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parameterized light bars #14

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parameterized light bars #14

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81b9ca6
Add parameter for colors
aric-volman Sep 15, 2025
f658dea
Test commit to lightbar branch
aric-volman Sep 15, 2025
d5ca5c9
Add full code for review (somehow got deleted)
aric-volman Sep 16, 2025
df2d31f
Configure color as a list of floats
aric-volman Sep 17, 2025
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10 changes: 10 additions & 0 deletions launch/sim_node_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,14 @@ def generate_launch_description():
"use_sim_time",
default_value="false",
),
DeclareLaunchArgument(
"primary_robot_color",
default_value="[0.0, 0.0, 1.0, 1.0]",
),
DeclareLaunchArgument(
"secondary_robot_color",
default_value="[0.0, 0.0, 1.0, 1.0]",
)
]

node = Node(
Expand All @@ -103,6 +111,8 @@ def generate_launch_description():
"lidar_pointcloud_resolution"
),
"use_sim_time": LaunchConfiguration("use_sim_time"),
"primary_robot_color": LaunchConfiguration("primary_robot_color"),
"secondary_robot_color": LaunchConfiguration("secondary_robot_color"),
}
],
output="screen",
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8 changes: 5 additions & 3 deletions sim_node/infantry_robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,10 +37,10 @@ def __init__(
build_separate: bool = False,
options: dict = [],
):
self.options = options
super().__init__(
scene, control_freq, control_mode, agent_idx, initial_pose, build_separate
)
self.options = options

default_pos = sapien.Pose(p=[0, 0, 0.25], q=[1, 0, 0, 0])
default_pos.set_rpy([np.deg2rad(90), 0, np.deg2rad(45)])
Expand Down Expand Up @@ -80,8 +80,10 @@ def _after_loading_articulation(self):
visual_block = lightbar_link.render_shapes[0]
for shape in visual_block:
for part in shape.parts:
part.material.set_base_color([0, 0, 1, 1])
part.material.set_emission([0, 0, 100, 100])
if "color" in self.options:
color = self.options["color"]
part.material.set_base_color(color) # Set rgba list of float
part.material.set_emission([x * 100 for x in color]) # Multiply by scalar
part.material.set_emission_texture(None)
part.material.set_metallic_texture(None)
part.material.set_roughness_texture(None)
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6 changes: 5 additions & 1 deletion sim_node/ros_bridge.py
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,9 @@ def __init__(self):
self.declare_parameter("sim_time_scale", 1.0)
self.declare_parameter("cpu_sim", False)

self.declare_parameter("primary_robot_color", [0.0, 0.0, 1.0, 1.0])
self.declare_parameter("secondary_robot_color", [0.0, 0.0, 1.0, 1.0])

self.primary_robot_teleop_sub = self.create_subscription(
SimTeleopInput,
"simulation/primary_robot_teleop",
Expand Down Expand Up @@ -134,9 +137,10 @@ def __init__(self):
)
.get_parameter_value()
.integer_value,
color=self.get_parameter("primary_robot_color").get_parameter_value().double_array_value,
),
# second robot is just used as target practice so we dont care about its sensors
secondary_robot=dict(enable_cv_cam=False, enable_lidar=False),
secondary_robot=dict(enable_cv_cam=False, enable_lidar=False, color=self.get_parameter("secondary_robot_color").get_parameter_value().double_array_value),
)

self.simulation = simulation.Simulation(options=options)
Expand Down