Karana.KUtils.MultibodyWebUI ============================ .. py:module:: Karana.KUtils.MultibodyWebUI .. autoapi-nested-parse:: A GUI used to inspect a Multibody. Classes ------- .. autoapisummary:: Karana.KUtils.MultibodyWebUI.MultibodyWebUI Karana.KUtils.MultibodyWebUI.AbstractCard Karana.KUtils.MultibodyWebUI.GuiContext Karana.KUtils.MultibodyWebUI.PythonReferenceGraphGui Package Contents ---------------- .. py:class:: MultibodyWebUI(mbody: Karana.Dynamics.Multibody, *, port: int = 29534, stick_parts: Literal['auto', 'always', 'never'] = 'auto', stick_parts_config: Optional[Karana.Dynamics.StickPartsConfig] = None, graphics_origin_frame: Karana.Frame.Frame | None = None, name_to_label_map: dict[int | str, str] | None = None, sp: Karana.Dynamics.StatePropagator | None = None, sim: Sim | None = None, time_display_period: float | None = 0.01) MultibodyWebUI class. This class creates a Multibody-centric web-based GUI .. py:attribute:: sim :value: None .. py:attribute:: cleanups .. py:attribute:: worker .. py:attribute:: server .. py:attribute:: router .. py:attribute:: error_count :value: 0 .. py:attribute:: notifier .. py:attribute:: selection :type: Karana.WebUI.State .. py:attribute:: hovered :type: Karana.WebUI.State .. py:attribute:: webscene_selection_mode :value: 'Body' .. py:attribute:: scene :type: Karana.Scene.ProxyScene .. py:attribute:: graphics :type: Karana.Scene.WebScene .. py:attribute:: graphics_frame .. py:attribute:: effects .. py:attribute:: visjs_frames_server :type: Karana.KUtils.visjs.GraphServer .. py:attribute:: visjs_frames_iframe .. py:attribute:: visjs_label_map :value: None .. py:attribute:: visjs_server :type: Karana.KUtils.visjs.MultibodyGraphServer .. py:attribute:: visjs_iframe .. py:attribute:: visjs_servers :type: dict[int, tuple[Karana.KUtils.visjs.MultibodyGraphServer, bool]] .. py:attribute:: mbody_tree_view .. py:attribute:: subtrees_tree_view .. py:attribute:: wmain .. py:attribute:: treeviews_options :value: [] .. py:attribute:: wtreeviews .. py:attribute:: wwebscene_selection_mode .. py:attribute:: webscene_view_mode :value: 'pers_free' .. py:attribute:: wwebscene_view_mode .. py:attribute:: wdeselect .. py:attribute:: wreset_viz # slider to scale the stick parts slider_opts = kw.SliderOptions() slider_opts.min = 0.01 slider_opts.max = 1 slider_opts.step = 0.01 .. py:attribute:: waxes_scale .. py:attribute:: wcamera_physical .. py:attribute:: wcamera_collision .. py:attribute:: wcamera_stick .. py:attribute:: wshadows .. py:attribute:: wlayout_3d .. py:attribute:: wscene .. py:attribute:: wtoolbar .. py:attribute:: dock .. py:attribute:: info_panel .. py:method:: setAxesGlobalScale(part: float, line: float | None = None) Set the global scaling factor for axes. .. py:method:: deselect() Make it so nothing is selected. .. py:method:: treeviews(selected_label: str) Create the selected TreeView. .. py:method:: updateInfoPanel(raw: Karana.WebUI.Json, info_panel: Karana.KUtils.MultibodyWebUI._infopanel.InfoPanel) Update the specified info panel based on selection change. .. py:method:: close() Idempotently close the GUI and cleanup created objects. .. py:method:: __del__() Idempotently close the GUI and cleanup created objects. .. py:class:: AbstractCard(context: GuiContext) Bases: :py:obj:`abc.ABC`, :py:obj:`WrappedTypeMixin`\ [\ :py:obj:`T`\ ] Interface for an info card for a given item type. .. py:property:: item :type: T Get the current item or throw an error if it isn't set. .. py:method:: getItem() -> T | None Get the current item or None if it isn't set. If the item was previously set but