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 insert_cube_in_operating_area(
world: scenario_gazebo.World) -> scenario_gazebo.Model:
# Insert objects from Fuel
uri = lambda org, name: f"https://fuel.ignitionrobotics.org/{org}/models/{name}"
# Download the cube SDF file
cube_sdf = scenario_gazebo.get_model_file_from_fuel(uri=uri(
org="openrobotics", name="wood cube 5cm"),
use_cache=False)
# Sample a random position
random_position = np.random.uniform(low=[0.2, -0.3, 1.01],
high=[0.4, 0.3, 1.01])
# Get a unique name
model_name = gym_ignition.utils.scenario.get_unique_model_name(
world=world, model_name="cube")
# Insert the model
assert world.insert_model(
cube_sdf, scenario_core.Pose(random_position, [1., 0, 0, 0]),
model_name)
# Return the model
return world.get_model(model_name=model_name)
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 insert_table(world: scenario_gazebo.World) -> scenario_gazebo.Model:
# Insert objects from Fuel
uri = lambda org, name: f"https://fuel.ignitionrobotics.org/{org}/models/{name}"
# Download the cube SDF file
bucket_sdf = scenario_gazebo.get_model_file_from_fuel(
uri=uri(org="OpenRobotics", name="Table"), use_cache=False
)
# Assign a custom name to the model
model_name = "table"
# Insert the model
assert world.insert_model(bucket_sdf, scenario_core.Pose_identity(), model_name)
# Return the model
return world.get_model(model_name=model_name)
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
def insert_bucket(world: scenario_gazebo.World) -> scenario_gazebo.Model:
# Insert objects from Fuel
uri = lambda org, name: f"https://fuel.ignitionrobotics.org/{org}/models/{name}"
# Download the cube SDF file
bucket_sdf = scenario_gazebo.get_model_file_from_fuel(uri=uri(
org="GoogleResearch",
name="Threshold_Basket_Natural_Finish_Fabric_Liner_Small"),
use_cache=False)
# Assign a custom name to the model
model_name = "bucket"
# Insert the model
assert world.insert_model(
bucket_sdf, scenario_core.Pose([0.68, 0, 1.02], [1., 0, 0, 1]),
model_name)
# Return the model
return world.get_model(model_name=model_name)