Merge pull request #50 from voshch/feature/ceilings

ceilings :DDDD

Author: voshch

arena_bringup/configs/gazebo/empty.sdf

@@ -5,7 +5,7 @@
       <ambient>0.6 0.6 0.6 1</ambient>
       <background>0.7 0.7 0.8 1</background>
       <sky></sky>
-      <shadows>true</shadows>
+      <shadows>false</shadows>
     </scene>
 
     <!-- GPS reference: Waterloo, ON (from former GAZEBO_WORLD_LAT/LON env defaults in hector plugin) -->
@@ -48,18 +48,31 @@
       <real_time_update_rate>0</real_time_update_rate>
     </physics>
 
+    <!-- Shadowless rig: four directional lights from each side, downward-biased, for even
+         lighting with no cast shadows. ogre2 PBR is lit by these, not by scene ambient. -->
     <light type="directional" name="sun">
-      <cast_shadows>true</cast_shadows>
-      <pose>0 0 10 0 0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.2 0.2 0.2 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.1 -0.9</direction>
+      <cast_shadows>false</cast_shadows>
+      <diffuse>0.45 0.45 0.45 1</diffuse>
+      <specular>0 0 0 1</specular>
+      <direction>-1 0 -0.35</direction>
+    </light>
+    <light type="directional" name="fill_west">
+      <cast_shadows>false</cast_shadows>
+      <diffuse>0.45 0.45 0.45 1</diffuse>
+      <specular>0 0 0 1</specular>
+      <direction>1 0 -0.35</direction>
+    </light>
+    <light type="directional" name="fill_north">
+      <cast_shadows>false</cast_shadows>
+      <diffuse>0.45 0.45 0.45 1</diffuse>
+      <specular>0 0 0 1</specular>
+      <direction>0 -1 -0.35</direction>
+    </light>
+    <light type="directional" name="fill_south">
+      <cast_shadows>false</cast_shadows>
+      <diffuse>0.45 0.45 0.45 1</diffuse>
+      <specular>0 0 0 1</specular>
+      <direction>0 1 -0.35</direction>
     </light>
 
     <model name="ground_plane">

arena_isaac

@@ -6,6 +6,7 @@
 from collections.abc import Iterable, Mapping, Sequence
 
 from arena_people_msgs.msg import Pedestrians
+from arena_simulation_setup.shared import Ceiling
 from task_generator.shared import (
     Door,
     DynamicObstacle,
@@ -131,6 +132,12 @@ async def spawn_floors(self, floors: Sequence[Floor]) -> bool:
         """
         raise NotImplementedError()
 
+    async def spawn_ceilings(self, ceilings: Sequence[Ceiling]) -> bool:
+        """
+        Add a list of ceilings to the simulator. No-op by default.
+        """
+        return True
+
     async def remove_world(self) -> bool:
         """
         Remove every spawned world element.

arena_runtime/arena_runtime/arena_runtime/sim/_interface.py

@@ -22,6 +22,7 @@
 from arena_rclpy_mixins import ArenaMixinNode
 from arena_rclpy_mixins.Async import ClientWrapper
 from arena_rclpy_mixins.shared import Namespace
+from arena_simulation_setup.shared import Ceiling
 from arena_simulation_setup.tree.Wall import WallSegment
 from arena_simulation_setup.utils.material import MdlUtil
 from geometry_msgs.msg import PoseWithCovarianceStamped
@@ -287,6 +288,16 @@ async def spawn_floors(self, floors: Sequence[Floor]) -> bool:
             self._walls_entities.append(name)
         return True
 
+    async def spawn_ceilings(self, ceilings: Sequence[Ceiling]) -> bool:
+        for ceiling in ceilings:
+            name = self._realizer.realize(f"ceiling_{next(self._wall_counter)}")
+            textures = await self._resolve_wall_textures(ceiling.material)
+            ceiling_sdf = _generate_ceiling_sdf(name, ceiling, textures)
+            async with self._semaphore:
+                await self._spawn_sdf(name, ceiling_sdf, Pose())
+            self._walls_entities.append(name)
+        return True
+
     def robot_positions_xy(self) -> Iterable[tuple[str, tuple[float, float]]]:
         out: list[tuple[str, tuple[float, float]]] = []
         for sim_path, frame in list(self._agent_robots.items()):
@@ -877,6 +888,32 @@ def _generate_floor_sdf(name: str, floor: Floor, textures: dict[str, str]) -> st
         """
 
