Adds support for ISystemReset in test fixture
#2647
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This PR adds support for the Reset API to the test fixture. As `TestFixture` is one of the main ways one can get access to the ECM in python when trying to write some scripts for Deep Reinforcement Learning I realized that without `Reset` supported in the `TestFixture` API, end users would have a very hard time using our python APIs (which are actually quite nice). For reference I'm hacking a demo template here: https://github.com/arjo129/gz_deep_rl_experiments/tree/ionic Signed-off-by: Arjo Chakravarty <[email protected]>
arjo129
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Oct 11, 2024
This allows us to reset simulations without having to call into gz-transport making the code more readable from an external API. Depends on #2647 Signed-off-by: Arjo Chakravarty <[email protected]>
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arjo129
changed the title
ISystemReset in test fixture
ahcorde
approved these changes
Oct 11, 2024
src/TestFixture.cc
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Signed-off-by: Arjo Chakravarty <[email protected]>
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Upon further examination I think this may break ABI cause we are adding a base class. I probably should port this to Gazebo J. |
iche033
reviewed
Oct 15, 2024
| } | ||
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| pybind11::return_value_policy::reference, | ||
| "Wrapper around a system's post-update callback" |
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Suggested change
| "Wrapper around a system's post-update callback" | |
| "Wrapper around a system's reset callback" |
| @@ -96,6 +96,12 @@ class GZ_SIM_VISIBLE TestFixture | |||
| public: TestFixture &OnPostUpdate(std::function<void( | |||
| const UpdateInfo &, const EntityComponentManager &)> _cb); | |||
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| /// \brief Wrapper around a system's update callback | |||
| /// \param[in] _cb Function to be called every update | |||
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Suggested change
| /// \param[in] _cb Function to be called every update | |
| /// \param[in] _cb Function to be called every reset |
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🎉 New feature
Closes #
Summary
This PR adds support for the Reset API to the test fixture. As
TestFixtureis one of the main ways one can get access to the ECM in python when trying to write some scripts for Deep Reinforcement Learning I realized that withoutResetsupported in theTestFixtureAPI, end users would have a very hard time using our python APIs (which are actually quite nice). For reference I'm hacking a demo template here (its still barebones):https://github.com/arjo129/gz_deep_rl_experiments/tree/ionic
Test it
I've added a test in #2648, but that includes some additional APIs to improve usability.
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.