shim_types

shim_types#

Classes#

`SimpleQuaternion`	Minimal unit quaternion class.
`SimpleHomTran`	!!! abstract "Usage Documentation"
`MeshData`	!!! abstract "Usage Documentation"
`BasicBody`	!!! abstract "Usage Documentation"
`BasicJoint`	!!! abstract "Usage Documentation"
`BasicModelData`	!!! abstract "Usage Documentation"

Functions#

toSerializable(obj)

Module Contents#

class shim_types.SimpleQuaternion(xyzw: numpy.ndarray | list | tuple)#

Minimal unit quaternion class.

Public constructor: from (x, y, z, w)

__slots__ = ('_q',)#

classmethod identity() → SimpleQuaternion#

conjugate() → SimpleQuaternion#

__mul__(other: SimpleQuaternion) → SimpleQuaternion#
__mul__(other: numpy.ndarray) → numpy.ndarray

rotate(v: numpy.ndarray) → numpy.ndarray#

__eq__(other)#

__repr__()#

class shim_types.SimpleHomTran(/, **data: Any)#

Bases: pydantic.BaseModel

!!! abstract “Usage Documentation”: [Models](../concepts/models.md)

A base class for creating Pydantic models.

__class_vars__#: The names of the class variables defined on the model.

__private_attributes__#: Metadata about the private attributes of the model.

__signature__#: The synthesized __init__ [Signature][inspect.Signature] of the model.

__pydantic_complete__#: Whether model building is completed, or if there are still undefined fields.

__pydantic_core_schema__#: The core schema of the model.

__pydantic_custom_init__#: Whether the model has a custom __init__ function.

__pydantic_decorators__#: Metadata containing the decorators defined on the model. This replaces Model.__validators__ and Model.__root_validators__ from Pydantic V1.

__pydantic_generic_metadata__#: Metadata for generic models; contains data used for a similar purpose to __args__, __origin__, __parameters__ in typing-module generics. May eventually be replaced by these.

__pydantic_parent_namespace__#: Parent namespace of the model, used for automatic rebuilding of models.

__pydantic_post_init__#: The name of the post-init method for the model, if defined.

__pydantic_root_model__#: Whether the model is a [RootModel][pydantic.root_model.RootModel].

__pydantic_serializer__#: The pydantic-core SchemaSerializer used to dump instances of the model.

__pydantic_validator__#: The pydantic-core SchemaValidator used to validate instances of the model.

__pydantic_fields__#: A dictionary of field names and their corresponding [FieldInfo][pydantic.fields.FieldInfo] objects.

__pydantic_computed_fields__#: A dictionary of computed field names and their corresponding [ComputedFieldInfo][pydantic.fields.ComputedFieldInfo] objects.

__pydantic_extra__#: A dictionary containing extra values, if [extra][pydantic.config.ConfigDict.extra] is set to ‘allow’.

__pydantic_fields_set__#: The names of fields explicitly set during instantiation.

__pydantic_private__#: Values of private attributes set on the model instance.

translation: numpy.ndarray = None#

rotation: SimpleQuaternion = None#

__repr__()#

validateFields()#

classmethod identity() → SimpleHomTran#

__eq__(other)#

__mul__(other: SimpleHomTran) → SimpleHomTran#
__mul__(other: numpy.ndarray) → numpy.ndarray

inverse() → SimpleHomTran#

apply(points: numpy.ndarray) → numpy.ndarray#

model_config#: Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class shim_types.MeshData(/, **data: Any)#

Bases: pydantic.BaseModel

!!! abstract “Usage Documentation”: [Models](../concepts/models.md)

A base class for creating Pydantic models.

__class_vars__#: The names of the class variables defined on the model.

__private_attributes__#: Metadata about the private attributes of the model.

__signature__#: The synthesized __init__ [Signature][inspect.Signature] of the model.

__pydantic_complete__#: Whether model building is completed, or if there are still undefined fields.

__pydantic_core_schema__#: The core schema of the model.

__pydantic_custom_init__#: Whether the model has a custom __init__ function.

__pydantic_decorators__#: Metadata containing the decorators defined on the model. This replaces Model.__validators__ and Model.__root_validators__ from Pydantic V1.

