Adds bindings for the Link convenience class

.github/ci/packages.apt

@@ -32,6 +32,7 @@ python3-distutils
 python3-gz-math7
 python3-pybind11
 python3-pytest
+python3-sdformat13
 qml-module-qt-labs-folderlistmodel
 qml-module-qt-labs-settings
 qml-module-qtgraphicaleffects

python/CMakeLists.txt

@@ -44,6 +44,8 @@ pybind11_add_module(${BINDINGS_MODULE_NAME} MODULE
   src/gz/sim/_gz_sim_pybind11.cc
   src/gz/sim/EntityComponentManager.cc
   src/gz/sim/EventManager.cc
+  src/gz/sim/Link.cc
+  src/gz/sim/Model.cc
   src/gz/sim/TestFixture.cc
   src/gz/sim/Server.cc
   src/gz/sim/ServerConfig.cc
@@ -86,7 +88,10 @@ endif()
 
 if (BUILD_TESTING)
   set(python_tests
+    link_TEST
+    model_TEST
     testFixture_TEST
+    world_TEST
   )
 
   execute_process(COMMAND "${GZ_PYTHON_EXECUTABLE}" -m pytest --version

python/src/gz/sim/Link.cc

@@ -0,0 +1,171 @@
+/*
+ * 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 <iostream>
+
+#include "Link.hh"
+
+namespace py = pybind11;
+
+namespace gz
+{
+namespace sim
+{
+namespace python
+{
+void defineSimLink(py::object module)
+{
+  py::class_<gz::sim::Link>(module, "Link")
+  .def(py::init<gz::sim::Entity>())
+  .def(py::init<gz::sim::Link>())
+  .def("entity", &gz::sim::Link::Entity,
+      "Get the entity which this Link is related to.")
+  .def("reset_entity", &gz::sim::Link::ResetEntity,
+      "Reset Entity to a new one.")
+  .def("valid", &gz::sim::Link::Valid,
+      py::arg("ecm"),
+      "Check whether this link correctly refers to an entity that "
+      "has a components::Link.")
+  .def("name", &gz::sim::Link::Name,
+      py::arg("ecm"),
+      "Get the link's unscoped name.")
+  .def("parent_model", &gz::sim::Link::ParentModel,
+      py::arg("ecm"),
+      "Get the parent model.")
+  .def("is_canonical", &gz::sim::Link::IsCanonical,
+      py::arg("ecm"),
+      "Check if this is the canonical link.")
+  .def("wind_mode", &gz::sim::Link::WindMode,
+      py::arg("ecm"),
+      "Get whether this link has wind enabled.")
+  .def("collision_by_name", &gz::sim::Link::CollisionByName,
+      py::arg("ecm"),
+      py::arg("name"),
+      "Get the ID of a collision entity which is an immediate child of "
+      "this link.")
+  .def("visual_by_name", &gz::sim::Link::VisualByName,
+      py::arg("ecm"),
+      py::arg("name"),
+      "Get the ID of a visual entity which is an immediate child of "
+      "this link.")
+  .def("collisions", &gz::sim::Link::Collisions,
+      py::arg("ecm"),
+      "Get all collisions which are immediate children of this link.")
+  .def("visuals", &gz::sim::Link::Visuals,
+      py::arg("ecm"),
+      "Get all visuals which are immediate children of this link.")
+  .def("collision_count", &gz::sim::Link::CollisionCount,
+      py::arg("ecm"),
+      "Get the number of collisions which are immediate children of "
+      "this link.")
+  .def("visual_count", &gz::sim::Link::VisualCount,
+      py::arg("ecm"),
+      "Get the number of visuals which are immediate children of this "
+      "link.")
+  .def("world_pose", &gz::sim::Link::WorldPose,
+      py::arg("ecm"),
+      "Get the pose of the link frame in the world coordinate frame.")
+  .def("world_inertial_pose", &gz::sim::Link::WorldInertialPose,
+      py::arg("ecm"),
+      "Get the world pose of the link inertia.")
+  .def("world_linear_velocity",
+      py::overload_cast<const EntityComponentManager &>(&gz::sim::Link::WorldLinearVelocity, py::const_),
+      py::arg("ecm"),
+      "Get the linear velocity at the origin of of the link frame "
+      "expressed in the world frame, using an offset expressed in a "
+      "body-fixed frame. If no offset is given, the velocity at the origin of "
+      "the Link frame will be returned.")
