Skip to content

update environment_manager, robot_manager and isaac_simulation.py #22

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
voshch merged 3 commits into from
Mar 19, 2026
Merged

update environment_manager, robot_manager and isaac_simulation.py #22

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
ac479e9
Update Arena
KhaazixGod Feb 24, 2026
9f5d025
delete_logger
KhaazixGod Feb 27, 2026
cc99e86
delete_comment
KhaazixGod Feb 28, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion arena_isaac
Open in desktop
Submodule arena_isaac updated 10 files
+1 −0 arena_isaac/arena_isaac/run_isaacsim.py
+2 −2 arena_isaac/arena_isaac/services/NavigatePedestrians.py
+8 −5 arena_isaac/arena_isaac/services/SpawnElevators.py
+0 −1 arena_isaac/arena_isaac/services/SpawnPrims.py
+7 −2 arena_isaac/arena_isaac/services/SpawnUrdf.py
+10 −19 arena_isaac/isaac_utils/managers/door_manager.py
+101 −42 arena_isaac/isaac_utils/managers/elevator_manager.py
+1 −1 arena_isaac/launch/run_isaacsim.launch.py
+30 −37 arena_isaac/pedestrian/simulator/logic/people/person.py
+2 −1 isaacsim_msgs/msg/Elevator.msg
2 changes: 1 addition & 1 deletion arena_robots
Open in desktop
Submodule arena_robots updated 1 files
+1 −1 arena_robots/robots/turtlebot/model_params.yaml
14 changes: 14 additions & 0 deletions ...ion_setup/worlds/hospital_2/assets/Common/Wall/patient_room_walls/patient_room_walls.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
main:
- material: "Paint_Gloss"
height: 0.75
z: 0
- material: ["Paint_Gloss", {"tint": "rgba(244, 255, 0, 0.2)"}]
height: 1.25
z: 0.75
- tile:
- model: Hospital/Towel_Dispenser
orientation: 1.5708 # rotate 90 degrees
y: 0.1
z: 1
every: 5
width: 3
Binary file added arena_simulation_setup/worlds/hospital_2/map/map.png
View file
Open in desktop
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
11 changes: 11 additions & 0 deletions arena_simulation_setup/worlds/hospital_2/map/map.world.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,11 @@
layers:
- color:
- 0
- 1
- 0
- 1
map: map.yaml
name: static
properties:
position_iterations: 10
velocity_iterations: 10
6 changes: 6 additions & 0 deletions arena_simulation_setup/worlds/hospital_2/map/map.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
free_thresh: 0.1
image: map.png
negate: 0
occupied_thresh: 0.9
origin: [-0.25, -0.25, 0]
resolution: 0.05
39 changes: 39 additions & 0 deletions arena_simulation_setup/worlds/hospital_2/scenarios/advance queue/hunav_1_behavior_tree.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,39 @@
<?xml version='1.0' encoding='UTF-8'?>
<root main_tree_to_execute="hunav_1_behavior_tree" BTCPP_format="4">
<TreeNodesModel>
<Action ID="SetGoal">
<input_port name="agent_id" type="int" />
<input_port name="target_x" type="double" />
<input_port name="target_y" type="double" />
<input_port name="goal_id" type="int" />
</Action>
<Action ID="StopAndWaitTimerAction">
<input_port name="agent_id" type="int" />
<input_port name="wait_duration" type="double" />
</Action>
</TreeNodesModel>
<include ros_pkg="arena_simulation_setup" path="configs/hunav/behavior_trees/BTRegularNav.xml" />
<BehaviorTree ID="hunav_1_behavior_tree">
<Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="10" target_x="8.5" target_y="4.0" />
<GoTo agent_id="{id}" goal_id="10" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="20.0" />
</Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="0" target_x="6.0" target_y="2.5" />
<GoTo agent_id="{id}" goal_id="0" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="5.0" />
</Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="15" target_x="10.5" target_y="4.0" />
<GoTo agent_id="{id}" goal_id="15" time_step="0.1" tolerance="0.5" />
<SetGoal agent_id="{id}" goal_id="1" target_x="12.0" target_y="11.0" />
<GoTo agent_id="{id}" goal_id="1" time_step="0.1" tolerance="0.5" />
<SetGoal agent_id="{id}" goal_id="20" target_x="20.3" target_y="6.0" />
<GoTo agent_id="{id}" goal_id="20" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="60.0" />
</Sequence>
</Sequence>
</BehaviorTree>
</root>
41 changes: 41 additions & 0 deletions arena_simulation_setup/worlds/hospital_2/scenarios/advance queue/hunav_2_behavior_tree.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,41 @@
<?xml version='1.0' encoding='UTF-8'?>
<root main_tree_to_execute="hunav_2_behavior_tree" BTCPP_format="4">
<TreeNodesModel>
<Action ID="SetGoal">
<input_port name="agent_id" type="int" />
