gym_ignition.utils¶
gym_ignition.utils.logger¶
- gym_ignition.utils.logger.custom_formatwarning(msg, *args, **kwargs)¶
Custom format that overrides
warnings.formatwarning().
- gym_ignition.utils.logger.gym_verbosity(level)¶
- gym_ignition.utils.logger.set_level(level, scenario_level=None)¶
Set the verbosity level of both
gymandgym_ignition.Accepted values:
gym.logger.DEBUG(10)gym.logger.INFO(20)gym.logger.WARN(30)gym.logger.ERROR(40)gym.logger.DISABLED(50)
- Parameters
level (
int) – The desired verbosity level.scenario_level (
Optional[int,None]) – The desired ScenarIO verbosity level (defaults tolevel).
- Return type
None
- gym_ignition.utils.logger.warn(msg, *args)¶
Custom definition of
gym.logger.warn()function.- Return type
None
gym_ignition.utils.math¶
- gym_ignition.utils.math.denormalize(input, low, high)¶
- Return type
Union[Number,ndarray]
- gym_ignition.utils.math.normalize(input, low, high)¶
- Return type
Union[Number,ndarray]
gym_ignition.utils.resource_finder¶
- gym_ignition.utils.resource_finder.add_path(data_path)¶
- Return type
None
- gym_ignition.utils.resource_finder.add_path_from_env_var(env_variable)¶
- Return type
None
- gym_ignition.utils.resource_finder.find_resource(file_name)¶
- Return type
str
- gym_ignition.utils.resource_finder.get_search_paths()¶
- Return type
List[str]
gym_ignition.utils.scenario¶
- gym_ignition.utils.scenario.get_joint_positions_space(model, considered_joints=None)¶
Build a Box space from the joint position limits.
- Parameters
model (
Model) – The model from which generating the joint space.considered_joints (
Optional[List[str],None]) – List of considered joints. It is helpful to restrict the set of joints and to enforce a custom joint serialization.
- Return type
Box- Returns
A box space created from the model’s joint position limits.
- gym_ignition.utils.scenario.get_unique_model_name(world, model_name)¶
Get a unique model name given a world configuration.
This function find the first available model name starting from the argument and appending a integer postfix until the resulting name is unique in the world.
Tentatives example: cartpole, cartpole1, cartpole2, …
- Parameters
world (
World) – An initialized world.model_name (
str) – The first model name attempt.
- Raises
ValueError – If the world is not valid.
- Return type
str- Returns
The unique model name calculated from the original name.
- gym_ignition.utils.scenario.init_gazebo_sim(step_size=0.001, real_time_factor=1.0, steps_per_run=1)¶
Initialize a Gazebo simulation with an empty world and default physics.
- Parameters
step_size (
float) – Gazebo step size.real_time_factor (
float) – The desired real time factor of the simulation.steps_per_run (
int) – How many steps should be executed at each Gazebo run.
- Raises
RuntimeError – If the initialization of either the simulator or the world fails.
- Return type
Tuple[GazeboSimulator,Union[World,World]]- Returns
gazebo – The Gazebo simulator.
world – The default world.