__pydantic_generic_metadata__#: Metadata for generic models; contains data used for a similar purpose to __args__, __origin__, __parameters__ in typing-module generics. May eventually be replaced by these.

__pydantic_parent_namespace__#: Parent namespace of the model, used for automatic rebuilding of models.

__pydantic_post_init__#: The name of the post-init method for the model, if defined.

__pydantic_root_model__#: Whether the model is a [RootModel][pydantic.root_model.RootModel].

__pydantic_serializer__#: The pydantic-core SchemaSerializer used to dump instances of the model.

__pydantic_validator__#: The pydantic-core SchemaValidator used to validate instances of the model.

__pydantic_fields__#: A dictionary of field names and their corresponding [FieldInfo][pydantic.fields.FieldInfo] objects.

__pydantic_computed_fields__#: A dictionary of computed field names and their corresponding [ComputedFieldInfo][pydantic.fields.ComputedFieldInfo] objects.

__pydantic_extra__#: A dictionary containing extra values, if [extra][pydantic.config.ConfigDict.extra] is set to ‘allow’.

__pydantic_fields_set__#: The names of fields explicitly set during instantiation.

__pydantic_private__#: Values of private attributes set on the model instance.

vertices: numpy.ndarray#

faces: numpy.ndarray#

validateFields()#

__repr__()#

model_config#: Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class shim_types.BasicBody(/, **data: Any)#

Bases: pydantic.BaseModel

!!! abstract “Usage Documentation”: [Models](../concepts/models.md)

A base class for creating Pydantic models.

__class_vars__#: The names of the class variables defined on the model.

__private_attributes__#: Metadata about the private attributes of the model.

__signature__#: The synthesized __init__ [Signature][inspect.Signature] of the model.

__pydantic_complete__#: Whether model building is completed, or if there are still undefined fields.

__pydantic_core_schema__#: The core schema of the model.

__pydantic_custom_init__#: Whether the model has a custom __init__ function.

__pydantic_decorators__#: Metadata containing the decorators defined on the model. This replaces Model.__validators__ and Model.__root_validators__ from Pydantic V1.

__pydantic_generic_metadata__#: Metadata for generic models; contains data used for a similar purpose to __args__, __origin__, __parameters__ in typing-module generics. May eventually be replaced by these.

__pydantic_parent_namespace__#: Parent namespace of the model, used for automatic rebuilding of models.

__pydantic_post_init__#: The name of the post-init method for the model, if defined.

__pydantic_root_model__#: Whether the model is a [RootModel][pydantic.root_model.RootModel].

__pydantic_serializer__#: The pydantic-core SchemaSerializer used to dump instances of the model.

__pydantic_validator__#: The pydantic-core SchemaValidator used to validate instances of the model.

__pydantic_fields__#: A dictionary of field names and their corresponding [FieldInfo][pydantic.fields.FieldInfo] objects.

__pydantic_computed_fields__#: A dictionary of computed field names and their corresponding [ComputedFieldInfo][pydantic.fields.ComputedFieldInfo] objects.

__pydantic_extra__#: A dictionary containing extra values, if [extra][pydantic.config.ConfigDict.extra] is set to ‘allow’.

__pydantic_fields_set__#: The names of fields explicitly set during instantiation.

__pydantic_private__#: Values of private attributes set on the model instance.

name: str#

label: str#

source_object_name: str | None#

body_frame: SimpleHomTran#: Body frame relative to global origin

density: float#

visible: bool#

mesh: MeshData | None#

mass: float#

cm_in_body: numpy.ndarray#: Vector from body frame to center-of-mass

inertia_matrix_in_body: numpy.ndarray#: Inertia matrix in the body frame (not the CM frame)

rgba: numpy.ndarray | None = None#: Color for the body in RGBA (or None)

validateFields()#

model_config#: Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class shim_types.BasicJoint(/, **data: Any)#

Bases: pydantic.BaseModel

!!! abstract “Usage Documentation”: [Models](../concepts/models.md)

A base class for creating Pydantic models.

