def get_usual_observers(w, scene=True, perf=True, h5=False, daenim=True): from arboris.visu.dae_writer import write_collada_scene, add_shapes_to_dae from arboris.visu import pydaenimCom from arboris.visu.visu_collada import DaenimCom 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: add_shapes_to_dae("scene.dae", "icub_simple.dae") obs.append(pydaenimCom("scene.dae", flat=True)) return obs
##### 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.append(h5obs) ##### Simulate from arboris.core import simulate from numpy import arange
##### 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) add_shapes_to_dae("./scene.dae", "./icub_simple.dae") 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.append(h5obs) ##### Simulate from arboris.core import simulate from numpy import arange