Merge remote-tracking branch 'origin/main' into python_systems

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

@@ -42,12 +42,14 @@ 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
   src/gz/sim/Link.cc
   src/gz/sim/Model.cc
   src/gz/sim/TestFixture.cc
+  src/gz/sim/Sensor.cc
   src/gz/sim/Server.cc
   src/gz/sim/ServerConfig.cc
   src/gz/sim/UpdateInfo.cc
@@ -80,9 +82,11 @@ configure_build_install_location(common)
 
 if (BUILD_TESTING)
   set(python_tests
+    actor_TEST
     joint_TEST
     link_TEST
     model_TEST
+    sensor_TEST
     testFixture_TEST
     world_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/Sensor.cc

@@ -0,0 +1,71 @@
+/*
+ * 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/pybind11.h>
+#include <pybind11/stl.h>
+
+#include "Sensor.hh"
+
+namespace py = pybind11;
+
+namespace gz
+{
+namespace sim
+{
+namespace python
+{
+void defineSimSensor(py::object module)
+{
+  py::class_<gz::sim::Sensor>(module, "Sensor")
+  .def(py::init<gz::sim::Entity>())
+  .def(py::init<gz::sim::Sensor>())
+  .def("entity", &gz::sim::Sensor::Entity,
+      "Get the entity which this sensor is related to.")
+  .def("reset_entity", &gz::sim::Sensor::ResetEntity,
+      "Reset Entity to a new one.")
+  .def("valid", &gz::sim::Sensor::Valid,
+      py::arg("ecm"),
+      "Check whether this sensor correctly refers to an entity that"
+      "has a components::Sensor.")
+  .def("name", &gz::sim::Sensor::Name,
+      py::arg("ecm"),
+      "Get the sensor's unscoped name.")
+  .def("pose", &gz::sim::Sensor::Pose,
+      py::arg("ecm"),
+      "Get the pose of the sensor. "
+      "If the sensor has a trajectory, this will only return the origin"
+      "pose of the trajectory and not the actual world pose of the sensor.")
+  .def("topic", &gz::sim::Sensor::Topic,
+      py::arg("ecm"),
+      "Get the topic of the sensor.")
+  .def("parent", &gz::sim::Sensor::Parent,
+      py::arg("ecm"),
+      "Get the parent entity. This can be a link or a joint.")
+  .def("__copy__",
+      [](const gz::sim::Sensor &self)
+      {
+        return gz::sim::Sensor(self);
+      })
+  .def("__deepcopy__",
+      [](const gz::sim::Sensor &self, pybind11::dict)
+      {
+        return gz::sim::Sensor(self);
+      });
+}
+}  // namespace python
+}  // namespace sim
+}  // namespace gz

python/src/gz/sim/Sensor.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__SENSOR_HH_
+#define GZ_SIM_PYTHON__SENSOR_HH_
+
+#include <pybind11/pybind11.h>
+
+#include <gz/sim/Sensor.hh>
+
+namespace gz
+{
+namespace sim
+{
+namespace python
+{
+/// Define a pybind11 wrapper for a gz::sim::Sensor
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ */
+void
+defineSimSensor(pybind11::object module);
+}  // namespace python
+}  // namespace sim
+}  // namespace gz
+
+#endif  // GZ_SIM_PYTHON__SENSOR_HH_

python/src/gz/sim/_gz_sim_pybind11.cc

@@ -18,11 +18,13 @@
 
 #include "gz/sim/Entity.hh"
 
+#include "Actor.hh"
 #include "EntityComponentManager.hh"
 #include "EventManager.hh"
 #include "Joint.hh"
 #include "Link.hh"
 #include "Model.hh"
+#include "Sensor.hh"
 #include "Server.hh"
 #include "ServerConfig.hh"
 #include "TestFixture.hh"
@@ -33,11 +35,13 @@
 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);
   gz::sim::python::defineSimLink(m);
   gz::sim::python::defineSimModel(m);
+  gz::sim::python::defineSimSensor(m);
   gz::sim::python::defineSimServer(m);
   gz::sim::python::defineSimServerConfig(m);
   gz::sim::python::defineSimTestFixture(m);