Update Python package with new ScenarI/O APIs

bindings/scenario/scenario_bindings.i

@@ -8,6 +8,7 @@
 #include "scenario/gazebo/Model.h"
 #include "scenario/gazebo/utils.h"
 #include "scenario/gazebo/World.h"
+#include "scenario/plugins/gazebo/ECMSingleton.h"
 #include <cstdint>
 %}
 
@@ -65,3 +66,10 @@
 // GazeboSimulator
 %shared_ptr(scenario::gazebo::GazeboSimulator)
 %include "scenario/gazebo/GazeboSimulator.h"
+
+// ECMSingleton
+%ignore scenario::plugins::gazebo::ECMSingleton::clean;
+%ignore scenario::plugins::gazebo::ECMSingleton::getECM;
+%ignore scenario::plugins::gazebo::ECMSingleton::getEventManager;
+%ignore scenario::plugins::gazebo::ECMSingleton::storePtrs;
+%include "scenario/plugins/gazebo/ECMSingleton.h"

cpp/scenario/gazebo/CMakeLists.txt

@@ -94,6 +94,11 @@ target_link_libraries(ScenarioGazebo
 set_target_properties(ScenarioGazebo PROPERTIES
  PUBLIC_HEADER "${SCENARIO_PUBLIC_HDRS}")
 
+if(NOT CMAKE_BUILD_TYPE STREQUAL "PyPI")
+ target_compile_options(ScenarioGazebo PRIVATE
+ -DGYMIGNITION_CMAKE_INSTALL_PREFIX="${CMAKE_INSTALL_PREFIX}")
+endif()
+
 # ===============
 # GazeboSimulator
 # ===============

cpp/scenario/gazebo/include/scenario/gazebo/utils.h

@@ -38,18 +38,130 @@
 namespace scenario {
  namespace gazebo {
  namespace utils {
+ /**
+ * Set the verbosity process-wise.
+ *
+ * Accepted levels are the following:
+ *
+ * - ``<= 0``: No messages.
+ * - ``1``: Error messages.
+ * - ``2``: Error and warning messages.
+ * - ``3``: Error, warning, and info messages.
+ * - ``>= 4``: Error, warning, info, and debug messages.
+ *
+ * If called without specifying the level, it will use
+ * level 2 or level 4 depending if the project was compiled
+ * respectively with Release or Debug flags.
+ *
+ * @param level The verbosity level.
+ */
  void setVerbosity(const int level = DEFAULT_VERBOSITY);
+
+ /**
+ * Find a SDF file in the filesystem.
+ *
+ * The search path is defined with the ``IGN_GAZEBO_RESOURCE_PATH``
+ * environment variable.
+ *
+ * @param fileName The SDF file name.
+ * @return The absolute path to the file if found, an empty string
+ * otherwise.
+ */
  std::string findSdfFile(const std::string& fileName);
+
+ /**
+ * Check if a SDF string is valid.
+ *
+ * An SDF string could contain for instance an SDF model or
+ * an SDF world, and it is valid if it can be parsed successfully
+ * by the SDFormat library.
+ *
+ * @param sdfString The SDF string to check.
+ * @return True if the SDF string is valid, false otherwise.
+ */
  bool sdfStringValid(const std::string& sdfString);
+
+ /**
+ * Get an SDF string from a SDF file.
+ *
+ * @param fileName An SDF file. It could be either an absolute path
+ * to the file or the file name if the parent folder is part
+ * of the ``IGN_GAZEBO_RESOURCE_PATH`` environment variable.
+ * @return The SDF string if the file was found and is valid, an
+ * empty string otherwise.
+ */
  std::string getSdfString(const std::string& fileName);
+
+ /**
+ * Get the name of a model from a SDF file.
+ *
+ * @param fileName An SDF file. It could be either an absolute path
+ * to the file or the file name if the parent folder is part
+ * of the ``IGN_GAZEBO_RESOURCE_PATH`` environment variable.
+ * @param modelIndex The index of the model in the SDF file. By
+ * default it finds the first model.
+ * @return The name of the model.
+ */
  std::string getModelNameFromSdf(const std::string& fileName,
  const size_t modelIndex = 0);
+
+ /**
+ * Get the name of a world from a SDF file.
+ *
+ * @param fileName An SDF file. It could be either an absolute path
+ * to the file or the file name if the parent folder is part
+ * of the ``IGN_GAZEBO_RESOURCE_PATH`` environment variable.
+ * @param worldIndex The index of the world in the SDF file. By
+ * default it finds the first world.
+ * @return The name of the world.
+ */
  std::string getWorldNameFromSdf(const std::string& fileName,
  const size_t worldIndex = 0);
+
+ /**
+ * Return a SDF string with an empty world.
+ *
+ * An empty world only has a sun and the default DART
+ * physics profile enabled.
+ *
+ * @note The empty world does not have any ground plane.
+ *
+ * @return A SDF string with the empty world.
+ */
  std::string getEmptyWorld();
+
+ /**
+ * Get a SDF model file from a Fuel URI.
+ *
+ * A valid URI has the following form:
+ *
+ * ``https://fuel.ignitionrobotics.org/openrobotics/models/model_name``
+ *
+ * @param URI A valid Fuel URI.
+ * @param useCache Load the model from the local cache.
+ * @return The absolute path to the SDF model.
+ */
  std::string getModelFileFromFuel(const std::string& URI,
  const bool useCache = false);
+
+ /**
+ * Generate a random alpha numeric string.
+ *
+ * @param length The length of the string.
+ * @return The random string.
+ */
  std::string getRandomString(const size_t length);
+
+ /**
+ * Get the install prefix used by the CMake project.
+ *
+ * @note It is defined only if the project is installed in
+ * Developer mode.
+ *
+ * @return A string with the install prefix if the project is
+ * installed in Developer mode, an empty string otherwise.
+ */
+ std::string getInstallPrefix();
  } // namespace utils
  } // namespace gazebo
 } // namespace scenario

