Adds Python bindings for the Light convenience class #2043

Voldivh · 2023-07-19T20:06:19Z

🎉 New feature

Summary

This PR adds bindings for the Light convenience class.

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
While waiting for a review on your PR, please help review another open pull request to support the maintainers

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Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

ahcorde

tests?

python/src/gz/sim/Light.cc

python/src/gz/sim/Light.hh

codecov · 2023-07-19T21:20:45Z

Codecov Report

Merging #2043 (49ac517) into main (d409496) will decrease coverage by 0.06%.
The diff coverage is 45.97%.

❗ Current head 49ac517 differs from pull request most recent head f0732eb. Consider uploading reports for the commit f0732eb to get more accurate results

@@            Coverage Diff             @@
##             main    #2043      +/-   ##
==========================================
- Coverage   65.35%   65.30%   -0.06%     
==========================================
  Files         320      321       +1     
  Lines       30216    30303      +87     
==========================================
+ Hits        19749    19789      +40     
- Misses      10467    10514      +47

Files Changed	Coverage Δ
python/src/gz/sim/Link.cc	`50.00% <ø> (ø)`
python/src/gz/sim/Light.cc	`45.34% <45.34%> (ø)`
python/src/gz/sim/_gz_sim_pybind11.cc	`100.00% <100.00%> (ø)`

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Voldivh · 2023-07-27T15:47:52Z

@azeey The setters for this class doesn't seem to be working for some reason I'm not able to find. The test I added shouldn't be passing after I set the property to another value and they do. Also there are other values that doesn't change from the default value even after defining it on the sdf file such as the spot_inner_angle, spot_outer_angle and spot_falloff.

azeey · 2023-07-27T19:15:14Z

python/test/light_test.sdf

+<sdf version="1.6">
+  <world name="world_test">
+
+    <light type="point" name="light_test">


The <direction> and <spot> parameters do not apply when the light type is "point" (see http://sdformat.org/spec?ver=1.10&elem=light).

Oh I see, we have point, spot and directional. That makes a lot more sense. That should solve some of my problems, but, I think the setters's issue remains the same.

I made the required changes in 4e72d74. However, the behavior is the same as I expected, solved some issues but not a single set method is working.

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Signed-off-by: Eloy Briceno <51831786+Voldivh@users.noreply.github.com>

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Signed-off-by: Eloy Briceno <51831786+Voldivh@users.noreply.github.com>

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

ahcorde · 2023-08-17T15:04:27Z

python/src/gz/sim/Light.cc

+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+#include <iostream>


@Voldivh can you address this?

the header is still there? did you push ?

Might have been re-added when bringing back an older commit for testing. Fixed in 801bb08

ahcorde · 2023-08-17T15:04:45Z

python/src/gz/sim/Light.hh

+{
+namespace python
+{
+/// Define a pybind11 wrapper for a gz::sim::World


Suggested change

/// Define a pybind11 wrapper for a gz::sim::World

/// Define a pybind11 wrapper for a gz::sim::Light

Thanks and done.

Signed-off-by: Eloy Briceno <51831786+Voldivh@users.noreply.github.com>

azeey · 2023-08-21T22:05:13Z

python/src/gz/sim/Light.cc

+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+#include <iostream>


@Voldivh can you address this?

python/test/light_TEST.py

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

ahcorde

There is still a pending comment, good to go when the iostream header is removed

ahcorde · 2023-08-22T12:42:43Z

python/src/gz/sim/Light.cc

+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+#include <iostream>


the header is still there? did you push ?

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

…gs_light

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Voldivh added 3 commits July 18, 2023 08:12

Adds bindings for the world convenience class

bd9846e

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Adds initial tests

1db3735

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Use alias on bindings

df9608e

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Voldivh marked this pull request as ready for review July 19, 2023 20:13

Voldivh requested a review from mjcarroll as a code owner July 19, 2023 20:13

ahcorde requested changes Jul 19, 2023

View reviewed changes

Base automatically changed from nkoenig/7-to-main to main July 20, 2023 18:06

Voldivh added 5 commits July 25, 2023 18:58

Adds test to this class

40423f8

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Adds missing dependency for CI

4a013a6

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Adds dependency to packages.apt

55e5bb7

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Adds newline at the end of file

