add context helpers for sensors

python/gym_ignition/context/gazebo/__init__.py

@@ -3,4 +3,6 @@
 # GNU Lesser General Public License v2.1 or any later version.
 
 from . import plugin
+from . import shapes
+from . import sensors
 from . import controllers

python/gym_ignition/context/gazebo/sensors.py

@@ -0,0 +1,59 @@
+# Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# GNU Lesser General Public License v2.1 or any later version.
+
+from dataclasses import dataclass
+from gym_ignition.context import plugin
+
+
+@dataclass
+class DepthCamera(plugin.Plugin): # TODO: this is not a plugin, make a sensor template?
+
+ name: str
+ width: int = 256
+ height: int = 256
+ fov: float = 1.05
+
+ topic: str = ""
+ # TODO: static
+
+ def to_xml(self) -> str: # .sdf()?
+ xml = f"""
+ <model name="{self.model_name}">
+ <static>true</static>
+ 
+ <link name="{self.name}_link">
+ <sensor name="{self.name}" type="depth_camera">
+ <always_on>1</always_on>
+ <visualize>true</visualize>
+ <topic>{self.topic}</topic>
+ <camera>
+ <horizontal_fov>{self.fov}</horizontal_fov>
+ <image>
+ <width>{self.width}</width>
+ <height>{self.height}</height>
+ <format>R_FLOAT32</format>
+ </image>
+ <clip>
+ <near>0.1</near>
+ <far>10.0</far>
+ </clip>
+ </camera>
+ </sensor>
+ <visual name="visual">
+ <geometry>
+ <box>
+ <size>0.1 0.1 0.1</size>
+ </box>
+ </geometry>
+ </visual>
+ </link>
+
+ </model>
+ """
+
+ return DepthCamera.wrap_in_sdf(xml)
+
+ @property
+ def model_name(self) -> str:
+ return f"{self.name}_model"

python/gym_ignition/context/gazebo/shapes.py

@@ -0,0 +1,38 @@
+from dataclasses import dataclass
+# TODO: urdf or sdf? Urdf for iDynTree, otherwise SDF.
+
+
+@dataclass
+class BoxURDF:
+
+ mass: float = 5.0
+ edge: float = 0.2
+ name: str = "cube_robot"
+
+ def urdf(self) -> str:
+
+ i = 1.0 / 12 * self.mass * (self.edge ** 2 + self.edge ** 2)
+ urdf = f"""
+ <robot name="{self.name}" xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <link name="cube">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="{self.mass}"/>
+ <inertia ixx="{i}" ixy="0" ixz="0" iyy="{i}" iyz="0" izz="{i}"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <box size="{self.edge} {self.edge} {self.edge}"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="{self.edge} {self.edge} {self.edge}"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ </robot>"""
+
+ return urdf