def write_collada_scene(world,
dae_filename,
scale=1,
options=None,
flat=False,
color_generator=None):
"""
"""
assert isinstance(world, World)
if flat:
name_all_elements(world.getbodies(), True)
else:
nonflatlist = [j.frames[1] for j in world.getjoints()]
name_all_elements(nonflatlist, True)
name_all_elements(world.itermovingsubframes(), True)
if color_generator is None:
color_generator = ColorGenerator(nb_colors=len(world.getbodies()))
world.update_geometric()
drawer = Drawer(pydaenimColladaDriver(dae_filename, scale, options), flat,
color_generator)
world.parse(drawer)
drawer.finish()
def init(self, world, timeline):
"""
"""
if self.daefile is None:
tmp_daefile = tempfile.mkstemp(suffix='scene.dae', text=True)[1]
write_collada_scene(world, tmp_daefile, flat=self.flat)
self.app_call[1] = tmp_daefile
try:
subprocess.Popen(self.app_call)
SocketCom.init(self, world, timeline)
except OSError:
warnings.warn(
"Cannot find program " + self.app_call[0] +
". Please check where the arboris viewer (daenim) is installed on your computer."
)
self.world = world
sleep(.1)
if self.flat:
name_all_elements(self.world.getbodies(), True)
else:
nonflatlist = [j.frames[1] for j in self.world.getjoints()]
name_all_elements(nonflatlist, True)
name_all_elements(self.world.itermovingsubframes(), True)
def write_collada_scene(world, dae_filename, scale=1, options=None, flat=False, color_generator=None):
"""Write a visual description of the scene in a collada file.
:param world: the world to convert
:type world: :class:`arboris.core.World` instance
:param dae_filename: path of the output collada scene file
:type dae_filename: str
:param scale: the scale of the world
:type scale: float
:param options: the options to set the world drawing
:type options: dict
:param flat: if True, each body is a child of the ground. Otherwise
the hierarchy is copied from arboris
:type flat: bool
"""
assert isinstance(world, World)
if flat:
name_all_elements(world.getbodies(), True)
else:
nonflatlist = [j.frames[1] for j in world.getjoints()]
name_all_elements(nonflatlist, True)
name_all_elements(world.itermovingsubframes(), True)
if color_generator is None:
color_generator = ColorGenerator( nb_colors=len(world.getbodies()) )
world.update_geometric()
drawer = Drawer(DaenimColladaDriver(dae_filename, scale, options), flat, color_generator)
world.parse(drawer)
drawer.finish()
def init(self, world, timeline):
self._world = world
self._nb_steps = len(timeline) - 1
self._current_step = 0
self._root = {}
self._timeline = zeros(self._nb_steps)
self._root["timeline"] = self._timeline
if self._save_state:
self._gpositions = {}
self._gvelocities = {}
self._root['gpositions'] = self._gpositions
self._root['gvelocities'] = self._gvelocities
name_all_elements(self._world.getjoints(), check_unicity=True)
for j in self._world.getjoints():
self._gpositions[j.name] = zeros((self._nb_steps, ) +
j.gpos.shape[:])
self._gvelocities[j.name] = zeros((self._nb_steps, j.ndof))
if self._save_transforms:
self._arb_transforms = {}
self._transforms = {}
self._root['transforms'] = self._transforms
if self._flat:
name_all_elements(self._world.iterbodies(), True)
for b in self._world.iterbodies():
self._arb_transforms[b.name] = b
else:
nonflatlist = [j.frames[1] for j in self._world.getjoints()]
name_all_elements(nonflatlist, True)
for j in self._world.getjoints():
self._arb_transforms[j.frames[1].name] = j
name_all_elements(self._world.itermovingsubframes(), True)
for f in self._world.itermovingsubframes():
self._arb_transforms[f.name] = f
for k in self._arb_transforms.keys():
self._transforms[k] = zeros((self._nb_steps, 4, 4))
if self._save_model:
ndof = self._world.ndof
self._model = {}
self._root['model'] = self._model
self._model["gvel"] = zeros((self._nb_steps, ndof))
self._model["mass"] = zeros((self._nb_steps, ndof, ndof))
self._model["admittance"] = zeros((self._nb_steps, ndof, ndof))
self._model["nleffects"] = zeros((self._nb_steps, ndof, ndof))
self._model["gforce"] = zeros((self._nb_steps, ndof))
def write_collada_scene(world, dae_filename, scale=1, options=None, flat=False, color_generator=None):
"""
"""
assert isinstance(world, World)
if flat:
name_all_elements(world.getbodies(), True)
else:
nonflatlist = [j.frames[1] for j in world.getjoints()]
name_all_elements(nonflatlist, True)
name_all_elements(world.itermovingsubframes(), True)
if color_generator is None:
color_generator = ColorGenerator(nb_colors=len(world.getbodies()))
world.update_geometric()
drawer = Drawer(pydaenimColladaDriver(dae_filename, scale, options), flat, color_generator)
world.parse(drawer)
drawer.finish()
def init(self, world, timeline):
"""
"""
if self.daefile is None:
tmp_daefile = tempfile.mkstemp(suffix='scene.dae', text=True)[1]
write_collada_scene(world, tmp_daefile, flat=self.flat)
self.app_call[1] = tmp_daefile
try:
subprocess.Popen(self.app_call)
SocketCom.init(self, world, timeline)
except OSError:
warnings.warn("Cannot find program "+self.app_call[0]+". Please check where the arboris viewer (daenim) is installed on your computer.")
self.world = world
sleep(.1)
if self.flat:
name_all_elements(self.world.getbodies(), True)
else:
nonflatlist = [j.frames[1] for j in self.world.getjoints()]
name_all_elements(nonflatlist, True)
name_all_elements(self.world.itermovingsubframes(), True)
def write_collada_scene(world,
dae_filename,
scale=1,
options=None,
flat=False,
color_generator=None):
"""Write a visual description of the scene in a collada file.
:param world: the world to convert
:type world: :class:`arboris.core.World` instance
:param dae_filename: path of the output collada scene file
:type dae_filename: str
:param scale: the scale of the world
:type scale: float
:param options: the options to set the world drawing
:type options: dict
:param flat: if True, each body is a child of the ground. Otherwise
the hierarchy is copied from arboris
:type flat: bool
"""
assert isinstance(world, World)
if flat:
name_all_elements(world.getbodies(), True)
else:
nonflatlist = [j.frames[1] for j in world.getjoints()]
name_all_elements(nonflatlist, True)
name_all_elements(world.itermovingsubframes(), True)
if color_generator is None:
color_generator = ColorGenerator(nb_colors=len(world.getbodies()))
world.update_geometric()
drawer = Drawer(DaenimColladaDriver(dae_filename, scale, options), flat,
color_generator)
world.parse(drawer)
drawer.finish()