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| # Gazebo Python API | ||
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| This example shows how to use Gazebo's Python API. | ||
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| For more information, see the | ||
| [Python interfaces](https://ignitionrobotics.org/api/gazebo/6.4/python_interfaces.html) tutorial. |
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| <?xml version="1.0" ?> | ||
| <sdf version="1.6"> | ||
| <world name="gravity"> | ||
| <plugin | ||
| filename="ignition-gazebo-physics-system" | ||
| name="ignition::gazebo::systems::Physics"> | ||
| </plugin> | ||
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| <model name="falling"> | ||
| <link name="link"> | ||
| <inertial> | ||
| <inertia> | ||
| <ixx>0.4</ixx> | ||
| <iyy>0.4</iyy> | ||
| <izz>0.4</izz> | ||
| </inertia> | ||
| <mass>1.0</mass> | ||
| </inertial> | ||
| </link> | ||
| </model> | ||
| </world> | ||
| </sdf> |
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| #!/usr/bin/python3 | ||
| # Copyright (C) 2021 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. | ||
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| # If you compiled Ignition Gazebo from source you should modify your | ||
| # `PYTHONPATH`: | ||
| # | ||
| # export PYTHONPATH=$PYTHONPATH:<path to ws>/install/lib/python | ||
| # | ||
| # Now you can run the example: | ||
| # | ||
| # python3 examples/scripts/python_api/helperFixture.py | ||
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| import os | ||
| import time | ||
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| from ignition.common import set_verbosity | ||
| from ignition.gazebo import TestFixture, World, world_entity | ||
| from ignition.math import Vector3d | ||
| from sdformat import Element | ||
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| set_verbosity(4) | ||
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| file_path = os.path.dirname(os.path.realpath(__file__)) | ||
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| helper = TestFixture(os.path.join(file_path, 'gravity.sdf')) | ||
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| post_iterations = 0 | ||
| iterations = 0 | ||
| pre_iterations = 0 | ||
| first_iteration = True | ||
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| def on_pre_udpate_cb(_info, _ecm): | ||
| global pre_iterations | ||
| global first_iteration | ||
| pre_iterations += 1 | ||
| if first_iteration: | ||
| first_iteration = False | ||
| world_e = world_entity(_ecm); | ||
| print('World entity is ', world_e) | ||
| w = World(world_e) | ||
| v = w.gravity(_ecm) | ||
| print('Gravity ', v) | ||
| modelEntity = w.model_by_name(_ecm, 'falling') | ||
| print('Entity for falling model is: ', modelEntity) | ||
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| def on_udpate_cb(_info, _ecm): | ||
| global iterations | ||
| iterations += 1 | ||
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| def on_post_udpate_cb(_info, _ecm): | ||
| global post_iterations | ||
| post_iterations += 1 | ||
| if _info.sim_time.seconds == 1: | ||
| print('Post update sim time: ', _info.sim_time) | ||
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| helper.on_post_update(on_post_udpate_cb) | ||
| helper.on_update(on_udpate_cb) | ||
| helper.on_pre_update(on_pre_udpate_cb) | ||
| helper.finalize() | ||
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| server = helper.server() | ||
| server.run(False, 1000, False) | ||
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| while(server.is_running()): | ||
| time.sleep(0.1) | ||
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| print('iterations ', iterations) | ||
| print('post_iterations ', post_iterations) | ||
| print('pre_iterations ', pre_iterations) |
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