 
+def _generate_ceiling_sdf(name: str, ceiling: Ceiling, textures: dict[str, str]) -> str:
+    """SDF model with a single downward-facing plane, visible only from below."""
+    cast_shadows = 'true' if ceiling.cast_shadows else 'false'
+    return f"""
+        <sdf version="1.6">
+            <model name="{name}">
+                <pose>0 0 0 0 0 0</pose>
+                <link name="ceiling_link">
+                    <visual name="visual">
+                        <cast_shadows>{cast_shadows}</cast_shadows>
+                        <geometry>
+                            <plane>
+                                <normal>0 0 -1</normal>
+                                <size>{ceiling.x_length} {ceiling.y_length}</size>
+                            </plane>
+                        </geometry>
+                        {_wall_material_sdf(textures)}
+                    </visual>
+                    <pose>{ceiling.pos.x} {ceiling.pos.y} {ceiling.z} 0 0 0</pose>
+                </link>
+                <static>true</static>
+            </model>
+        </sdf>
+        """
+
+
 _BOX_SDF_TEMPLATE = """
 <sdf version="1.6">
     <model name="{name}">

arena_runtime/arena_runtime/arena_runtime/sim/gazebo_simulator/gazebo_simulator.py

@@ -33,6 +33,7 @@
 from arena_simulation_setup.shared import Obstacle as ObstacleDefinition
 from arena_simulation_setup.tree.Wall import WallSegment
 from isaacsim_msgs.msg import (
+    Ceiling,
     Floor,
     Material,
     Prim,
@@ -42,12 +43,14 @@
     DeletePrims,
     EditPrims,
     ResetWorld,
+    SpawnCeilings,
     SpawnFloors,
     SpawnPrims,
     SpawnUrdf,
     SpawnUsd,
     SpawnWalls,
 )
+from task_generator.shared import Ceiling as CeilingDefinition
 from task_generator.shared import (
     DynamicObstacle,
     Model,
@@ -194,6 +197,7 @@ def __init__(self, *args: object, **kwargs: object) -> None:
         self._NS_ROBOT = Namespace(env_prefix)('Robots')
         self._NS_WALL = Namespace(env_prefix)('Walls')
         self._NS_FLOOR = Namespace(env_prefix)('Floors')
+        self._NS_CEILING = Namespace(env_prefix)('Ceilings')
 
         self.wall_counter = itertools.count()
         self.floor_counter = itertools.count()
@@ -204,6 +208,7 @@ def __init__(self, *args: object, **kwargs: object) -> None:
             MovePedestrians=self.node.create_client_wrapper(MovePedestrians, "/isaac/MovePedestrians"),
             ResetWorld=self.node.create_client_wrapper(ResetWorld, "/isaac/ResetWorld"),
             UpdatePedestrians=self.node.create_client_wrapper(UpdatePedestrians, "/isaac/UpdatePedestrians"),
+            SpawnCeilings=self.node.create_client_wrapper(SpawnCeilings, "/isaac/SpawnCeilings"),
             SpawnFloors=self.node.create_client_wrapper(SpawnFloors, "/isaac/SpawnFloors"),
             SpawnPedestrians=self.node.create_client_wrapper(SpawnPedestrians, "/isaac/SpawnPedestrians"),
             SpawnPrims=self.node.create_client_wrapper(SpawnPrims, "/isaac/SpawnPrims"),
@@ -535,6 +540,34 @@ async def impl(floor: FloorDefinition) -> Floor | None:
         self._logger.debug("All floors spawned successfully.")
         return res
 
