Adds bindings for the Actor class

Signed-off-by: Voldivh <[email protected]>

python/CMakeLists.txt

@@ -42,6 +42,7 @@ 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/TestFixture.cc

python/src/gz/sim/Actor.cc

@@ -0,0 +1,93 @@
+/*
+ * 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 "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("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 SetTrajectoryPose 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("name"),
+      "Set the name of animation to use for this actor.")
+  .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.");
+}
+}  // namespace python
+}  // namespace sim
+}  // namespace gz

python/src/gz/sim/Actor.hh

@@ -0,0 +1,40 @@
+/*
+ * 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.
+ */
+
+#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/_gz_sim_pybind11.cc

@@ -16,6 +16,7 @@
 
 #include <pybind11/pybind11.h>
 
+#include "Actor.hh"
 #include "EntityComponentManager.hh"
 #include "EventManager.hh"
 #include "Server.hh"
@@ -28,6 +29,7 @@
 PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
   m.doc() = "Gazebo Sim Python Library.";
 
+  gz::sim::python::defineSimActor(m);
   gz::sim::python::defineSimEntityComponentManager(m);
   gz::sim::python::defineSimEventManager(m);
   gz::sim::python::defineSimServer(m);