scenic.simulators.webots.utils

Various utilities for working with Webots scenarios.

Summary of Module Members

Module Attributes

`ENU`	The ENU coordinate system (the Webots default).
`NUE`	The NUE coordinate system.
`EUN`	The EUN coordinate system.

Functions

`scenicToWebotsPosition`	Convert a Scenic position to a Webots position.
`scenicToWebotsRotation`	Convert a Scenic heading to a Webots rotation vector.
`webotsToScenicPosition`	Convert a Webots position to a Scenic position.
`webotsToScenicRotation`	Convert a Webots rotation vector to a Scenic heading.

Classes

WebotsCoordinateSystem

A Webots coordinate system into which Scenic positions can be converted.

Member Details

class WebotsCoordinateSystem(system='ENU')[source]

A Webots coordinate system into which Scenic positions can be converted.

See the Webots documentation of WorldInfo.coordinateSystem for a discussion of the possible coordinate systems. Since Webots R2022a, the default coordinate axis convention is ENU (X-Y-Z=East-North-Up), which is the same as Scenic’s.

positionToScenic(pos)[source]: Convert a Webots position to a Scenic position.

positionFromScenic(pos, elevation=0)[source]: Convert a Scenic position to a Webots position.

rotationToScenic(rot, tolerance2D=None)[source]

Convert a Webots rotation vector to a Scenic heading.

Assumes the object lies in the Webots horizontal plane, with a rotation axis close to the up axis. If tolerance2D is given, returns None if the orientation of the object is not sufficiently close to being 2D.

rotationFromScenic(heading)[source]: Convert a Scenic heading to a Webots rotation vector.

ENU = <scenic.simulators.webots.utils.WebotsCoordinateSystem object>: The ENU coordinate system (the Webots default).

NUE = <scenic.simulators.webots.utils.WebotsCoordinateSystem object>: The NUE coordinate system.

EUN = <scenic.simulators.webots.utils.WebotsCoordinateSystem object>: The EUN coordinate system.

webotsToScenicPosition(pos)[source]

Convert a Webots position to a Scenic position.

Drops the Webots Y coordinate.

Deprecated since version 2.1.0: Use WebotsCoordinateSystem.positionToScenic instead, dropping the third coordinate.

scenicToWebotsPosition(pos, y=0, coordinateSystem='ENU')[source]: Convert a Scenic position to a Webots position.

Deprecated since version 2.1.0: Use WebotsCoordinateSystem.positionFromScenic instead.

webotsToScenicRotation(rot, tolerance2D=None)[source]

Convert a Webots rotation vector to a Scenic heading.

Assumes the object lies in the Webots X-Z plane, with a rotation axis close to the Y axis. If tolerance2D is given, returns None if the orientation of the object is not sufficiently close to being 2D.

Deprecated since version 2.1.0: Use WebotsCoordinateSystem.rotationToScenic instead.

scenicToWebotsRotation(heading)[source]: Convert a Scenic heading to a Webots rotation vector.

Deprecated since version 2.1.0: Use WebotsCoordinateSystem.rotationFromScenic instead.