def robot(self) -> bindings.Robot:
if self._robot:
assert self._robot.valid(), "The Robot object is not valid"
return self._robot
# Get the robot name
gazebo_wrapper = bindings.envToGazeboWrapper(self.gympp_env)
model_names = gazebo_wrapper.getModelNames()
assert len(model_names) == 1, "The environment has more than one model"
model_name = model_names[0]
# Get the pointer to the Robot object
self._robot = bindings.RobotSingleton_get().getRobot(model_name)
assert self._robot, "Failed to get the Robot object"
# Return the object
return self._robot
def gazebo(self) -> bindings.GazeboWrapper:
return bindings.envToGazeboWrapper(self.gympp_env)
def test_gymfactory():
# Get the factory
factory = bindings.GymFactory.Instance()
# Register a plugin with empty metadata
md = bindings.PluginMetadata()
assert not factory.registerPlugin(md), "The empty plugin metadata should not be valid"
# Get a not registered environment
env = factory.make("foo")
assert not env, "The environment should not be valid"
# Check that the CartPole plugin exists
assert "IGN_GAZEBO_SYSTEM_PLUGIN_PATH" in os.environ, \
"Variable IGN_GAZEBO_SYSTEM_PLUGIN_PATH not set in the environment"
directories = os.environ['IGN_GAZEBO_SYSTEM_PLUGIN_PATH'].split(os.pathsep)
found = False
for directory in directories:
matching_plugins = list(Path(directory).glob("*CartPole*"))
found = found or (len(matching_plugins) is not 0)
assert found, "Failed to find CartPole plugin"
# Create the metadata
md = bindings.PluginMetadata()
md.setEnvironmentName("CartPole")
md.setLibraryName("CartPolePlugin")
md.setClassName("gympp::plugins::CartPole")
md.setWorldFileName("DefaultEmptyWorld.world")
md.setModelFileName("CartPole/CartPole.urdf")
md.setAgentRate(1000)
md.setPhysicsData(bindings.PhysicsData(1.0, 0.001))
action_space_md = bindings.SpaceMetadata()
action_space_md.setType(bindings.SpaceType_Discrete)
action_space_md.setDimensions([2])
observation_space_md = bindings.SpaceMetadata()
observation_space_md.setType(bindings.SpaceType_Box)
max_float = float(np.finfo(np.float32).max)
observation_space_md.setLowLimit([-2.5, -max_float, -24, -max_float])
observation_space_md.setHighLimit([2.5, max_float, 24, max_float])
md.setActionSpaceMetadata(action_space_md)
md.setObservationSpaceMetadata(observation_space_md)
assert md.isValid(), "Metadata for CartPole environment is not valid"
# Register the metadata
assert factory.registerPlugin(md), "Failed to register the plugin metadata in the " \
"factory"
# Get the environment
env = factory.make("CartPole")
assert env, "Failed to create CartPoleIgnition environment from the factory"
# Get the gazebo wrapper
gazebo = bindings.envToGazeboWrapper(env)
assert gazebo, "Failed to get gazebo wrapper"
# Get the ignition environment
ign_env = bindings.envToIgnEnv(env)
assert ign_env, "Failed to get the ignition environment"
# Set verbosity
bindings.GazeboWrapper.setVerbosity(4)
# Use the environment
env.reset()
action = env.action_space.sample()
state_opt = env.step(action)
assert state_opt.has_value()
state = state_opt.value()
assert list(state.observation.getBuffer_d())
observation = list(state.observation.getBuffer_d())
assert len(observation) == 4
# Try to register another environment
assert factory.registerPlugin(md), "Failed to re-register the plugin metadata in " \
"the factory"
# Try to get another environment
env2 = factory.make("CartPole")
assert env2, "Failed to create CartPoleIgnition environment from the factory"
assert env != env2, "Environment created from the factory are the same"
env2.reset()
env2.step(action)