def gympp_robot(self):
if self._gympp_robot:
assert not self._gympp_robot.expired(), "The Robot object has expired"
assert self._gympp_robot.lock(), "The Robot object is empty"
assert self._gympp_robot.lock().valid(), "The Robot object is not valid"
return self._gympp_robot.lock()
# Find and load the model SDF file
sdf_file = resource_finder.find_resource(self.model_file)
with open(sdf_file, "r") as stream:
sdf_string = stream.read()
# Get the model name
original_name = bindings.GazeboWrapper.getModelNameFromSDF(sdf_string)
assert original_name, f"Failed to get model name from file {self.model_file}"
# Create a unique robot name
self._robot_name = self._prefix + "::" + original_name
# Initialize the model data
model_data = bindings.ModelInitData()
model_data.setModelName(self._robot_name)
model_data.setSdfString(sdf_string)
model_data.setPosition([0., 0, 0]) # TODO: default initial position
model_data.setOrientation([1., 0, 0, 0]) # TODO: default initial orientation
# Initialize robot controller plugin
plugin_data = bindings.PluginData()
plugin_data.setLibName("RobotController")
plugin_data.setClassName("gympp::plugins::RobotController")
# Insert the model
ok_model = self._gazebo.insertModel(model_data, plugin_data)
assert ok_model, "Failed to insert the model"
# Extract the robot from the singleton
self._gympp_robot = bindings.RobotSingleton_get().getRobot(self._robot_name)
# The robot is a weak pointer. Check that it is valid.
assert not self._gympp_robot.expired(), "The Robot object has expired"
assert self._gympp_robot.lock(), \
"The returned Robot object does not contain a valid interface"
assert self._gympp_robot.lock().valid(), "The Robot object is not valid"
if self._controller_rate:
logger.debug("Robot controller rate: {} Hz".format(self._controller_rate))
ok_dt = self._gympp_robot.lock().setdt(1 / self._controller_rate)
assert ok_dt, "Failed to set the robot controller period"
logger.debug(f"IgnitionRobot '{self._gympp_robot.lock().name()}' added to the "
"simulation")
return self._gympp_robot.lock()
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 test_joint_controller():
# ==========
# PARAMETERS
# ==========
agent_rate = 100.0
physics_rate = 1000.0
controller_rate = 500.0
plugin_data = bindings.PluginData()
plugin_data.libName = "RobotController"
plugin_data.className = "gympp::plugins::RobotController"
# Find and load the model SDF file
model_sdf_file = resource_finder.find_resource("CartPole/CartPole.urdf")
with open(model_sdf_file, "r") as stream:
model_sdf_string = stream.read()
# Initialize the model data
model_data = bindings.ModelInitData()
model_data.sdfString = model_sdf_string
# Get the model name
model_name = bindings.GazeboWrapper.getModelNameFromSDF(model_sdf_string)
robot_name = model_name
# =============
# CONFIGURATION
# =============
# Create the gazebo wrapper
num_of_iterations = int(physics_rate / agent_rate)
desired_rtf = float(np.finfo(np.float32).max)
gazebo = bindings.GazeboWrapper(num_of_iterations, desired_rtf, physics_rate)
assert gazebo, "Failed to get the gazebo wrapper"
# Set the verbosity
logger.set_level(gym.logger.DEBUG)
# Initialize the world
world_ok = gazebo.setupGazeboWorld("DefaultEmptyWorld.world")
assert world_ok, "Failed to initialize the gazebo world"
# Initialize the ignition gazebo wrapper (creates a paused simulation)
gazebo_initialized = gazebo.initialize()
assert gazebo_initialized, "Failed to initialize ignition gazebo"
# Insert the model
model_ok = gazebo.insertModel(model_data, plugin_data)
assert model_ok, "Failed to insert the model in the simulation"
assert bindings.RobotSingleton_get().exists(robot_name), \
"The robot interface was not registered in the singleton"
# Extract the robot interface from the singleton
robot_weak_ptr = bindings.RobotSingleton_get().getRobot(robot_name)
assert not robot_weak_ptr.expired(), "The Robot object has expired"
assert robot_weak_ptr.lock(), \
"The returned Robot object does not contain a valid interface"
assert robot_weak_ptr.lock().valid(), "The Robot object is not valid"
# Get the pointer to the robot interface
robot = robot_weak_ptr.lock()
# Set the default update rate
robot.setdt(1 / controller_rate)
# Control the cart joint in position
ok_cm = robot.setJointControlMode("linear", bindings.JointControlMode_Position)
assert ok_cm, "Failed to control the cart joint in position"
# Set the PID of the cart joint
pid = bindings.PID(10000, 1000, 1000)
pid_ok = robot.setJointPID("linear", pid)
assert pid_ok, "Failed to set the PID of the cart joint"
# Reset the robot state
robot.resetJoint("pivot", 0, 0)
robot.resetJoint("linear", 0, 0)
# Generate the cart trajectory
cart_ref = np.fromiter(
(0.2 * np.sin(2 * np.pi * 0.5 * t) for t in np.arange(0, 5, 1 / agent_rate)),
dtype=np.float)
# Initialize the cart position buffer
pos_cart_buffer = np.zeros(np.shape(cart_ref))
for (i, ref) in enumerate(cart_ref):
# Set the references
ok1 = robot.setJointPositionTarget("linear", ref)
assert ok1, "Failed to set joint references"
# Step the simulator
gazebo.run()
# Read the position
pos_cart_buffer[i] = robot.jointPosition("linear")