+    async def spawn_ceilings(self, ceilings: Sequence[CeilingDefinition]) -> bool:
+        self._logger.debug("Attempting to spawn ceilings")
+
+        async def impl(ceiling: CeilingDefinition) -> Ceiling | None:
+            try:
+                pos = ceiling.pos.to_msg()
+                pos.z = ceiling.z
+                return Ceiling(
+                    name=self._NS_CEILING(ceiling.name),
+                    x_length=ceiling.x_length,
+                    y_length=ceiling.y_length,
+                    pos=pos,
+                    cast_shadows=ceiling.cast_shadows,
+                    material=material_to_msg(await ceiling.material.resolve()),
+                )
+
+            except Exception:
+                self._logger.error(f"Failed to spawn ceiling: {ceiling.name}\n{traceback.format_exc()}")
+                return None
+
+        ceilings_req = SpawnCeilings.Request()
+        ceilings_req.ceilings = list(filter(None, await asyncio.gather(*map(impl, ceilings))))
+        ceilings_res = await self._clients.SpawnCeilings.call_timeout(ceilings_req)
+
+        res = bool(ceilings_res) and all(ceilings_res.ret)
+        self._logger.debug("All ceilings spawned successfully.")
+        return res
+
     async def spawn_box(self, name: str, size: tuple[float, float, float], pose: Pose) -> bool:
         """Spawn an axis-aligned box using the SpawnWalls service.
 

arena_runtime/arena_runtime/arena_runtime/sim/isaac_simulator.py

@@ -69,8 +69,29 @@ Key points:
 - `material` on a zone accepts the same forms as `MaterialIdentifier`: a plain
   string `Concrete_Smooth`, or a two-element list `[name, modifiers_dict]`.
 - Multiple zones share a single flat `zones` list. Zone boundaries are defined
-  only by their `corners` polygon and their `walls` list — there is no
-  explicit parent–child relationship.
+  only by their `corners` polygon and their `walls` list, with no explicit
+  parent-child relationship.
+
+### Ceilings
+
+Add a ceiling to any zone with these optional keys:
+
+```yaml
+  ceiling: true                # true by default, set false to leave the zone open
+  ceiling_height: 3.0          # top height in metres, omit to derive from wall stack
+  ceiling_cast_shadows: false  # false by default, true to let the ceiling occlude light
+  ceiling_material:            # MaterialIdentifier, defaults to Concrete_Smooth
+  - Concrete_Smooth
+  - {}
+```
+
+With `ceiling_height` absent, the height is the tallest wall top in the zone
+(`max(segment.start.z + segment.height)` over the zone walls), falling back to
+`2.0` m when the zone has no walls.
+
+Ceilings are opaque from below and transparent from above. They are visual-only
+(no collision). With `ceiling_cast_shadows` false the ceiling does not occlude
+the sun, so interiors stay lit without global illumination.
 
 Full field reference: [worlds/README.md](worlds/README.md).
 

arena_simulation_setup/AUTHORING.md

@@ -2,7 +2,7 @@
 
 from .entities import CustomDynamicObstacle, DynamicObstacle, Entity, Obstacle
 from .walls import Wall
-from .world import Door, Elevator, Floor
+from .world import Ceiling, Door, Elevator, Floor
 
 __all__ = [
     "Pose",
@@ -14,6 +14,7 @@
     "CustomDynamicObstacle",
     "Wall",
     "Floor",
+    "Ceiling",
     "Elevator",
     "Door",
 ]