<input_port name="target_x" type="double" />
<input_port name="target_y" type="double" />
<input_port name="goal_id" type="int" />
</Action>
<Action ID="StopAndWaitTimerAction">
<input_port name="agent_id" type="int" />
<input_port name="wait_duration" type="double" />
</Action>
</TreeNodesModel>
<include ros_pkg="arena_simulation_setup" path="configs/hunav/behavior_trees/BTRegularNav.xml" />
<BehaviorTree ID="hunav_2_behavior_tree">
<Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="11" target_x="8.5" target_y="5.5" />
<GoTo agent_id="{id}" goal_id="11" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="20.0" />
<GoTo agent_id="{id}" goal_id="10" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="20.0" />
</Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="2" target_x="6.0" target_y="2.5" />
<GoTo agent_id="{id}" goal_id="2" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="5.0" />
</Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="16" target_x="10.5" target_y="4.0" />
<GoTo agent_id="{id}" goal_id="16" time_step="0.1" tolerance="0.5" />
<SetGoal agent_id="{id}" goal_id="3" target_x="12.0" target_y="11.0" />
<GoTo agent_id="{id}" goal_id="3" time_step="0.1" tolerance="0.5" />
<SetGoal agent_id="{id}" goal_id="21" target_x="23.2" target_y="6.0" />
<GoTo agent_id="{id}" goal_id="21" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="60.0" />
</Sequence>
</Sequence>
</BehaviorTree>
</root>
43 changes: 43 additions & 0 deletions arena_simulation_setup/worlds/hospital_2/scenarios/advance queue/hunav_3_behavior_tree.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,43 @@
<?xml version='1.0' encoding='UTF-8'?>
<root main_tree_to_execute="hunav_3_behavior_tree" BTCPP_format="4">
<TreeNodesModel>
<Action ID="SetGoal">
<input_port name="agent_id" type="int" />
<input_port name="target_x" type="double" />
<input_port name="target_y" type="double" />
<input_port name="goal_id" type="int" />
</Action>
<Action ID="StopAndWaitTimerAction">
<input_port name="agent_id" type="int" />
<input_port name="wait_duration" type="double" />
</Action>
</TreeNodesModel>
<include ros_pkg="arena_simulation_setup" path="configs/hunav/behavior_trees/BTRegularNav.xml" />
<BehaviorTree ID="hunav_3_behavior_tree">
<Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="12" target_x="8.5" target_y="7.0" />
<GoTo agent_id="{id}" goal_id="12" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="20.0" />
<GoTo agent_id="{id}" goal_id="11" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="20.0" />
<GoTo agent_id="{id}" goal_id="10" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="20.0" />
</Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="4" target_x="6.0" target_y="2.5" />
<GoTo agent_id="{id}" goal_id="4" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="5.0" />
</Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="17" target_x="10.5" target_y="4.0" />
<GoTo agent_id="{id}" goal_id="17" time_step="0.1" tolerance="0.5" />
<SetGoal agent_id="{id}" goal_id="5" target_x="12.0" target_y="11.0" />
<GoTo agent_id="{id}" goal_id="5" time_step="0.1" tolerance="0.5" />
<SetGoal agent_id="{id}" goal_id="22" target_x="20.3" target_y="8.5" />
<GoTo agent_id="{id}" goal_id="22" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="60.0" />
</Sequence>
</Sequence>
</BehaviorTree>
</root>
45 changes: 45 additions & 0 deletions arena_simulation_setup/worlds/hospital_2/scenarios/advance queue/hunav_4_behavior_tree.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,45 @@
<?xml version='1.0' encoding='UTF-8'?>
<root main_tree_to_execute="hunav_4_behavior_tree" BTCPP_format="4">
<TreeNodesModel>
<Action ID="SetGoal">
<input_port name="agent_id" type="int" />
<input_port name="target_x" type="double" />
<input_port name="target_y" type="double" />
<input_port name="goal_id" type="int" />
</Action>
<Action ID="StopAndWaitTimerAction">
<input_port name="agent_id" type="int" />
<input_port name="wait_duration" type="double" />
</Action>
</TreeNodesModel>
<include ros_pkg="arena_simulation_setup" path="configs/hunav/behavior_trees/BTRegularNav.xml" />
<BehaviorTree ID="hunav_4_behavior_tree">
<Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="13" target_x="8.5" target_y="8.5" />
<GoTo agent_id="{id}" goal_id="13" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="20.0" />
<GoTo agent_id="{id}" goal_id="12" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="20.0" />