+  .def("world_linear_velocity",
+      py::overload_cast<const EntityComponentManager &, const math::Vector3d &>(&gz::sim::Link::WorldLinearVelocity, py::const_),
+      py::arg("ecm"),
+      py::arg("offset"),
+      "Get the linear velocity of a point on the body in the world "
+      "frame, using an offset expressed in a body-fixed frame.")
+  .def("world_angular_velocity", &gz::sim::Link::WorldAngularVelocity,
+      py::arg("ecm"),
+      "Get the angular velocity of the link in the world frame.")
+  .def("enable_velocity_checks", &gz::sim::Link::EnableVelocityChecks,
+      py::arg("ecm"),
+      py::arg("enable") = true,
+      "By default, Gazebo will not report velocities for a link, so "
+      "functions like `world_linear_velocity` will return nullopt. This "
+      "function can be used to enable all velocity checks.")
+  .def("set_linear_velocity", &gz::sim::Link::SetLinearVelocity,
+      py::arg("ecm"),
+      py::arg("velocity"),
+      "Set the linear velocity on this link. If this is set, wrenches "
+      "on this link will be ignored for the current time step.")
+  .def("set_angular_velocity", &gz::sim::Link::SetAngularVelocity,
+      py::arg("ecm"),
+      py::arg("velocity"),
+      "Set the angular velocity on this link. If this is set, wrenches "
+      "on this link will be ignored for the current time step.")
+  .def("world_angular_acceleration", &gz::sim::Link::WorldAngularAcceleration,
+      py::arg("ecm"),
+      "Get the linear acceleration of the body in the world frame.")
+  .def("world_linear_acceleration", &gz::sim::Link::WorldLinearAcceleration,
+      py::arg("ecm"),
+      "Get the angular velocity of the link in the world frame.")
+  .def("enable_acceleration_checks", &gz::sim::Link::EnableAccelerationChecks,
+      py::arg("ecm"),
+      py::arg("enable") = true,
+      "By default, Gazebo will not report accelerations for a link, so "
+      "functions like `world_linear_acceleration` will return nullopt. This "
+      "function can be used to enable all acceleration checks.")
+  .def("world_inertia_matrix", &gz::sim::Link::WorldInertiaMatrix,
+      py::arg("ecm"),
+      "Get the inertia matrix in the world frame.")
+  .def("world_kinetic_energy", &gz::sim::Link::WorldKineticEnergy,
+      py::arg("ecm"),
+      "Get the rotational and translational kinetic energy of the "
+      "link with respect to the world frame.")
+  .def("add_world_force",
+      py::overload_cast<EntityComponentManager &, const math::Vector3d &>(&gz::sim::Link::AddWorldForce, py::const_),
+      py::arg("ecm"),
+      py::arg("force"),
+      "Add a force expressed in world coordinates and applied at the "
+      "center of mass of the link.")
+  .def("add_world_force",
+      py::overload_cast<EntityComponentManager &, const math::Vector3d &, const math::Vector3d &>(&gz::sim::Link::AddWorldForce, py::const_),
+      py::arg("ecm"),
+      py::arg("force"),
+      py::arg("position"),
+      "Add a force expressed in world coordinates and applied at "
+      "an offset from the center of mass of the link.")
+  .def("add_world_wrench", &gz::sim::Link::AddWorldWrench,
+      py::arg("ecm"),
+      py::arg("force"),
+      py::arg("torque"),
+      "Add a wrench expressed in world coordinates and applied to "
+      "the link at the link's origin. This wrench is applied for one "
+      "simulation step.")
+  .def("__copy__",
+      [](const gz::sim::Link &self)
+      {
+        return gz::sim::Link(self);
+      })
+  .def("__deepcopy__",
+      [](const gz::sim::Link &self, pybind11::dict)
+      {
+        return gz::sim::Link(self);
+      });
+}
+}  // namespace python
+}  // namespace sim
+}  // namespace gz