cpp/scenario/gazebo/src/utils.cpp

@@ -231,3 +231,14 @@ std::string utils::getRandomString(const size_t length)
  std::generate_n(str.begin(), length, randchar);
  return str;
 }
+
+std::string utils::getInstallPrefix()
+{
+#ifdef GYMIGNITION_CMAKE_INSTALL_PREFIX
+ return GYMIGNITION_CMAKE_INSTALL_PREFIX;
+#else
+ gymppDebug << "User installation detected. The install prefix "
+ << "could be detected from the Python module path." << std::endl;
+ return "";
+#endif
+}

gym_ignition/__init__.py

@@ -2,133 +2,51 @@
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
 
-import scenario_bindings
-
+# Workaround for https:/osrf/sdformat/issues/227.
+# It has to be done before loading the bindings.
+import gym_ignition_models
+gym_ignition_models.setup_environment()
 
 # Import SWIG bindings
 # See https:/robotology/gym-ignition/issues/7
 # https://stackoverflow.com/a/45473441/12150968
-# import sys
-# if sys.platform.startswith('linux') or sys.platform.startswith('darwin'):
-# import os
-# dlopen_flags = sys.getdlopenflags()
-# if "gympp_bindings" not in sys.modules:
-# sys.setdlopenflags(dlopen_flags | os.RTLD_GLOBAL)
-# else:
-# sys.setdlopenflags(dlopen_flags | os.RTLD_LAZY | os.RTLD_NOLOAD | os.RTLD_GLOBAL)
-#
-# import gympp_bindings
-#
-# # Restore the flags
-# sys.setdlopenflags(dlopen_flags)
-# else:
-# import gympp_bindings
-
+import sys
+if sys.platform.startswith('linux') or sys.platform.startswith('darwin'):
+ import os
+ dlopen_flags = sys.getdlopenflags()
+ if "scenario_bindings" not in sys.modules:
+ sys.setdlopenflags(dlopen_flags | os.RTLD_GLOBAL)
+ else:
+ sys.setdlopenflags(dlopen_flags | os.RTLD_LAZY | os.RTLD_NOLOAD | os.RTLD_GLOBAL)
+
+ import scenario_bindings
+ scenario_bindings.setVerbosity()
+
+ try:
+ import gympp_bindings
+ except ImportError:
+ pass
+
+ # Restore the flags
+ sys.setdlopenflags(dlopen_flags)
+else:
+ import scenario_bindings
+ scenario_bindings.setVerbosity()
+
+ try:
+ import gympp_bindings
+ except ImportError:
+ pass
+
+
+# Configure the verbosity depending on the selected CMAKE_BUILD_TYPE
+scenario_bindings.setVerbosity()
 
