Karana.KUtils.Sim ================= .. py:module:: Karana.KUtils.Sim .. autoapi-nested-parse:: Sim class and associated classes/functions. Attributes ---------- .. autoapisummary:: Karana.KUtils.Sim.bc Classes ------- .. autoapisummary:: Karana.KUtils.Sim.PrefabRoot Karana.KUtils.Sim.Sim Karana.KUtils.Sim.SimDS Module Contents --------------- .. py:data:: bc .. py:class:: PrefabRoot(name: str, config: ConfigType, context: ContextType, params: ParamsType, parent_prefab: Prefab[Any, Any, Any] | None = None) Bases: :py:obj:`Karana.KUtils.Prefab.Prefab`\ [\ :py:obj:`Karana.KUtils.Prefab.Config`\ , :py:obj:`Karana.KUtils.Prefab.Context`\ , :py:obj:`Karana.KUtils.Prefab.Params`\ ] Prefab to act as the virtual root of the Prefab hierarchy. .. py:class:: Sim Sim(mb_ds: Karana.Dynamics.SOADyn_types.SubGraphDS | None, sp_ds: Karana.Dynamics.SOADyn_types.StatePropagatorDS | None) Sim(mb: Karana.Dynamics.Multibody, sp: Karana.Dynamics.StatePropagator) Bases: :py:obj:`Karana.Core.BaseWithVars` Simulation class. This class helps one easily setup a simulation complete with a Multibody and StatePropagator. It contains helper methods to do common tasks like setup graphics or the GUI. .. py:attribute:: prefab_root .. py:method:: fromDS(sim_ds: SimDS) -> Sim :classmethod: Create a Sim instance from its associated DataStruct. :param sim_ds: The DataStruct to create the Sim from. :type sim_ds: SimDS :returns: A new instance of Sim created from the provided DataStruct. :rtype: Sim .. py:method:: toDS() -> SimDS Convert this Sim into a SimDS. :returns: A DataStruct representation of this simulation. :rtype: SimDS .. py:method:: fromBasicPrefabDS(basic_prefab_ds: Karana.KUtils.BasicPrefab.BasicPrefabDS[Karana.KUtils.BasicPrefab.ExtraInfoType]) -> tuple[Sim, Karana.KUtils.BasicPrefab.BasicPrefab[Karana.KUtils.BasicPrefab.ExtraInfoType]] :classmethod: Create a Sim instance from its associated DataStruct. :param basic_prefab_ds: The BasicPrefabDS to create a Simulation from. :type basic_prefab_ds: BasicPrefabDS :returns: A new instance of Sim created from the provided BasicPrefabDS, and the associated BasicPrefab. :rtype: tuple[Sim, BasicPrefab[ExtraInfoType]] .. py:method:: setupGraphics(*, port: int = 29523, axes: float = 1.0, client_type: Literal['auto', 'electron', 'notebook', 'webbrowser', 'selenium'] | None = 'auto', origin_frame: Karana.Frame.Frame | None = None, wait_for_clients: int = 0, wait_for_clients_timeout: float = 0.0, stick_parts: Literal['auto', 'always', 'never'] = 'auto') -> tuple[Callable[[], None], Karana.Scene.WebScene] Set up the graphics for this simulation. :param port: Port to bind the WebUI server to. Use 0 to request an arbitrary unused port. :type port: int = 29523 :param axes: Length of axes visualization on root frame. :type axes: float = 1.0 :param client_type: Policy for launching a client. "auto": pick the best option for the environment and OS "electron": always launch the electron client "notebook": always open an IFrame in IPython "webbrowser": always open a browser tab "selenium": always open a chrome driver using selenium None: don't automatically open a client Defaults to "auto". :type client_type: Literal["auto", "electron", "notebook", "webbrowser", "selenium"] | None :param origin_frame: Frame to use as the world origin for the graphics scene. If None, use the Multibody's virtualRoot. :type origin_frame: Optional[Frame] = None :param wait_for_clients: Number of client connections to wait for before continuing. :type wait_for_clients: int = 0 :param wait_for_clients_timeout: Number of seconds to wait before raising an error if wait_for_clients is positive. :type wait_for_clients_timeout: float = 0.0 :param stick_parts: Policy for creating stick parts. Defaults to "auto". "auto": create stick parts if the ProxyScene is empty "always": unconditionally create stick parts "never": unconditionally don't create stick parts :type stick_parts: Literal["auto", "always", "never"] = "auto" :returns: