def get_model_file(self, fuel=True) -> str:
if fuel:
return scenario_gazebo.get_model_file_from_fuel(
"https://fuel.ignitionrobotics.org/1.0/AndrejOrsula/models/panda"
)
else:
return "panda"
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 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 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)
def test_download_model_from_fuel(gazebo: scenario.GazeboSimulator):
assert gazebo.initialize()
# Get the default world
world = gazebo.get_world()
# Download a model from Fuel (testing a name with spaces)
model_name = "Electrical Box"
model_sdf = scenario.get_model_file_from_fuel(
f"https://fuel.ignitionrobotics.org/openrobotics/models/{model_name}", False
)
assert model_sdf
assert world.insert_model(model_sdf, core.Pose_identity())
assert model_name in world.model_names()
# Insert another model changing its name
other_model_name = "my_box"
other_model_pose = core.Pose([3.0, 0.0, 0.0], [1.0, 0, 0, 0])
assert world.insert_model(model_sdf, other_model_pose, other_model_name)
assert other_model_name in world.model_names()
assert gazebo.run()
def point_on_table():
return center + np.random.rand(3) * 2 * half_extent - half_extent
urls = [
"https://fuel.ignitionrobotics.org/openrobotics/models/wood cube 5cm",
"https://fuel.ignitionrobotics.org/openrobotics/models/wood cube 5cm",
"https://fuel.ignitionrobotics.org/1.0/chapulina/models/Cordless drill with spaces",
"https://fuel.ignitionrobotics.org/1.0/GoogleResearch/models/Vtech_Roll_Learn_Turtle",
"https://fuel.ignitionrobotics.org/1.0/GoogleResearch/models/Threshold_Porcelain_Teapot_White",
]
item_list = [
scenario_gazebo.get_model_file_from_fuel(
uri=url,
use_cache=False,
) for url in urls
]
def spawn_cube(position, velocity=np.array((0, 0, 3)), idx=0):
# Get a unique name
model_name = gym_ignition.utils.scenario.get_unique_model_name(
world=world, model_name="cube")
model = item_list[idx % len(urls)]
# Insert the model
assert world.insert_model(model,
scenario_core.Pose(position, [1.0, 0, 0, 0]),
model_name)