 # Configure OS environment variables
-# from gym_ignition.utils import gazebo_env_vars, resource_finder
-# gazebo_env_vars.setup_gazebo_env_vars()
-# resource_finder.add_path_from_env_var("IGN_GAZEBO_RESOURCE_PATH")
-
-# =========================
-# REGISTER THE ENVIRONMENTS
-# =========================
-
-# from gym.envs.registration import register
-# from gym_ignition.utils import resource_finder
-
-# Import the robots
-# from gym_ignition.robots import rt
-# from gym_ignition.robots import sim
-
-# Import the tasks
-# from gym_ignition.tasks import pendulum_swingup
-# from gym_ignition.tasks import cartpole_discrete
-# from gym_ignition.tasks import cartpole_continuous
-
-# ======================
-# GYMPP C++ ENVIRONMENTS
-# ======================
-
-# import numpy
-# max_float = float(numpy.finfo(numpy.float32).max)
-#
-# register(
-# id='CartPoleDiscrete-Gympp-v0',
-# max_episode_steps=5000,
-# entry_point='gym_ignition.gympp.cartpole:CartPoleDiscrete')
-
-# ============================
-# IGNITION GAZEBO ENVIRONMENTS
-# ============================
-
-# register(
-# id='Pendulum-Gazebo-v0',
-# entry_point='gym_ignition.runtimes.gazebo_runtime:GazeboRuntime',
-# max_episode_steps=5000,
-# kwargs={'task_cls': pendulum_swingup.PendulumSwingUp,
-# 'robot_cls': sim.gazebo.pendulum.PendulumGazeboRobot,
-# 'model': "Pendulum/Pendulum.urdf",
-# 'world': "DefaultEmptyWorld.world",
-# 'rtf': max_float,
-# 'agent_rate': 1000,
-# 'physics_rate': 1000,
-# })
-#
-# register(
-# id='CartPoleDiscrete-Gazebo-v0',
-# entry_point='gym_ignition.runtimes.gazebo_runtime:GazeboRuntime',
-# max_episode_steps=5000,
-# kwargs={'task_cls': cartpole_discrete.CartPoleDiscrete,
-# 'robot_cls': sim.gazebo.cartpole.CartPoleGazeboRobot,
-# 'model': "CartPole/CartPole.urdf",
-# 'world': "DefaultEmptyWorld.world",
-# 'rtf': max_float,
-# 'agent_rate': 1000,
-# 'physics_rate': 1000,
-# })
-#
-# register(
-# id='CartPoleContinuous-Gazebo-v0',
-# entry_point='gym_ignition.runtimes.gazebo_runtime:GazeboRuntime',
-# max_episode_steps=5000,
-# kwargs={'task_cls': cartpole_continuous.CartPoleContinuous,
-# 'robot_cls': sim.gazebo.cartpole.CartPoleGazeboRobot,
-# 'model': "CartPole/CartPole.urdf",
-# 'world': "DefaultEmptyWorld.world",
-# 'rtf': max_float,
-# 'agent_rate': 1000,
-# 'physics_rate': 1000,
-# })
-
-# =====================
-# PYBULLET ENVIRONMENTS
-# =====================
+from gym_ignition.utils import gazebo_env_vars, resource_finder
+gazebo_env_vars.setup_gazebo_env_vars()
 
-# register(
-# id='Pendulum-PyBullet-v0',
-# entry_point='gym_ignition.runtimes.pybullet_runtime:PyBulletRuntime',
-# max_episode_steps=5000,
-# kwargs={'task_cls': pendulum_swingup.PendulumSwingUp,
-# 'robot_cls': sim.pybullet.pendulum.PendulumPyBulletRobot,
-# 'model': "Pendulum/Pendulum.urdf",
-# 'world': "plane_implicit.urdf",
-# 'rtf': max_float,
-# 'agent_rate': 1000,
-# 'physics_rate': 1000,
-# })
-#
-# register(
-# id='CartPoleDiscrete-PyBullet-v0',
-# entry_point='gym_ignition.runtimes.pybullet_runtime:PyBulletRuntime',
-# max_episode_steps=5000,
-# kwargs={
-# # PyBulletRuntime
-# 'task_cls': cartpole_discrete.CartPoleDiscrete,
-# 'robot_cls': sim.pybullet.cartpole.CartPolePyBulletRobot,
-# 'model': "CartPole/CartPole.urdf",
-# 'world': "plane_implicit.urdf",
-# 'rtf': max_float,
-# 'agent_rate': 1000,
-# 'physics_rate': 1000,
-# })
+# Add IGN_GAZEBO_RESOURCE_PATH to the default search path
+import os
+if "IGN_GAZEBO_RESOURCE_PATH" in os.environ:
+ resource_finder.add_path_from_env_var("IGN_GAZEBO_RESOURCE_PATH")

gym_ignition/base/__init__.py

@@ -4,8 +4,5 @@
 
 # Abstract classes
 from . import task
-from . import robot
 from . import runtime
 
-# Base C++ environment
-from . import gympp_env