Adds bindings for the model convenience class

python/CMakeLists.txt

@@ -44,6 +44,7 @@ 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/Model.cc
   src/gz/sim/TestFixture.cc
   src/gz/sim/Server.cc
   src/gz/sim/ServerConfig.cc
@@ -86,6 +87,7 @@ endif()
 
 if (BUILD_TESTING)
   set(python_tests
+    model_TEST
     testFixture_TEST
     world_TEST
   )

python/src/gz/sim/Model.cc

@@ -0,0 +1,106 @@
+/*
+ * 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(py::init<gz::sim::Model>())
+  .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.")
+  .def("__copy__",
+      [](const gz::sim::Model &self)
+      {
+        return gz::sim::Model(self);
+      })
+  .def("__deepcopy__",
+      [](const gz::sim::Model &self, pybind11::dict)
+      {
+        return gz::sim::Model(self);
+      });
+}
+}  // namespace python
+}  // namespace sim
+}  // namespace gz

python/src/gz/sim/Model.hh

@@ -0,0 +1,40 @@
+/*
+ * 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.
+ */
+
+#ifndef GZ_SIM_PYTHON__MODEL_HH_
+#define GZ_SIM_PYTHON__MODEL_HH_
+
+#include <pybind11/pybind11.h>
+
+#include <gz/sim/Model.hh>
+
+namespace gz
+{
+namespace sim
+{
+namespace python
+{
+/// Define a pybind11 wrapper for a gz::sim::Model
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ */
+void
+defineSimModel(pybind11::object module);
+}  // namespace python
+}  // namespace sim
+}  // namespace gz
+
+#endif  // GZ_SIM_PYTHON__MODEL_HH_

python/src/gz/sim/World.cc

@@ -32,6 +32,7 @@ void defineSimWorld(py::object module)
 {
   py::class_<gz::sim::World>(module, "World")
   .def(py::init<gz::sim::Entity>())
+  .def(py::init<gz::sim::World>())
   .def("entity", &gz::sim::World::Entity,
       "Get the entity which this World is related to.")
   .def("valid", &gz::sim::World::Valid,
@@ -92,7 +93,17 @@ void defineSimWorld(py::object module)
   .def("model_count", &gz::sim::World::ModelCount,
       py::arg("ecm"),
       "Get the number of models which are immediate children of this "
-      "world.");
+      "world.")
+  .def("__copy__",
+      [](const gz::sim::World &self)
+      {
+        return gz::sim::World(self);
+      })
+  .def("__deepcopy__",
+      [](const gz::sim::World &self, pybind11::dict)
+      {
+        return gz::sim::World(self);
+      });
 }
 }  // namespace python
 }  // namespace sim

python/src/gz/sim/_gz_sim_pybind11.cc

@@ -16,8 +16,11 @@
 
 #include <pybind11/pybind11.h>
 
+#include "gz/sim/Entity.hh"
+
 #include "EntityComponentManager.hh"
 #include "EventManager.hh"
+#include "Model.hh"
 #include "Server.hh"
 #include "ServerConfig.hh"
 #include "TestFixture.hh"
@@ -27,9 +30,10 @@
 
 PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
   m.doc() = "Gazebo Sim Python Library.";
-
+  m.attr("k_null_entity") = gz::sim::kNullEntity;
   gz::sim::python::defineSimEntityComponentManager(m);
   gz::sim::python::defineSimEventManager(m);
+  gz::sim::python::defineSimModel(m);
   gz::sim::python::defineSimServer(m);
   gz::sim::python::defineSimServerConfig(m);
   gz::sim::python::defineSimTestFixture(m);

python/test/model_TEST.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+# 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.
+
+import os
+import unittest
+
+from gz.common import set_verbosity
+from gz_test_deps.sim import k_null_entity, TestFixture, Model, World, world_entity
+
+class TestModel(unittest.TestCase):
+    post_iterations = 0
+    iterations = 0
+    pre_iterations = 0
+
+    def test_model(self):
+        set_verbosity(4)
+
+        file_path = os.path.dirname(os.path.realpath(__file__))
+        fixture = TestFixture(os.path.join(file_path, 'model_test.sdf'))
+
+        def on_post_udpate_cb(_info, _ecm):
+            self.post_iterations += 1
+
+        def on_pre_udpate_cb(_info, _ecm):
+            self.pre_iterations += 1
+            world_e = world_entity(_ecm)
+            self.assertNotEqual(k_null_entity, world_e)
+            w = World(world_e)
+            model = Model(w.model_by_name(_ecm, 'model_test'))
+            # Entity Test
+            self.assertNotEqual(k_null_entity, model.entity())
+            # Valid Test
+            self.assertTrue(model.valid(_ecm))
+            # Name Test
+            self.assertEqual('model_test', model.name(_ecm))
+            # Static Test
+            self.assertTrue(model.static(_ecm))
+            # Self Collide Test
+            self.assertTrue(model.self_collide(_ecm))
+            # Wind Mode Test
+            self.assertTrue(model.wind_mode(_ecm))
+            # Get Joints Test
+            self.assertNotEqual(k_null_entity, model.joint_by_name(_ecm, 'model_joint_test'))
+            self.assertEqual(1, model.joint_count(_ecm))
+            # Get Links Test
+            self.assertNotEqual(k_null_entity, model.link_by_name(_ecm, 'model_link_test_1'))
+            self.assertNotEqual(k_null_entity, model.link_by_name(_ecm, 'model_link_test_2'))
+            self.assertEqual(2, model.link_count(_ecm))
+
+        def on_udpate_cb(_info, _ecm):
+            self.iterations += 1
+
+        fixture.on_post_update(on_post_udpate_cb)
+        fixture.on_update(on_udpate_cb)
+        fixture.on_pre_update(on_pre_udpate_cb)
+        fixture.finalize()
+
+        server = fixture.server()
+        server.run(True, 1000, False)
+
+        self.assertEqual(1000, self.pre_iterations)
+        self.assertEqual(1000, self.iterations)
+        self.assertEqual(1000, self.post_iterations)
+
+if __name__ == '__main__':
+    unittest.main()

python/test/model_test.sdf

@@ -0,0 +1,25 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+    <world name="world_test">
+        <model name="model_test">
+            <pose>0.2 0.1 0.5 0.1 0.3 0.4</pose>
+            <static>true</static>
+            <self_collide>true</self_collide>
+            <enable_wind>true</enable_wind>
+
+            <link name="model_link_test_1">
+                <pose>0 0 0 0 0 0</pose>
+            </link>
+
+            <link name="model_link_test_2">
+                <pose>0 0 0 0 0 0</pose>
+            </link>
+
+            <joint name="model_joint_test" type="fixed">
+                <parent>model_link_test_1</parent>
+                <child>model_link_test_2</child>
+            </joint>
+
+        </model>
+    </world>
+</sdf>