Adds the bindings for the joint class

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

include/gz/sim/Joint.hh

@@ -260,7 +260,7 @@ namespace gz
       public: std::optional<std::vector<double>> Position(
           const EntityComponentManager &_ecm) const;
 
-      /// \brief Get the position of the joint
+      /// \brief Get the transmitted wrench of the joint
       /// \param[in] _ecm Entity-component manager.
       /// \return Transmitted wrench of the joint or nullopt if transmitted
       /// wrench check is not enabled.

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/Joint.cc
   src/gz/sim/Model.cc
   src/gz/sim/TestFixture.cc
   src/gz/sim/Server.cc

python/src/gz/sim/Joint.cc

@@ -0,0 +1,141 @@
+/*
+ * Copyright (C) 2021 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 <iostream>
+
+#include "Joint.hh"
+
+namespace py = pybind11;
+
+namespace gz
+{
+namespace sim
+{
+namespace python
+{
+void defineSimJoint(py::object module)
+{
+  py::class_<gz::sim::Joint>(module, "Joint")
+  .def(py::init<gz::sim::Entity>())
+  .def("entity", &gz::sim::Joint::Entity,
+      "Get the entity which this Joint is related to.")
+  .def("reset_entity", &gz::sim::Joint::ResetEntity,
+      py::arg("new_entity"),
+      "Reset Entity to a new one.")
+  .def("valid", &gz::sim::Joint::Valid,
+      py::arg("ecm"),
+      "Check whether this joint correctly refers to an entity that"
+      "has a components::Joint.")
+  .def("name", &gz::sim::Joint::Name,
+      py::arg("ecm"),
+      "Get the joint's unscoped name.")
+  .def("parent_link_name", &gz::sim::Joint::ParentLinkName,
+      py::arg("ecm"),
+      "Get the parent link name.")
+  .def("child_link_name", &gz::sim::Joint::ChildLinkName,
+      py::arg("ecm"),
+      "Get the child link name.")
+  .def("pose", &gz::sim::Joint::Pose,
+      py::arg("ecm"),
+      "Get the pose of the joint.")
+  .def("thread_pitch", &gz::sim::Joint::ThreadPitch,
+      py::arg("ecm"),
+      "Get the thread pitch of the joint.")
+  .def("axis", &gz::sim::Joint::Axis,
+      py::arg("ecm"),
+      "Get the joint axis.")
+  .def("type", &gz::sim::Joint::Type,
+      py::arg("ecm"),
+      "Get the joint type.")
+  .def("sensor_by_name", &gz::sim::Joint::SensorByName,
+      py::arg("ecm"),
+      py::arg("name"),
+      "Get the ID of a sensor entity which is an immediate child of"
+      "this joint.")
+  .def("sensors", &gz::sim::Joint::Sensors,
+      py::arg("ecm"),
+      "Get all sensors which are immediate children of this joint.")
+  .def("sensor_count", &gz::sim::Joint::SensorCount,
+      py::arg("ecm"),
+      "Get the number of sensors which are immediate children of this"
+      "joint.")
+  .def("set_velocity", &gz::sim::Joint::SetVelocity,
+      py::arg("ecm"),
+      py::arg("velocities"),
+      "Set velocity on this joint. Only applied if no forces are set.")
+  .def("set_force", &gz::sim::Joint::SetForce,
+      py::arg("ecm"),
+      py::arg("forces"),
+      "Set force on this joint. If both forces and velocities are set,"
+      "only forces are applied.")
+  .def("set_velocity_limits", &gz::sim::Joint::SetVelocityLimits,
+      py::arg("ecm"),
+      py::arg("limits"),
+      "Set the velocity limits on a joint axis.")
+  .def("set_effort_limits", &gz::sim::Joint::SetEffortLimits,
+      py::arg("ecm"),
+      py::arg("limits"),
+      "Set the effort limits on a joint axis.")
+  .def("set_position_imits", &gz::sim::Joint::SetPositionLimits,
+      py::arg("ecm"),
+      py::arg("limits"),
+      "Set the position limits on a joint axis.")
+  .def("reset_position", &gz::sim::Joint::ResetPosition,
+      py::arg("ecm"),
+      py::arg("positions"),
+      "Reset the joint positions.")
+  .def("reset_velocity", &gz::sim::Joint::ResetVelocity,
+      py::arg("ecm"),
+      py::arg("velocities"),
+      "Reset the joint velocities.")
+  .def("enable_velocity_check", &gz::sim::Joint::EnableVelocityCheck,
+      py::arg("ecm"),
+      py::arg("enable") = true,
+      "By default, Gazebo will not report velocities for a joint, so"
+      "functions like `Velocity` will return nullopt. This"
+      "function can be used to enable joint velocity check.")
+  .def("enable_position_check", &gz::sim::Joint::EnablePositionCheck,
+      py::arg("ecm"),
+      py::arg("enable") = true,
+      "By default, Gazebo will not report positions for a joint, so"
+      "functions like `Position` will return nullopt. This"
+      "function can be used to enable joint position check.")
+  .def("enable_transmitted_wrench_check", &gz::sim::Joint::EnableTransmittedWrenchCheck,
+      py::arg("ecm"),
+      py::arg("enable") = true,
+      "By default, Gazebo will not report transmitted wrench for a"
+      "joint, so functions like `TransmittedWrench` will return nullopt. This"
+      "function can be used to enable joint transmitted wrench check.")
+  .def("velocity", &gz::sim::Joint::Velocity,
+      py::arg("ecm"),
+      "Get the velocity of the joint.")
+  .def("position", &gz::sim::Joint::Position,
+      py::arg("ecm"),
+      "Get the position of the joint.")
+  .def("transmitted_wrench", &gz::sim::Joint::TransmittedWrench,
+      py::arg("ecm"),
+      "Get the transmitted wrench of the joint.")
+  .def("parent_model", &gz::sim::Joint::ParentModel,
+      py::arg("ecm"),
+      "Get the parent model of the joint.");
+}
+}  // namespace python
+}  // namespace sim
+}  // namespace gz

python/src/gz/sim/Joint.hh

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2021 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__JOINT_HH_
+#define GZ_SIM_PYTHON__JOINT_HH_
+
+#include <pybind11/pybind11.h>
+
+#include <gz/sim/Joint.hh>
+
+namespace gz
+{
+namespace sim
+{
+namespace python
+{
+/// Define a pybind11 wrapper for a gz::sim::Joint
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ */
+void
+defineSimJoint(pybind11::object module);
+}  // namespace python
+}  // namespace sim
+}  // namespace gz
+
+#endif  // GZ_SIM_PYTHON__JOINT_HH_

python/src/gz/sim/_gz_sim_pybind11.cc

@@ -18,6 +18,7 @@
 
 #include "EntityComponentManager.hh"
 #include "EventManager.hh"
+#include "Joint.hh"
 #include "Model.hh"
 #include "Server.hh"
 #include "ServerConfig.hh"
@@ -31,6 +32,7 @@ PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
 
   gz::sim::python::defineSimEntityComponentManager(m);
   gz::sim::python::defineSimEventManager(m);
+  gz::sim::python::defineSimJoint(m);
   gz::sim::python::defineSimModel(m);
   gz::sim::python::defineSimServer(m);
   gz::sim::python::defineSimServerConfig(m);