def set_level(level: int) -> None: """ Set the verbosity level of both :py:mod:`gym` and :py:mod:`gym_ignition`. Accepted values: - :py:const:`gym.logger.DEBUG` (10) - :py:const:`gym.logger.INFO` (20) - :py:const:`gym.logger.WARN` (30) - :py:const:`gym.logger.ERROR` (40) - :py:const:`gym.logger.DISABLED` (50) Args: level: The desired verbosity level. """ # Set the gym verbosity logger.set_level(level) try: from scenario import gazebo as scenario except ImportError: return # Set the ScenarI/O verbosity if logger.MIN_LEVEL <= logger.DEBUG: scenario.set_verbosity(scenario.Verbosity_debug) elif logger.MIN_LEVEL <= logger.INFO: scenario.set_verbosity(scenario.Verbosity_info) elif logger.MIN_LEVEL <= logger.WARN: scenario.set_verbosity(scenario.Verbosity_warning) elif logger.MIN_LEVEL <= logger.ERROR: scenario.set_verbosity(scenario.Verbosity_error) else: scenario.set_verbosity(scenario.Verbosity_suppress_all)
pytestmark = pytest.mark.scenario from typing import Tuple import gym_ignition_models import numpy as np from scenario import core from scenario import gazebo as scenario from ..common import utils from ..common.utils import default_world_fixture as default_world from ..common.utils import gazebo_fixture as gazebo # Set the verbosity scenario.set_verbosity(scenario.Verbosity_debug) def get_model(gazebo: scenario.GazeboSimulator, gym_ignition_models_name: str) -> scenario.Model: # Get the world and cast it to a Gazebo world world = gazebo.get_world().to_gazebo() assert world.set_physics_engine(scenario.PhysicsEngine_dart) model_urdf = gym_ignition_models.get_model_file(gym_ignition_models_name) assert world.insert_model(model_urdf, core.Pose_identity(), gym_ignition_models_name)
import time import enum import numpy as np import gym_ignition from typing import List from functools import partial import gym_ignition_environments from gym_ignition.rbd import conversions from scenario import core as scenario_core from scenario import gazebo as scenario_gazebo from scipy.spatial.transform import Rotation as R from gym_ignition.context.gazebo import controllers from gym_ignition.rbd.idyntree import inverse_kinematics_nlp # Configure verbosity scenario_gazebo.set_verbosity(scenario_gazebo.Verbosity_error) # Configure numpy output np.set_printoptions(precision=4, suppress=True) def add_panda_controller(panda: gym_ignition_environments.models.panda.Panda, controller_period: float) -> None: # Set the controller period assert panda.set_controller_period(period=controller_period) # Increase the max effort of the fingers panda.get_joint(joint_name="panda_finger_joint1").to_gazebo(). \ set_max_generalized_force(max_force=500.0) panda.get_joint(joint_name="panda_finger_joint2").to_gazebo(). \
# GNU Lesser General Public License v2.1 or any later version. import pytest pytestmark = pytest.mark.gym_ignition import numpy as np from typing import Tuple from gym_ignition_environments import models from scenario import gazebo as scenario_gazebo from gym_ignition.context.gazebo import controllers from gym_ignition.rbd.idyntree import inverse_kinematics_nlp from ..common.utils import default_world_fixture as default_world # Set the verbosity scenario_gazebo.set_verbosity(scenario_gazebo.Verbosity_debug) @pytest.mark.parametrize("default_world", [(1.0 / 1_000, 1.0, 1)], indirect=True) def test_inverse_kinematics( default_world: Tuple[scenario_gazebo.GazeboSimulator, scenario_gazebo.World]): # Get the simulator and the world gazebo, world = default_world # Get the robot panda = models.panda.Panda(world=world) gazebo.run(paused=True)