def get_collection_paths(self,
owner='GoogleResearch',
collection='Google Scanned Objects',
server='https://fuel.ignitionrobotics.org',
server_version='1.0') -> List[str]:
# First check the local cache (for performance)
# Note: This unfortunately does not check if models belong to the specified collection
# TODO: Make sure models belong to the collection if sampled from local cache
model_paths = scenario_gazebo.get_local_cache_model_paths(owner=owner,
name='')
if len(model_paths) > 0:
return model_paths
# Else download the models from Fuel and then try again
collection_uri = '%s/%s/%s/collections/%s' % (server, server_version,
owner, collection)
download_command = 'ign fuel download -v 3 -t model -j %s -u "%s"' % (
os.cpu_count(), collection_uri)
os.system(download_command)
model_paths = scenario_gazebo.get_local_cache_model_paths(owner=owner,
name='')
if 0 == len(model_paths):
logger.error(
'URI "%s" is not valid and does not contain any models that are \
owned by the owner of the collection' %
collection_uri)
pass
return model_paths
def reset_base_velocity(self, linear_velocity: np.ndarray,
angular_velocity: np.ndarray) -> bool:
assert linear_velocity.size == 3, \
"Linear velocity should be a list with 3 elements"
assert angular_velocity.size == 3, \
"Angular velocity should be a list with 3 elements"
if not self._is_floating_base:
logger.error(
"Changing the velocity of a fixed-base robot is not supported")
return False
ok_velocity = self.gympp_robot.resetBaseVelocity(
linear_velocity.tolist(), angular_velocity.tolist())
assert ok_velocity, "Failed to reset the base velocity"
return True
def reset_base_pose(self, position: np.ndarray,
orientation: np.ndarray) -> bool:
assert position.size == 3, "Position should be a list with 3 elements"
assert orientation.size == 4, "Orientation should be a list with 4 elements"
if not self._is_floating_base:
logger.error(
"Changing the pose of a fixed-base robot is not yet supported")
logger.error("Remove and insert again the robot in the new pose")
return False
ok_pose = self.gympp_robot.resetBasePose(position.tolist(),
orientation.tolist())
assert ok_pose, "Failed to set base pose"
return True