gym-ignition-models

Robot models for gym-ignition

These models have been mainly tuned and tested to work in Ignition Gazebo.

Setup

This repository can be installed with the pip package manager as follows:

# From PyPI
pip3 install gym-ignition-models

# From the repository (always containing the most recent changes)
pip3 install git+https://github.com/dic-iit/gym-ignition-models.git

Only GNU/Linux distributions are currently supported.

Configuration

Standalone usage

If you use Ignition Gazebo, you need to execute the following commands (from outside the directory where you cloned this repository):

PKG_DIR=$(python -c "import gym_ignition_models, inspect, os; print(os.path.dirname(inspect.getfile(gym_ignition_models)))")
export SDF_PATH=$PKG_DIR:SDF_PATH

If you want to make this change persistent, add the lines above to your ~/.bashrc.

Note: waiting an upstream fix, you also need to add to the IGN_FILE_PATH environment variable all the directories that contain model's meshes.

Python usage

If you're using the models from a Python program, we provide a helper function that updates the environment. Use the following code:

import gym_ignition_models
gym_ignition_models.setup_environment()

If you inspect the content of os.environ after this call, you'll find the environment variables already exported.

Usage

You can use these models either with the standalone simulators, or find and import them in your Python code. Here below an Python example of the utility functions provided by the package:

import gym_ignition_models as m

print(f"Models have been installed in {m.get_models_path()}")
print(f"Available robots: {m.get_robot_names()}")
print("\nModel files:")

for robot_name in m.get_robot_names():
    print(f"{robot_name}: {m.get_model_file(robot_name)}")

Supported models

Robot Name	Screenshot
ground_plane
cartpole
pendulum
iCubGazeboV2_5 iCubGazeboSimpleCollisionsV2_5
panda
character