VIC-11969 Add "create wall" tutorial (#79)

Michelle Sintov · Michelle Sintov · commit bcd1ec0d3c54 · 2019-04-30T14:51:16.000-07:00
diff --git a/anki_vector/opengl/opengl_vector.py b/anki_vector/opengl/opengl_vector.py
@@ -551,9 +551,15 @@ def __init__(self, custom_object, is_fixed: bool):
             super().__init__(custom_object)
 
         self.is_fixed = is_fixed
-        self.x_size_mm = custom_object.archetype.x_size_mm
-        self.y_size_mm = custom_object.archetype.y_size_mm
-        self.z_size_mm = custom_object.archetype.z_size_mm
+
+        if self.is_fixed:
+            self.x_size_mm = custom_object.x_size_mm
+            self.y_size_mm = custom_object.y_size_mm
+            self.z_size_mm = custom_object.z_size_mm
+        else: 
+            self.x_size_mm = custom_object.archetype.x_size_mm
+            self.y_size_mm = custom_object.archetype.y_size_mm
+            self.z_size_mm = custom_object.archetype.z_size_mm
 
 
 class RobotRenderFrame():  # pylint: disable=too-few-public-methods
diff --git a/examples/tutorials/14_create_wall.py b/examples/tutorials/14_create_wall.py
@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2018 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Use custom objects to create a wall in front of Vector.
+
+This example demonstrates how you can create custom objects in the world, and
+automatically have Vector path around them as if they are real obstacles.
+
+It creates a wall in front of Vector and tells him to drive around it.
+He will plan a path to drive 200mm in front of himself after these objects are created.
+
+The `show_3d_viewer=True` argument causes the 3D visualizer to open in a new
+window - this shows where Vector believes this imaginary object is.
+"""
+
+import anki_vector
+from anki_vector.util import Pose, degrees
+
+
+def main():
+    args = anki_vector.util.parse_command_args()
+    with anki_vector.Robot(args.serial,
+                           show_3d_viewer=True,
+                           enable_nav_map_feed=True) as robot:
+        robot.behavior.drive_off_charger()
+
+        fixed_object = robot.world.create_custom_fixed_object(Pose(100, 0, 0, angle_z=degrees(0)),
+                                                              10, 100, 100, relative_to_robot=True)
+        if fixed_object:
+            print("fixed custom object created successfully")
+
+        robot.behavior.go_to_pose(Pose(200, 0, 0, angle_z=degrees(0)), relative_to_robot=True)
+        robot.world.delete_custom_objects()
+
+if __name__ == "__main__":
+    main()
