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)