__class_vars__#: The names of the class variables defined on the model.

__private_attributes__#: Metadata about the private attributes of the model.

__signature__#: The synthesized __init__ [Signature][inspect.Signature] of the model.

__pydantic_complete__#: Whether model building is completed, or if there are still undefined fields.

__pydantic_core_schema__#: The core schema of the model.

__pydantic_custom_init__#: Whether the model has a custom __init__ function.

__pydantic_decorators__#: Metadata containing the decorators defined on the model. This replaces Model.__validators__ and Model.__root_validators__ from Pydantic V1.

__pydantic_generic_metadata__#: Metadata for generic models; contains data used for a similar purpose to __args__, __origin__, __parameters__ in typing-module generics. May eventually be replaced by these.

__pydantic_parent_namespace__#: Parent namespace of the model, used for automatic rebuilding of models.

__pydantic_post_init__#: The name of the post-init method for the model, if defined.

__pydantic_root_model__#: Whether the model is a [RootModel][pydantic.root_model.RootModel].

__pydantic_serializer__#: The pydantic-core SchemaSerializer used to dump instances of the model.

__pydantic_validator__#: The pydantic-core SchemaValidator used to validate instances of the model.

__pydantic_fields__#: A dictionary of field names and their corresponding [FieldInfo][pydantic.fields.FieldInfo] objects.

__pydantic_computed_fields__#: A dictionary of computed field names and their corresponding [ComputedFieldInfo][pydantic.fields.ComputedFieldInfo] objects.

__pydantic_extra__#: A dictionary containing extra values, if [extra][pydantic.config.ConfigDict.extra] is set to ‘allow’.

__pydantic_fields_set__#: The names of fields explicitly set during instantiation.

__pydantic_private__#: Values of private attributes set on the model instance.

name: str#

joint_type: str#

body_1_name: str#

body_2_name: str#

body_1_to_joint: SimpleHomTran#

body_2_to_joint: SimpleHomTran#

model_config#: Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

shim_types.toSerializable(obj: pydantic.BaseModel | Any)#

class shim_types.BasicModelData(/, **data: Any)#

Bases: pydantic.BaseModel

!!! abstract “Usage Documentation”: [Models](../concepts/models.md)

A base class for creating Pydantic models.

__class_vars__#: The names of the class variables defined on the model.

__private_attributes__#: Metadata about the private attributes of the model.

__signature__#: The synthesized __init__ [Signature][inspect.Signature] of the model.

__pydantic_complete__#: Whether model building is completed, or if there are still undefined fields.

__pydantic_core_schema__#: The core schema of the model.

__pydantic_custom_init__#: Whether the model has a custom __init__ function.

__pydantic_decorators__#: Metadata containing the decorators defined on the model. This replaces Model.__validators__ and Model.__root_validators__ from Pydantic V1.

__pydantic_generic_metadata__#: Metadata for generic models; contains data used for a similar purpose to __args__, __origin__, __parameters__ in typing-module generics. May eventually be replaced by these.

__pydantic_parent_namespace__#: Parent namespace of the model, used for automatic rebuilding of models.

__pydantic_post_init__#: The name of the post-init method for the model, if defined.

__pydantic_root_model__#: Whether the model is a [RootModel][pydantic.root_model.RootModel].

__pydantic_serializer__#: The pydantic-core SchemaSerializer used to dump instances of the model.

__pydantic_validator__#: The pydantic-core SchemaValidator used to validate instances of the model.

__pydantic_fields__#: A dictionary of field names and their corresponding [FieldInfo][pydantic.fields.FieldInfo] objects.

__pydantic_computed_fields__#: A dictionary of computed field names and their corresponding [ComputedFieldInfo][pydantic.fields.ComputedFieldInfo] objects.

__pydantic_extra__#: A dictionary containing extra values, if [extra][pydantic.config.ConfigDict.extra] is set to ‘allow’.

__pydantic_fields_set__#: The names of fields explicitly set during instantiation.

__pydantic_private__#: Values of private attributes set on the model instance.

bodies: dict[str, BasicBody]#

joints: dict[str, BasicJoint]#

grounded_bodies: list[str]#

extra_info: dict[str, Any]#

to_yaml(path: str | None = None) → str#

classmethod from_yaml(yaml_input: str | bytes) → BasicModelData#