<GoTo agent_id="{id}" goal_id="11" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="20.0" />
<GoTo agent_id="{id}" goal_id="10" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="20.0" />
</Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="6" target_x="6.0" target_y="2.5" />
<GoTo agent_id="{id}" goal_id="6" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="5.0" />
</Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="18" target_x="10.5" target_y="4.0" />
<GoTo agent_id="{id}" goal_id="18" time_step="0.1" tolerance="0.5" />
<SetGoal agent_id="{id}" goal_id="7" target_x="12.0" target_y="11.0" />
<GoTo agent_id="{id}" goal_id="7" time_step="0.1" tolerance="0.5" />
<SetGoal agent_id="{id}" goal_id="22" target_x="23.4" target_y="8.5" />
<GoTo agent_id="{id}" goal_id="22" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="60.0" />
</Sequence>
</Sequence>
</BehaviorTree>
</root>
47 changes: 47 additions & 0 deletions arena_simulation_setup/worlds/hospital_2/scenarios/advance queue/hunav_5_behavior_tree.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,47 @@
<?xml version='1.0' encoding='UTF-8'?>
<root main_tree_to_execute="hunav_5_behavior_tree" BTCPP_format="4">
<TreeNodesModel>
<Action ID="SetGoal">
<input_port name="agent_id" type="int" />
<input_port name="target_x" type="double" />
<input_port name="target_y" type="double" />
<input_port name="goal_id" type="int" />
</Action>
<Action ID="StopAndWaitTimerAction">
<input_port name="agent_id" type="int" />
<input_port name="wait_duration" type="double" />
</Action>
</TreeNodesModel>
<include ros_pkg="arena_simulation_setup" path="configs/hunav/behavior_trees/BTRegularNav.xml" />
<BehaviorTree ID="hunav_5_behavior_tree">
<Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="14" target_x="8.5" target_y="10.0" />
<GoTo agent_id="{id}" goal_id="14" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="20.0" />
<GoTo agent_id="{id}" goal_id="13" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="20.0" />
<GoTo agent_id="{id}" goal_id="12" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="20.0" />
<GoTo agent_id="{id}" goal_id="11" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="20.0" />
<GoTo agent_id="{id}" goal_id="10" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="20.0" />
</Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="8" target_x="6.0" target_y="2.5" />
<GoTo agent_id="{id}" goal_id="8" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="5.0" />
</Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="19" target_x="10.5" target_y="4.0" />
<GoTo agent_id="{id}" goal_id="19" time_step="0.1" tolerance="0.5" />
<SetGoal agent_id="{id}" goal_id="9" target_x="12.0" target_y="11.0" />
<GoTo agent_id="{id}" goal_id="9" time_step="0.1" tolerance="0.5" />
<SetGoal agent_id="{id}" goal_id="23" target_x="23.4" target_y="6.0" />
<GoTo agent_id="{id}" goal_id="23" time_step="0.1" tolerance="0.5" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="60.0" />
</Sequence>
</Sequence>
</BehaviorTree>
</root>
23 changes: 23 additions & 0 deletions arena_simulation_setup/worlds/hospital_2/scenarios/advance queue/hunav_6_behavior_tree.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,23 @@
<?xml version='1.0' encoding='UTF-8'?>
<root main_tree_to_execute="hunav_6_behavior_tree" BTCPP_format="4">
<TreeNodesModel>
<Action ID="SetGoal">
<input_port name="agent_id" type="int" />
<input_port name="target_x" type="double" />
<input_port name="target_y" type="double" />
<input_port name="goal_id" type="int" />
</Action>
<Action ID="StopAndWaitTimerAction">
<input_port name="agent_id" type="int" />
<input_port name="wait_duration" type="double" />
</Action>
</TreeNodesModel>
<include ros_pkg="arena_simulation_setup" path="configs/hunav/behavior_trees/BTRegularNav.xml" />
<BehaviorTree ID="hunav_6_behavior_tree">
<Sequence>
<SetGoal agent_id="{id}" goal_id="24" target_x="5.9" target_y="1.5" />
<GoTo agent_id="{id}" goal_id="24" time_step="0.1" tolerance="0.1" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="600.0" />
</Sequence>
</BehaviorTree>
</root>
42 changes: 42 additions & 0 deletions arena_simulation_setup/worlds/hospital_2/scenarios/advance queue/scenario.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,42 @@
dynamic:
- name: hunav_1
model: male_adult_construction_01
pose: [8.5, 5.0 ,0]
waypoints:
- [10,10,0]
behavior_tree: ./hunav_1_behavior_tree.xml