# Check that the trajectory was followed correctly
assert np.abs(pos_cart_buffer - cart_ref).sum() / cart_ref.size < 5E-3, \
"The reference trajectory was not tracked correctly"
def get_gazebo_and_robot(rtf: float,
physics_rate: float,
agent_rate: float,
# controller_rate: float = None,
) \
-> Tuple[bindings.GazeboWrapper, bindings.Robot]:
# ==========
# PARAMETERS
# ==========
model_sdf = "CartPole/CartPole.sdf"
world_sdf = "DefaultEmptyWorld.world"
plugin_data = bindings.PluginData()
plugin_data.setLibName("RobotController")
plugin_data.setClassName("gympp::plugins::RobotController")
# Find and load the model SDF file
model_sdf_file = resource_finder.find_resource(model_sdf)
with open(model_sdf_file, "r") as stream:
model_sdf_string = stream.read()
# Initialize the model data
model_data = bindings.ModelInitData()
model_data.setSdfString(model_sdf_string)
# Create a unique model name
letters_and_digits = string.ascii_letters + string.digits
prefix = ''.join(random.choice(letters_and_digits) for _ in range(6))
# Get the model name
model_name = bindings.GazeboWrapper.getModelNameFromSDF(model_sdf_string)
model_data.modelName = prefix + "::" + model_name
robot_name = model_data.modelName
num_of_iterations_per_gazebo_step = physics_rate / agent_rate
assert num_of_iterations_per_gazebo_step == int(
num_of_iterations_per_gazebo_step)
# =============
# CONFIGURATION
# =============
# Create the gazebo wrapper
gazebo = bindings.GazeboWrapper(int(num_of_iterations_per_gazebo_step),
rtf, physics_rate)
assert gazebo, "Failed to get the gazebo wrapper"
# Set verbosity
logger.set_level(gym.logger.DEBUG)
# Initialize the world
world_ok = gazebo.setupGazeboWorld(world_sdf)
assert world_ok, "Failed to initialize the gazebo world"
# Initialize the ignition gazebo wrapper (creates a paused simulation)
gazebo_initialized = gazebo.initialize()
assert gazebo_initialized, "Failed to initialize ignition gazebo"
# Insert the model
model_ok = gazebo.insertModel(model_data, plugin_data)
assert model_ok, "Failed to insert the model in the simulation"
assert bindings.RobotSingleton_get().exists(robot_name), \
"The robot interface was not registered in the singleton"
# Extract the robot interface from the singleton
robot_weak_ptr = bindings.RobotSingleton_get().getRobot(robot_name)
assert not robot_weak_ptr.expired(), "The Robot object has expired"
assert robot_weak_ptr.lock(), \
"The returned Robot object does not contain a valid interface"
assert robot_weak_ptr.lock().valid(), "The Robot object is not valid"
# Get the pointer to the robot interface
robot = robot_weak_ptr.lock()
# Set the joint controller period
robot.setdt(0.001 if physics_rate < 1000 else physics_rate)
# Return the simulator and the robot object
return gazebo, robot
def gympp_robot(self) -> bindings.Robot:
if self._gympp_robot:
return self._gympp_robot
# Find and load the model SDF file
sdf_file = resource_finder.find_resource(self.model_file)
with open(sdf_file, "r") as stream:
sdf_string = stream.read()
# Get the model name
original_name = bindings.GazeboWrapper.getModelNameFromSDF(sdf_string)
assert original_name, f"Failed to get model name from file {self.model_file}"
# Create a unique robot name
self._robot_name = self._prefix + "::" + original_name
initial_base_pose, initial_base_orientation = self.initial_base_pose()
# Initialize the model data
model_data = bindings.ModelInitData()
model_data.modelName = self._robot_name
model_data.sdfString = sdf_string
model_data.fixedPose = not self.is_floating_base()
model_data.position = initial_base_pose.tolist()
model_data.orientation = initial_base_orientation.tolist()
if self._base_frame is not None:
model_data.baseLink = self._base_frame
# Initialize robot controller plugin
plugin_data = bindings.PluginData()
plugin_data.libName = "RobotController"
plugin_data.className = "gympp::plugins::RobotController"
# Insert the model
ok_model = self._gazebo.insertModel(model_data, plugin_data)
assert ok_model, "Failed to insert the model"
# Extract the robot from the singleton
gympp_robot_weak = bindings.RobotSingleton_get().getRobot(
self._robot_name)
# The robot is a weak pointer. Check that it is valid.
assert not gympp_robot_weak.expired(), "The Robot object has expired"
assert gympp_robot_weak.lock(), \
"The returned Robot object does not contain a valid interface"
self._gympp_robot = gympp_robot_weak.lock()
assert self._gympp_robot.valid(), "The Robot object is not valid"
if self._controller_rate is not None:
logger.debug(f"Robot controller rate: {self._controller_rate} Hz")
ok_dt = self._gympp_robot.setdt(1 / self._controller_rate)
assert ok_dt, "Failed to set the robot controller period"
s0 = self.initial_joint_positions()
sdot0 = self.initial_joint_velocities()
joint_names = list(self._gympp_robot.jointNames())
assert s0.size == len(joint_names)
assert sdot0.size == len(joint_names)
for idx, name in enumerate(joint_names):
ok_reset = self._gympp_robot.resetJoint(name, s0[idx], sdot0[idx])
assert ok_reset, f"Failed to initialize the state of joint '{name}'"
logger.debug(
f"GazeboRobot '{self._gympp_robot.name()}' added to the simulation"
)
return self._gympp_robot