def get_unique_model_name(world: scenario.World, model_name: str) -> str:
"""
Get a unique model name given a world configuration.
This function find the first available model name starting from the argument and
appending a integer postfix until the resulting name is unique in the world.
Tentatives example: `cartpole`, `cartpole1`, `cartpole2`, ...
Args:
world: An initialized world.
model_name: The first model name attempt.
Raises:
ValueError: If the world is not valid.
Returns:
The unique model name calculated from the original name.
"""
if world.id() == 0:
raise ValueError("The world is not valid")
postfix = 0
model_name_tentative = f"{model_name}"
while model_name_tentative in world.model_names():
postfix += 1
model_name_tentative = f"{model_name}{postfix}"
return model_name_tentative
def get_cube(gazebo: scenario.GazeboSimulator, world: scenario.World) -> core.Model:
quaternion = to_wxyz(Rotation.from_euler("x", 45, degrees=True).as_quat())
initial_pose = core.Pose([0, 0, 0.5], quaternion.tolist())
cube_urdf = utils.get_cube_urdf()
assert world.insert_model(cube_urdf, initial_pose)
assert "cube_robot" in world.model_names()
cube = world.get_model("cube_robot")
assert cube.to_gazebo().reset_base_world_linear_velocity([0.1, -0.2, -0.3])
assert cube.to_gazebo().reset_base_world_angular_velocity([-0.1, 2.0, 0.3])
assert gazebo.run(paused=True)
return cube
def get_random_panda(gazebo: scenario.GazeboSimulator,
world: scenario.World) -> core.Model:
panda_urdf = gym_ignition_models.get_model_file("panda")
assert world.insert_model(panda_urdf)
assert "panda" in world.model_names()
panda = world.get_model("panda")
joint_space = get_joint_positions_space(model=panda)
joint_space.seed(10)
q = joint_space.sample()
dq = joint_space.np_random.uniform(low=-1.0, high=1.0, size=q.shape)
assert panda.to_gazebo().reset_joint_positions(q.tolist())
assert panda.to_gazebo().reset_joint_velocities(dq.tolist())
assert gazebo.run(paused=True)
return panda