- name: hunav_2
model: male_adult_construction_01
pose: [8.5, 6.0 ,0]
waypoints:
- [10,10,0]
behavior_tree: ./hunav_2_behavior_tree.xml

- name: hunav_3
model: male_adult_construction_01
pose: [8.5, 7.0 ,0]
waypoints:
- [10,10,0]
behavior_tree: ./hunav_3_behavior_tree.xml

- name: hunav_4
model: male_adult_construction_01
pose: [8.5, 8.0 ,0]
waypoints:
- [10,10,0]
behavior_tree: ./hunav_4_behavior_tree.xml

- name: hunav_5
model: male_adult_construction_01
pose: [8.5, 9.0 ,0]
waypoints:
- [10,10,0]
behavior_tree: ./hunav_5_behavior_tree.xml

- name: hunav_6
model: female_adult_medical_01
pose: [3.5, 1.5, 0]
waypoints:
- [10,10,0]
behavior_tree: ./hunav_6_behavior_tree.xml
33 changes: 33 additions & 0 deletions arena_simulation_setup/worlds/hospital_2/scenarios/bt/bt1.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,33 @@
<?xml version='1.0' encoding='UTF-8'?>
<root main_tree_to_execute="hunav_1_behavior_tree" BTCPP_format="4">
<TreeNodesModel>
<Action ID="SetGoal">
<input_port name="agent_id" type="int" />
<input_port name="target_x" type="double" />
<input_port name="target_y" type="double" />
<input_port name="goal_id" type="int" />
</Action>
<Action ID="StopAndWaitTimerAction">
<input_port name="agent_id" type="int" />
<input_port name="wait_duration" type="double" />
</Action>
</TreeNodesModel>
<include ros_pkg="arena_simulation_setup" path="configs/hunav/behavior_trees/BTRegularNav.xml" />
<BehaviorTree ID="hunav_1_behavior_tree">
<Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="0" target_x="8.5" target_y="2.0" />
<GoTo agent_id="{id}" goal_id="0" time_step="0.1" tolerance="0.1" />
<StopAndWaitTimerAction agent_id="{id}" wait_duration="20.0" />
</Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="1" target_x="4.0" target_y="1.0" />
<GoTo agent_id="{id}" goal_id="1" time_step="0.1" tolerance="0.5" />
</Sequence>
<Sequence>
<SetGoal agent_id="{id}" goal_id="2" target_x="14.0" target_y="3.5" />
<GoTo agent_id="{id}" goal_id="2" time_step="0.1" tolerance="0.5" />
</Sequence>
</Sequence>
</BehaviorTree>
</root>
8 changes: 8 additions & 0 deletions arena_simulation_setup/worlds/hospital_2/scenarios/bt/scenario.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,8 @@
dynamic:
- name: agent1
model: actor1
pose: [5,5,0]
waypoints:
- [10,10,0]
- [15,5,0]
behavior_tree: ./bt1.xml
1 change: 1 addition & 0 deletions arena_simulation_setup/worlds/hospital_2/scenarios/default/scenario.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
{}
Loading