include/ignition/gazebo/Actor.hh → python/src/gz/sim/Link.hh

@@ -12,8 +12,29 @@
  * 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 <gz/sim/Actor.hh>
-#include <ignition/gazebo/config.hh>
+#ifndef GZ_SIM_PYTHON__LINK_HH_
+#define GZ_SIM_PYTHON__LINK_HH_
+
+#include <pybind11/pybind11.h>
+
+#include <gz/sim/Link.hh>
+
+namespace gz
+{
+namespace sim
+{
+namespace python
+{
+/// Define a pybind11 wrapper for a gz::sim::Link
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ */
+void
+defineSimLink(pybind11::object module);
+}  // namespace python
+}  // namespace sim
+}  // namespace gz
+
+#endif  // GZ_SIM_PYTHON__Link_HH_

python/src/gz/sim/Model.cc

@@ -0,0 +1,95 @@
+/*
+ * 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 "Model.hh"
+
+namespace py = pybind11;
+
+namespace gz
+{
+namespace sim
+{
+namespace python
+{
+void defineSimModel(py::object module)
+{
+  py::class_<gz::sim::Model>(module, "Model")
+  .def(py::init<gz::sim::Entity>())
+  .def("entity", &gz::sim::Model::Entity,
+      "Get the entity which this Model is related to.")
+  .def("valid", &gz::sim::Model::Valid,
+      py::arg("ecm"),
+      "Check whether this model correctly refers to an entity that "
+      "has a components::Model.")
+  .def("name", &gz::sim::Model::Name,
+      py::arg("ecm"),
+      "Get the model's unscoped name.")
+  .def("static", &gz::sim::Model::Static,
+      py::arg("ecm"),
+      "Get whether this model is static.")
+  .def("self_collide", &gz::sim::Model::SelfCollide,
+      py::arg("ecm"),
+      "Get whether this model has self-collide enabled.")
+  .def("wind_mode", &gz::sim::Model::WindMode,
+      py::arg("ecm"),
+      "Get whether this model has wind enabled.")
+  .def("source_file_path", &gz::sim::Model::SourceFilePath,
+      py::arg("ecm"),
+      "Get the source file where this model came from. If empty,"
+      "the model wasn't loaded directly from a file, probably from an SDF "
+      "string.")
+  .def("joint_by_name", &gz::sim::Model::JointByName,
+      py::arg("ecm"),
+      py::arg("name"),
+      "Get the ID of a joint entity which is an immediate child of "
+      "this model.")
+  .def("link_by_name", &gz::sim::Model::LinkByName,
+      py::arg("ecm"),
+      py::arg("name"),
+      "Get the ID of a link entity which is an immediate child of "
+      "this model.")
+  .def("joints", &gz::sim::Model::Joints,
+      py::arg("ecm"),
+      "Get all joints which are immediate children of this model.")
+  .def("links", &gz::sim::Model::Links,
+      py::arg("ecm"),
+      "Get all links which are immediate children of this model.")
+  .def("models", &gz::sim::Model::Models,
+      py::arg("ecm"),
+      "Get all models which are immediate children of this model.")
+  .def("joint_count", &gz::sim::Model::JointCount,
+      py::arg("ecm"),
+      "Get the number of joints which are immediate children of this "
+      "model.")
+  .def("link_count", &gz::sim::Model::LinkCount,
+      py::arg("ecm"),
+      "Get the number of links which are immediate children of this "
+      "model.")
+  .def("set_world_pose_cmd", &gz::sim::Model::SetWorldPoseCmd,
+      py::arg("ecm"),
+      py::arg("pose"),
+      "Set a command to change the model's pose.")
+  .def("canonical_link", &gz::sim::Model::CanonicalLink,
+      py::arg("ecm"),
+      "Get the model's canonical link entity.");
+}
+}  // namespace python
+}  // namespace sim
+}  // namespace gz