arena_simulation_setup/src/arena_simulation_setup/shared/__init__.py

@@ -21,7 +21,7 @@ def _activation_distance_converter(x: float | typing.Sequence[float]) -> tuple[f
 @attrs.define
 class Elevator(Named):
     position: Position = attrs.field(converter=Position.converter)
-    size: list[float] = attrs.field(factory=lambda: [2.0, 2.0, 2.5])
+    size: list[float] = attrs.field(factory=lambda: [2.0, 2.0, 2.0])
     door_side: typing.Literal['+x', '-x', '+y', '-y'] = '+x'
     material: MaterialIdentifier = attrs.field(converter=MaterialIdentifier.converter, default=Material.default('elevator'))
     destination: str = attrs.field(default="")
@@ -77,3 +77,13 @@ class Floor(Named):
     x_length: float = attrs.field(converter=float, default=20.0)
     y_length: float = attrs.field(converter=float, default=20.0)
     material: MaterialIdentifier = attrs.field(converter=MaterialIdentifier.converter, default=Material.default('floor'))
+
+
+@attrs.define
+class Ceiling(Named):
+    pos: Position = attrs.field(converter=Position.converter)
+    x_length: float = attrs.field(converter=float, default=20.0)
+    y_length: float = attrs.field(converter=float, default=20.0)
+    z: float = attrs.field(converter=float, default=2.0)
+    cast_shadows: bool = attrs.field(default=False)
+    material: MaterialIdentifier = attrs.field(converter=MaterialIdentifier.converter, default=Material.default('ceiling'))

arena_simulation_setup/src/arena_simulation_setup/shared/world.py

@@ -16,6 +16,7 @@
 
 from arena_simulation_setup import ASS_DIR
 from arena_simulation_setup.shared import (
+    Ceiling,
     Door,
     DynamicObstacle,
     Elevator,
@@ -67,6 +68,13 @@ class WorldEntities:
         doors: list[Door] = attrs.field(factory=list)
         elevators: list[Elevator] = attrs.field(factory=list)
         entities: WorldEntities = attrs.field(factory=WorldEntities)
+        ceiling: bool = attrs.field(default=True)
+        ceiling_height: float | None = attrs.field(default=None)
+        ceiling_cast_shadows: bool = attrs.field(default=False)
+        ceiling_material: MaterialIdentifier = attrs.field(
+            converter=MaterialIdentifier.converter,
+            default=Material.default('ceiling'),
+        )
 
         @property
         def floor(self) -> Floor:
@@ -97,6 +105,39 @@ def all_elevators(self) -> typing.Iterable[Elevator]:
     def all_floors(self) -> typing.Iterable[Floor]:
         return (zone.floor for zone in self.zones)
 
+    async def all_ceilings(self) -> list[Ceiling]:
+        result: list[Ceiling] = []
+        for zone in self.zones:
+            if not zone.ceiling:
+                continue
+            if not zone.corners:
+                continue
+            x_min = min(corner.x for corner in zone.corners)
+            y_min = min(corner.y for corner in zone.corners)
+            x_max = max(corner.x for corner in zone.corners)
+            y_max = max(corner.y for corner in zone.corners)
+            pos = Position(x=(x_min + x_max) / 2, y=(y_min + y_max) / 2)
+            x_length = x_max - x_min
+            y_length = y_max - y_min
+            if zone.ceiling_height is not None:
+                z = zone.ceiling_height
+            else:
+                z = 2.0
+                for wall in zone.walls:
+                    segments, _ = await wall.assets()
+                    for segment in segments:
+                        z = max(z, segment.start.z + segment.height)
+            result.append(Ceiling(
+                name=zone.name,
+                pos=pos,
+                x_length=x_length,
+                y_length=y_length,
+                z=z,
+                cast_shadows=zone.ceiling_cast_shadows,
+                material=zone.ceiling_material,
+            ))
+        return result
+
     @property
     def all_static_entities(self) -> typing.Iterable[Obstacle]:
         return (entity for zone in self.zones for entity in zone.entities.static)

arena_simulation_setup/src/arena_simulation_setup/tree/World/World.py

@@ -71,10 +71,11 @@ class Material:
         'wall': MaterialIdentifier('Marble'),
         'floor': MaterialIdentifier('Porcelain_Tile_4'),
         'door': MaterialIdentifier('Aluminum_Anodized'),
+        'ceiling': MaterialIdentifier('Concrete_Smooth'),
     }
 
     @classmethod
-    def default(cls, context: typing.Literal['floor', 'wall', 'door'] | str = '') -> MaterialIdentifier:
+    def default(cls, context: typing.Literal['floor', 'wall', 'door', 'ceiling'] | str = '') -> MaterialIdentifier:
         return cls.__DEFAULTS.get(context, cls.__DEFAULT)
 
     def asdict(self) -> dict: