def __init__(self,
save_transforms=True,
save_state=False,
save_model=False,
flat=False,
name=None):
"""
:param bool save_transforms: toggle the write of the ``transforms`` group
:param bool save_state: toggle the write of the ``gpos`` and ``gvel`` groups
:param bool save_model: toggle the write of ``model`` group
:param bool flat: whether to save body of joint poses in the ``transforms`` group
:param string name: the instance name of the observer
"""
Observer.__init__(self, name)
# what to save
self._save_transforms = save_transforms
self._save_state = save_state
self._save_model = save_model
self._flat = flat
# recorded values
self._world = None
self._nb_steps = 0
self._current_step = 0
self._root = {}
self._timeline = []
self._arb_transforms = {}
self._transforms = {}
self._gpositions = {}
self._gvelocities = {}
self._model = {}
def __init__(self, name=None):
"""
:param string name: the instance name of the observer
"""
Observer.__init__(self, name)
self._record = []
self._index = 0
def __init__(self, colladafile, browser=None, host="127.0.0.1", port=5000, timeout=5, flat=False, name=None, **kwargs):
Observer.__init__(self, name)
self.flat = flat
self.world = None
self.websocket = pydaenim.pydaenimWebSocket(host, port, timeout)
kwargs.update({"host":self.websocket.host, "port":self.websocket.port, "browser":browser})
Timer(0.1, pydaenim.create_pydaenimViewer, (colladafile,), kwargs).start()
self.websocket.listen()
def __init__(self, name=None):
"""
:param string name: the instance name of the observer
"""
Observer.__init__(self, name)
self._world = None
self.time = []
self.kinetic_energy = []
self.potential_energy = []
self.mechanichal_energy = []
self._com_pos = {}
self._bodies = None
def __init__(self, log=False, name=None):
"""
:param bool log: whether to show current time of simulation
:param string name: the instance name of the observer
"""
Observer.__init__(self, name)
if log:
self._logger = logging.getLogger(self.__class__.__name__)
else:
self._logger = None
self._world = None
self._last_time = None
self._computation_time = []
def __init__(self, bodies, compute_Jacobians=True, name=None):
"""
:param bodies: the bodies on which the CoM is computed
:type bodies: list of :class:`~arboris.core.Body`
:param bool compute_Jacobians: whether CoM jacobian and its derivative has to be computed
:param string name: the instance name of the observer
"""
Observer.__init__(self, name)
self.user_bodies = bodies
self.compute_Jacobians = compute_Jacobians
self.H_body_com = []
self.mass = []
self.bodies = []
self.total_mass = 0.
self._CoMPosition = zeros(3)
self._CoMJacobian = zeros((3, 0))
self._CoMdJacobian = zeros((3, 0))
def __init__(self,
colladafile,
browser=None,
host="127.0.0.1",
port=5000,
timeout=5,
flat=False,
name=None,
**kwargs):
Observer.__init__(self, name)
self.flat = flat
self.world = None
self.websocket = pydaenim.pydaenimWebSocket(host, port, timeout)
kwargs.update({
"host": self.websocket.host,
"port": self.websocket.port,
"browser": browser
})
Timer(0.1, pydaenim.create_pydaenimViewer, (colladafile, ),
kwargs).start()
self.websocket.listen()
def __init__(self, host="127.0.0.1", port=5000, timeout=3, name=None):
"""
:param string host: the remote host address
:param int port: the remote connection port
:param float timeout: time before raising error if not connection found
:param string name: the instance name of the observer
"""
Observer.__init__(self, name)
self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.s.settimeout(timeout)
max_port = port + 50
while port < max_port:
try:
self.s.bind((host, port))
break
except socket.error:
port += 1
print("change port!!!")
self.host = host
self.port = port
self.conn = None
self.addr = None