A tuple containing the a cleanup callable and the graphics scene. :rtype: tuple[Callable, WebScene] .. py:method:: setupGui(port=29534, client_type: Literal['auto', 'electron', 'notebook', 'webbrowser', 'selenium'] | None = 'auto', wait_for_clients: int = 0, wait_for_clients_timeout: float = 0.0, stick_parts: Literal['auto', 'always', 'never'] = 'auto', stick_parts_config: Karana.Dynamics.StickPartsConfig | None = None, name_to_label_map: dict[str, str] | None = None, time_display_period: float | None = 0.01, graphics_origin_frame: Karana.Frame.Frame | None = None) -> Karana.Dynamics.SOADyn_types.MultibodyWebUI Create the GUI for this multibody system. :param self: The Sim instance :type self: Sim :param port: Port to bind the WebUI server to. Use 0 to request an arbitrary unused port. Defaults to 29534. :type port: int :param client_type: Policy for launching a client. "auto": pick the best option for the environment and OS "electron": always launch the electron client "notebook": always open an IFrame in IPython "webbrowser": always open a browser tab "selenium": always open a chrome driver using selenium None: don't automatically open a client Defaults to "auto". :type client_type: Literal["auto", "electron", "notebook", "webbrowser", "selenium"] | None :param wait_for_clients: Number of client connections to wait for before continuing. Defaults to 0. :type wait_for_clients: int :param wait_for_clients_timeout: Number of seconds to wait before raising an error if wait_for_clients is positive. Defaults to 0. :type wait_for_clients_timeout: float :param graphics_origin_frame: If given, and the GUI needs to setup graphics, use this as the origin frame instead of the multibody virtual root. :type graphics_origin_frame: Optional[Frame] :param stick_parts: Policy for creating stick parts. Defaults to "auto". "auto": create stick parts if the ProxyScene is empty "always": unconditionally create stick parts "never": unconditionally don't create stick parts :type stick_parts: Literal["auto", "always", "never"] = "auto" :param stick_parts_config: Configuration parameters for the stick parts. :type stick_parts_config: StickPartsConfig | None :param name_to_label_map: Dictionary defining the labels to use for each body in the visjs graphs display :type name_to_label_map: dict[str, str] | None :param time_display_period: If not None and sp is given, add a time display refreshing with this period in simulation time. Defaults to 0.01. :type time_display_period: float | None .. py:class:: SimDS(/, **data: Any) Bases: :py:obj:`Karana.KUtils.DataStruct.DataStruct` DataStruct representation of a simulation. :param sp_ds: The StatePropagator DataStruct. :type sp_ds: StatePropagatorDS :param mb_ds: The Multibody DataStruct. :type mb_ds: SubGraphDS :param setup_graphics: The GUI or graphics setup DataStruct. :type setup_graphics: GuiSetupDS | GraphicsSetupDS | None :param collision: The CollisionScene DataStructs. :type collision: list[SerializeAsAny[CollisionSceneDS[CollisionSceneType]]] = [] # pyright: ignore :param prefabs: The Prefab DataStructs. :type prefabs: list[SerializeAsAny[PrefabDS[ConfigType, ContextType, ParamsType]]] # pyright: ignore .. py:attribute:: sp_ds :type: Karana.Dynamics.SOADyn_types.StatePropagatorDS .. py:attribute:: mb_ds :type: Karana.Dynamics.SOADyn_types.SubGraphDS .. py:attribute:: setup_graphics :type: Optional[Karana.Dynamics.SOADyn_types.GuiSetupDS | Karana.Dynamics.SOADyn_types.GraphicsSetupDS] :value: None .. py:attribute:: collision :type: list[pydantic.SerializeAsAny[Karana.Scene.Scene_types.CollisionSceneDS[Karana.Scene.Scene_types.CollisionSceneType]]] :value: [] .. py:attribute:: prefabs :type: list[pydantic.SerializeAsAny[Karana.KUtils.Prefab.PrefabDS[Karana.KUtils.Prefab.ConfigType, Karana.KUtils.Prefab.ContextType, Karana.KUtils.Prefab.ParamsType]]] .. py:method:: toSim() -> Sim Create a simulation from this SimDS. :returns: The Sim created from this SimDS. :rtype: Sim