Adds Python bindings for the Actor convenience class (#2041)

Signed-off-by: Voldivh <[email protected]>
Signed-off-by: Michael Carroll <[email protected]>
Signed-off-by: Eloy Briceno <[email protected]>
Co-authored-by: Michael Carroll <[email protected]>

include/gz/sim/Actor.hh

@@ -110,7 +110,7 @@ namespace gz
       /// Manually setting the trajectory pose will override the scripted
       /// trajectory specified in SDF.
       /// \param[in] _ecm Entity Component manager.
-      /// \param[in] _name Trajectory pose w.r.t. to the trajectory origin
+      /// \param[in] _pose Trajectory pose w.r.t. to the trajectory origin
       /// \sa Pose
       public: void SetTrajectoryPose(EntityComponentManager &_ecm,
           const math::Pose3d &_pose);

python/CMakeLists.txt

@@ -42,6 +42,7 @@ endfunction()
 set(BINDINGS_MODULE_NAME "sim${PROJECT_VERSION_MAJOR}")
 pybind11_add_module(${BINDINGS_MODULE_NAME} MODULE
   src/gz/sim/_gz_sim_pybind11.cc
+  src/gz/sim/Actor.cc
   src/gz/sim/EntityComponentManager.cc
   src/gz/sim/EventManager.cc
   src/gz/sim/Joint.cc
@@ -90,6 +91,7 @@ endif()
 
 if (BUILD_TESTING)
   set(python_tests
+    actor_TEST
     joint_TEST
     link_TEST
     model_TEST

python/src/gz/sim/Actor.cc

@@ -0,0 +1,105 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <pybind11/chrono.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+#include <cstdint>
+
+#include "Actor.hh"
+
+namespace py = pybind11;
+
+namespace gz
+{
+namespace sim
+{
+namespace python
+{
+void defineSimActor(py::object module)
+{
+  py::class_<gz::sim::Actor>(module, "Actor")
+  .def(py::init<gz::sim::Entity>())
+  .def(py::init<gz::sim::Actor>())
+  .def("entity", &gz::sim::Actor::Entity,
+      "Get the entity which this actor is related to.")
+  .def("reset_entity", &gz::sim::Actor::ResetEntity,
+      "Reset Entity to a new one.")
+  .def("valid", &gz::sim::Actor::Valid,
+      py::arg("ecm"),
+      "Check whether this actor correctly refers to an entity that "
+      "has a components::Actor.")
+  .def("name", &gz::sim::Actor::Name,
+      py::arg("ecm"),
+      "Get the actor's unscoped name.")
+  .def("pose", &gz::sim::Actor::Pose,
+      py::arg("ecm"),
+      "Get the pose of the actor."
+      "If the actor has a trajectory, this will only return the origin "
+      "pose of the trajectory and not the actual world pose of the actor.")
+  .def("trajectory_pose", &gz::sim::Actor::TrajectoryPose,
+      py::arg("ecm"),
+      "Get the trajectory pose of the actor. There are two "
+      "ways that the actor can follow a trajectory: 1) SDF script, "
+      "2) manually setting trajectory pose. This function retrieves 2) the "
+      "manual trajectory pose set by the user. The Trajectory pose is "
+      "given relative to the trajectory pose origin returned by Pose().")
+  .def("set_trajectory_pose", &gz::sim::Actor::SetTrajectoryPose,
+      py::arg("ecm"),
+      py::arg("pose"),
+      "Set the trajectory pose of the actor. There are two "
+      "ways that the actor can follow a trajectory: 1) SDF script, "
+      "2) manually setting trajectory pose. This function enables option 2). "
+      "Manually setting the trajectory pose will override the scripted "
+      "trajectory specified in SDF.")
+  .def("world_pose", &gz::sim::Actor::WorldPose,
+      py::arg("ecm"),
+      "Get the world pose of the actor."
+      "This returns the current world pose of the actor computed by gazebo."
+      "The world pose is the combination of the actor's pose and its "
+      "trajectory pose. The currently trajectory pose is either manually set "
+      "via set_trajectory_pose or interpolated from waypoints in the SDF "
+      "script based on the current time.")
+  .def("set_animation_name", &gz::sim::Actor::SetAnimationName,
+      py::arg("ecm"),
+      py::arg("name"),
+      "Set the name of animation to use for this actor.")
+  .def("set_animation_time", &gz::sim::Actor::SetAnimationTime,
+      py::arg("ecm"),
+      py::arg("time"),
+      "Set the time of animation to use for this actor (the time argument "
+      "is expected in ms).")
+  .def("animation_name", &gz::sim::Actor::AnimationName,
+      py::arg("ecm"),
+      "Get the name of animation used by the actor.")
+  .def("animation_time", &gz::sim::Actor::AnimationTime,
+      py::arg("ecm"),
+      "Get the time of animation for this actor.")
+  .def("__copy__",
+      [](const gz::sim::Actor &self)
+      {
+        return gz::sim::Actor(self);
+      })
+  .def("__deepcopy__",
+      [](const gz::sim::Actor &self, pybind11::dict)
+      {
+        return gz::sim::Actor(self);
+      });
+}
+}  // namespace python
+}  // namespace sim
+}  // namespace gz