has gone out of scope, throws an error. .. py:property:: context :type: GuiContext .. py:property:: label :type: str :abstractmethod: Get a text label for this card. .. py:property:: wroot :type: Karana.WebUI.Layout Get the root widget for this card. .. py:method:: teardown(_: T, /) Do any necessary cleanup when leaving the given item. Cards MAY override this if any cleanup is needed. .. py:method:: setup(item: T, item_context: Karana.WebUI.Json, /) Set up the card for the new item. Derived Card classes SHOULD call this to update the header and summary. .. py:method:: updateFor(item: T, item_context: Karana.WebUI.Json, /) Set the item to display and refresh. By default this will teardown the old item and setup the new one (which may be the same item when refreshing). Cards MAY override this method to make optimizations. .. py:method:: close() Do any necessary cleanup. .. py:method:: isCompatible(item: Any) -> bool Check whether the Card knows how to display an item. .. py:method:: getHeader() -> str Get a single-line markdown header of the current item. .. py:method:: getSummary() -> str Get a markdown summary of the current item. .. py:class:: GuiContext .. py:attribute:: dock :type: Karana.WebUI.Dock .. py:attribute:: router :type: Karana.WebUI.Router .. py:attribute:: selection :type: Karana.WebUI.State .. py:attribute:: multibody :type: Karana.Dynamics.Multibody .. py:attribute:: scene :type: Karana.Scene.ProxyScene .. py:attribute:: graphics :type: Karana.Scene.WebScene .. py:attribute:: effects :type: Karana.KUtils.MultibodyWebUI._effects.EffectManager .. py:attribute:: mbody_tree_view :type: Karana.WebUI.TreeView .. py:attribute:: subtrees_tree_view :type: Karana.WebUI.TreeView .. py:attribute:: setup_visjs :type: Callable .. py:attribute:: setup_info_panel :type: Callable .. py:attribute:: visjs_servers :type: dict[int, tuple[Karana.KUtils.visjs.MultibodyGraphServer, bool]] .. py:attribute:: visjs_frames_server :type: Karana.KUtils.visjs.NetworkGraph .. py:attribute:: setup_frames_visjs :type: Callable .. py:attribute:: visjs_iframe :type: Karana.WebUI.IFrame .. py:attribute:: graphics_frame :type: Karana.WebUI.IFrame .. py:attribute:: signal_error :type: Callable .. py:attribute:: worker :type: Karana.KUtils.MultibodyWebUI._worker.AsyncWorker .. py:class:: PythonReferenceGraphGui(target: object, *, port: int = 0, graph_port: int = 0, title: str = 'Python reference owners', target_label: str | None = None, max_depth: int = 2, max_nodes: int = 100, network_options: Karana.KUtils.visjs.NetworkOptions | None = None) GUI with live traversal controls and an embedded reference graph. .. py:attribute:: graph_server .. py:attribute:: server .. py:attribute:: router .. py:attribute:: root .. py:attribute:: controls .. py:attribute:: depth_input .. py:attribute:: max_nodes_input .. py:attribute:: refresh_button .. py:attribute:: graph_frame .. py:attribute:: graph_dock .. py:method:: getUrl() -> str Return the outer GUI URL. .. py:method:: launchLocalClient() Open the GUI in the default local web browser. .. py:method:: maxDepth() -> int Return the current maximum traversal depth. .. py:method:: maxNodes() -> int Return the current maximum node count. .. py:method:: refresh() Recompute the embedded reference graph. .. py:method:: setMaxDepth(max_depth: SupportsIndex | SupportsInt) Change the depth and immediately recompute the graph. .. py:method:: setMaxNodes(max_nodes: SupportsIndex | SupportsInt) Change the node limit and immediately recompute the graph. .. py:method:: close() Idempotently close the GUI and embedded graph servers.