def get_usual_observers(w, scene=True, perf=True, h5=False, daenim=True):
from arboris.visu.dae_writer import write_collada_scene
from arboris.visu import pydaenimCom
from arboris.observers import PerfMonitor, Hdf5Logger
obs = []
if scene:
write_collada_scene(w, "scene.dae", flat=True)
if perf:
obs.append(PerfMonitor(True))
if h5:
obs.append(Hdf5Logger("sim.h5", group="/", mode="w", flat=True))
if daenim:
obs.append(pydaenimCom("scene.dae", flat=True))
return obs
def view(world, browser=None, **kwargs):
"""
"""
if isinstance(world, World):
tempdir = tempfile.gettempdir()
collada_path = tempdir + os.sep + "temp_scene.dae"
write_collada_scene(world, collada_path)
elif isinstance(world, basestring):
collada_path = world
pydaenim.create_pydaenimViewer(collada_path, **kwargs)
def view(world, browser=None, **kwargs):
"""
"""
if isinstance(world, World):
tempdir = tempfile.gettempdir()
collada_path = tempdir+os.sep+"temp_scene.dae"
write_collada_scene(world, collada_path)
elif isinstance(world, basestring):
collada_path = world
pydaenim.create_pydaenimViewer(collada_path, **kwargs)
w.update_dynamic()
##### Add ctrl
from arboris.controllers import WeightController
w.register(WeightController())
##### Add observers
from arboris.observers import PerfMonitor, Hdf5Logger
from arboris.visu.dae_writer import write_collada_scene, write_collada_animation, add_shapes_to_dae
from arboris.visu import pydaenimCom
flat = False
write_collada_scene(w, "./scene.dae", flat=flat)
shapes_info = [
["Arm" , "./dae/icub_simple.dae#head"], # parent frame, child shape node id
["Forearm" , "./dae/icub_simple.dae#head", transl(0,0.3,0)], # parent frame, child shape node id, H_frame_shape
["EndEffector", "./dae/icub_simple.dae" , transl(0,0.3,0), (0.3,0.3,0.3)], # parent frame, child shape file , H_frame_shape, shape_scale
]
add_shapes_to_dae("./scene.dae", shapes_info) # add argument output_file="out.dae" if you want to keep original dae file
obs = []
pobs = PerfMonitor(True)
dobs = pydaenimCom("./scene.dae", flat=flat)
h5obs = Hdf5Logger("sim.h5", mode="w", flat=flat)
obs.append(pobs)
obs.append(dobs)
obs = []
from arboris.observers import PerfMonitor
obs.append(PerfMonitor(True)) # to print simulation time
from arboris.observers import Hdf5Logger
obs.append(Hdf5Logger("sim.h5", mode="w", flat=True)) # to save simulation data in hdf5 file ...
from arboris.observers import PickleLogger
obs.append(PickleLogger("sim.pkl", mode="wb", flat=True)) # ... or in pickle file
from arboris.visu.dae_writer import write_collada_scene
from arboris.visu import pydaenimCom # visualize with pydaenim ...
write_collada_scene(w, "scene.dae", flat=True)
obs.append(pydaenimCom("scene.dae", flat=True))
from arboris.visu.visu_collada import write_collada_scene as visu_collada_scene
from arboris.visu.visu_collada import DaenimCom # ... or with daenim program if installed
visu_collada_scene(w, "scene_daenim.dae", flat=True)
obs.append(DaenimCom("scene_daenim.dae", flat=True))
########################################################
## SIMULATION
########################################################
dt = 5e-3
simulate(w, arange(0, 1., dt), obs)
obs = []
from arboris.observers import PerfMonitor
obs.append(PerfMonitor(True)) # to print simulation time
from arboris.observers import Hdf5Logger
obs.append(Hdf5Logger("sim.h5", mode="w",
flat=True)) # to save simulation data in hdf5 file ...
from arboris.observers import PickleLogger
obs.append(PickleLogger("sim.pkl", mode="wb",
flat=True)) # ... or in pickle file
from arboris.visu.dae_writer import write_collada_scene
from arboris.visu import pydaenimCom # visualize with pydaenim ...
write_collada_scene(w, "scene.dae", flat=True)
obs.append(pydaenimCom("scene.dae", flat=True))
from arboris.visu.visu_collada import write_collada_scene as visu_collada_scene
from arboris.visu.visu_collada import DaenimCom # ... or with daenim program if installed
visu_collada_scene(w, "scene_daenim.dae", flat=True)
obs.append(DaenimCom("scene_daenim.dae", flat=True))
########################################################
## SIMULATION
########################################################
dt = 5e-3
simulate(w, arange(0, 1., dt), obs)
########################################################
## RESULTS