python/src/gz/sim/Actor.hh

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef GZ_SIM_PYTHON__ACTOR_HH_
+#define GZ_SIM_PYTHON__ACTOR_HH_
+
+#include <pybind11/pybind11.h>
+
+#include <gz/sim/Actor.hh>
+
+namespace gz
+{
+namespace sim
+{
+namespace python
+{
+/// Define a pybind11 wrapper for a gz::sim::Actor
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ */
+void
+defineSimActor(pybind11::object module);
+}  // namespace python
+}  // namespace sim
+}  // namespace gz
+
+#endif  // GZ_SIM_PYTHON__ACTOR_HH_

python/src/gz/sim/_gz_sim_pybind11.cc

@@ -18,6 +18,7 @@
 
 #include "gz/sim/Entity.hh"
 
+#include "Actor.hh"
 #include "EntityComponentManager.hh"
 #include "EventManager.hh"
 #include "Joint.hh"
@@ -34,6 +35,7 @@
 PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
   m.doc() = "Gazebo Sim Python Library.";
   m.attr("K_NULL_ENTITY") = gz::sim::kNullEntity;
+  gz::sim::python::defineSimActor(m);
   gz::sim::python::defineSimEntityComponentManager(m);
   gz::sim::python::defineSimEventManager(m);
   gz::sim::python::defineSimJoint(m);

python/test/actor_TEST.py

@@ -0,0 +1,94 @@
+#!/usr/bin/env python3
+# Copyright (C) 2023 Open Source Robotics Foundation
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+#       http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import datetime
+import unittest
+
+from gz.common import set_verbosity
+from gz_test_deps.sim import (Actor, K_NULL_ENTITY,
+                              TestFixture, World, world_entity)
+from gz_test_deps.math import Pose3d
+
+
+class TestActor(unittest.TestCase):
+    post_iterations = 0
+    iterations = 0
+    pre_iterations = 0
+
+    def test_model(self):
+        set_verbosity(4)
+
+        file_path = os.path.dirname(os.path.realpath(__file__))
+        fixture = TestFixture(os.path.join(file_path, 'actor_test.sdf'))
+
+        def on_post_udpate_cb(_info, _ecm):
+            self.post_iterations += 1
+
+        def on_pre_udpate_cb(_info, _ecm):
+            self.pre_iterations += 1
+            world_e = world_entity(_ecm)
+            self.assertNotEqual(K_NULL_ENTITY, world_e)
+            w = World(world_e)
+            actor = Actor(w.actor_by_name(_ecm, 'actor_test'))
+            # Entity Test
+            self.assertNotEqual(K_NULL_ENTITY, actor.entity())
+            # Valid Test
+            self.assertTrue(actor.valid(_ecm))
+            # Name Test
+            self.assertEqual('actor_test', actor.name(_ecm))
+            # Pose Test
+            self.assertEqual(Pose3d(1, 1, 0, 0, 0, 0), actor.pose(_ecm))
+            # Trajectory Pose Test
+            if self.pre_iterations == 0:
+                self.assertEqual(None, actor.trajectory_pose(_ecm))
+            actor.set_trajectory_pose(_ecm, Pose3d(2, 2, 0, 0, 0, 0))
+            self.assertEqual(Pose3d(2, 2, 0, 0, 0, 0),
+                             actor.trajectory_pose(_ecm))
+            # World Pose Test
+            # The entity doesn't have a components::WorldPose component,
+            # therefore, it will return None.
+            self.assertEqual(None, actor.world_pose(_ecm))
+            # Animation Name Test
+            if self.pre_iterations == 0:
+                self.assertEqual(None, actor.animation_name(_ecm))
+            actor.set_animation_name(_ecm, 'walking_test')
+            self.assertEqual('walking_test', actor.animation_name(_ecm))
+            # Animation Time Test
+            if self.pre_iterations == 0:
+                self.assertEqual(None, actor.animation_time(_ecm))
+            actor.set_animation_time(_ecm,
+                                     datetime.timedelta(milliseconds=100))
+            self.assertEqual(100,
+                             actor.animation_time(_ecm).total_seconds()*1000)
+
+        def on_udpate_cb(_info, _ecm):
+            self.iterations += 1
+
+        fixture.on_post_update(on_post_udpate_cb)
+        fixture.on_update(on_udpate_cb)
+        fixture.on_pre_update(on_pre_udpate_cb)
+        fixture.finalize()
+
+        server = fixture.server()
+        server.run(True, 2, False)
+
+        self.assertEqual(2, self.pre_iterations)
+        self.assertEqual(2, self.iterations)
+        self.assertEqual(2, self.post_iterations)
+
+
+if __name__ == '__main__':
+    unittest.main()

python/test/actor_test.sdf

@@ -0,0 +1,12 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+   <world name="world_test">
+
+      <actor name="actor_test">
+         <pose>1 1 0 0 0 0</pose>
+         <animation name="walking">
+         </animation>
+      </actor>
+
+   </world>
+</sdf>