any)#

Bases: pydantic.BaseModel

Schema for world.config in simulations/in_house_2026/*.yaml

seed: int | None = None#

num_patches: int#

area: tuple[XY, XY]#

counts: dict[str, int]#

min_spacing: float = 0.05#

min_patch_spacing: float = 2.0#

keep_out: list[tuple[float, float, float]]#

random_yaw: bool = True#

palette: dict[str, Material]#

border: BorderConfig#

tags: TagConfig#

size: SizeConfig#

class InHouse2026WorldNode#

Bases: sim.world_gen.world_node.WorldNode

World generation node for the In House 2026 challenge. Litters the ground with randomly placed, randomly coloured InHouse2027 shapes.

config#

spherical_coordinates#

entities#

controllables#

shapes: list[sim.entity.Entity] = []#

object_states: list[dict] = []#

generated_at = ''#

object_state_srv#

cached_templates: dict[str, str]#

keep_out: list[tuple[float, float, float]]#

search_locations: list[sim_interfaces.msg.SearchLocation] = []#

target_tag_id: int = -1#

query_search_locations_service#

patches_ready = False#

generation_started = False#

pending_spawns = 0#

spawn_failed = False#

get_patches_callback(request: sim_interfaces.srv.GetSearchLocations.Request, response: sim_interfaces.srv.GetSearchLocations.Response) → sim_interfaces.srv.GetSearchLocations.Response#

sample_position(placed: list[XY]) → XY | None#: Rejection-sample an xy inside area honouring keep_out and min_spacing.

random_shapes() → list[sim.entity.Entity]#: Generate the shape entities described by the config.

build_border_sdf() → str#: Return an SDF model outlining area in red.

border_entity() → sim.entity.Entity#: Border entity whose on-disk model.sdf is replaced by geometry matching area.

generate_sdf_string(template_path: str, material: Material) → str#: Return the model.sdf at template_path with its <material> colours replaced.

available_tag_ids() → list[int]#: Tag ids committed under $PENNAIR_GZ_MODELS_PATH/models/AprilTag36h11.

with_apriltag(sdf: str, tag_id: int) → str#

Return sdf with a tag plane appended to the shape’s link.

Must run AFTER generate_sdf_string, whose recolour regex is global and would otherwise repaint the tag’s <ambient>/<diffuse> the shape’s colour.

with_scale(sdf: str, scale: float) → str#

Return sdf with the shape’s X/Y footprint multiplied by scale.

Z is deliberately untouched, so every shape stays 1 cm thick and TAG_Z / the collision <pose> z stay correct at any size. Must run BEFORE with_apriltag so the tag reads the zeroed link <pose> and lands on the visual centre, and so the tag’s own plane <size> is not scaled with the shape.

object_state_req(request, response)#: Serve the tag, colour and pose of every spawned shape so runs can be graded.

load_world_coordinates() → gz.math7.SphericalCoordinates#: Read the world’s geographic reference once when the node starts.

world_xy_to_gps(center_xy: XY) → tuple[float, float]#: Convert a ground point (world z=0) to latitude/longitude in degrees.

sample_patch_center(radius_m: float, placed: list[XY]) → XY#: Samples patch locations and rejecting overlaps

sample_patch_position(center_xy: XY, radius_m: float, placed: list[XYR], own_radius: float) → XY#: Sample a shape center inside the circle, respecting spacing and keep-out zones.

generate_patch(center_xy: XY, radius_m: float, contains_target: bool, target_tag_id: int, name_prefix: str = 'patch_0') → list[sim.entity.Entity]#: Generate four gold stars and twelve random shapes; reserve the target tag.

spawn_next_entity() → bool#: Send one request at a time so the bridge is not flooded with spawns.

_log_spawn_result(name: str, future) → None#: Keep the existing spawn logging and mark ready only after all replies succeed.

generate_world()#

main(args=None)#