863b61b

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Renames the world sdf file

e7c955b

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Voldivh changed the base branch from main to voldivh/python_bindings_world July 27, 2023 15:38

Voldivh requested a review from mabelzhang as a code owner July 27, 2023 15:38

Voldivh force-pushed the voldivh/python_bindings_light branch from bde5acb to ebab22a Compare July 27, 2023 15:44

azeey reviewed Jul 27, 2023

View reviewed changes

azeey added the beta Targeting beta release of upcoming collection label Jul 31, 2023

Voldivh added 2 commits August 1, 2023 12:53

Adds the rest of the test

cbcdf3d

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Removes trailing whitespace

aa435d6

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Voldivh force-pushed the voldivh/python_bindings_light branch from 95ee75f to fadc032 Compare August 1, 2023 18:00

Voldivh and others added 6 commits August 8, 2023 10:31

Adds import dependency files

a97358d

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Adds newline at end of files

99c9de0

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Address reviewer feedback

5414b55

Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>

Include correct export header

d04f3ed

Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>

Adds bindings for the Light class

c153884

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Adds test for the bindings

669d75a

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Voldivh added 5 commits August 8, 2023 11:03

Modifies test to use the appropiate light types (test failing)

3c41f7f

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Remove test for setters methods

def4604

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Removes trailing whitespace

be8ec34

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Removes trailing whitespace

3f75812

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Modifies import dependencies

d2cf8f6

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Voldivh force-pushed the voldivh/python_bindings_light branch from fadc032 to d2cf8f6 Compare August 8, 2023 16:04

Base automatically changed from voldivh/python_bindings_world to main August 8, 2023 21:54

Merge branch 'main' into voldivh/python_bindings_light

4ecc165

Signed-off-by: Eloy Briceno <51831786+Voldivh@users.noreply.github.com>

Voldivh mentioned this pull request Aug 9, 2023

Make gz-tools a dependency of the packages that use it gazebosim/gz-tools#122

Closed

Voldivh and others added 3 commits August 10, 2023 14:02

Adds copy constructor

0abd9b4

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

Merge branch 'main' into voldivh/python_bindings_light

1da8f4d

Signed-off-by: Eloy Briceno <51831786+Voldivh@users.noreply.github.com>

Modifies the use of the null entity variable

fb5e2cf

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

ahcorde requested changes Aug 17, 2023

View reviewed changes

Merge branch 'main' into voldivh/python_bindings_light

7b75f79

Signed-off-by: Eloy Briceno <51831786+Voldivh@users.noreply.github.com>

azeey reviewed Aug 21, 2023

View reviewed changes

Adds verification test for values after we have set them

5c5f53e

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>

azeey changed the title ~~Adds bindings for the Light convenience class~~ Adds Python bindings for the Light convenience class Aug 22, 2023

azeey mentioned this pull request Aug 25, 2023

Light API getters do not get the current state of the light #2095

Closed

Remove checks that require a rendering system, fix name

209e556

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey approved these changes Aug 25, 2023

View reviewed changes

azeey requested a review from ahcorde August 25, 2023 04:17

ahcorde requested changes Aug 25, 2023

View reviewed changes

Address reviewer feedback

801bb08

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

ahcorde approved these changes Aug 25, 2023

View reviewed changes

azeey added 2 commits August 25, 2023 13:09

Merge remote-tracking branch 'origin/main' into voldivh/python_bindin…

07b7f78

…gs_light

Fix import

f0732eb

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey merged commit 8614184 into main Aug 25, 2023
4 of 6 checks passed

azeey deleted the voldivh/python_bindings_light branch August 25, 2023 21:58

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Adds Python bindings for the Light convenience class #2043

Adds Python bindings for the Light convenience class #2043

Voldivh commented Jul 19, 2023

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Voldivh commented Jul 27, 2023

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ahcorde Aug 17, 2023

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ahcorde Aug 22, 2023

	/// Define a pybind11 wrapper for a gz::sim::World
	/// Define a pybind11 wrapper for a gz::sim::Light

Adds Python bindings for the Light convenience class #2043

Adds Python bindings for the Light convenience class #2043

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Voldivh commented Jul 19, 2023

🎉 New feature

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codecov bot commented Jul 19, 2023 •

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