agx-openplx 0.15.10__cp312-cp312-manylinux_2_39_x86_64.whl

openplx/openplx_application.py

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+"""
+Base class for OpenPLX applications
+"""
+import os
+import sys
+import signal
+
+from argparse import ArgumentParser, ArgumentDefaultsHelpFormatter, Action, SUPPRESS
+import agxOSG
+from openplxbundles import bundle_path
+
+# Import useful utilities to access the current simulation, graphics root and application
+from agxPythonModules.utils.environment import init_app, simulation, application, root
+
+from openplx import InputSignalQueue, OutputSignalQueue, InputSignalListener, OutputSignalListener, OsgClickAdapter
+from openplx import load_from_file, OptParams, addVisuals, addDeformableVisualUpdaters, __version__, set_log_level, add_file_changed_listener
+from openplx.versionaction import VersionAction
+
+def dummy_build_scene():
+    pass
+
+class AgxHelpAction(Action):
+    def __call__(self, parser, namespace, values, option_string=None):
+        sys.argv.append("--usage")
+        OpenPlxApplication(dummy_build_scene).start_agx()
+        sys.exit(0)
+
+class AllowCtrlBreakListener(agxOSG.ExampleApplicationListener): # pylint: disable=too-few-public-methods
+    pass
+
+class OpenPlxApplication:
+
+    def __init__(self, build_scene, build_scene_file=None):
+        """
+        AGX needs to know the build scene function and which file
+        If build_scene_file is None then it is inferred from the build_scene function.
+        """
+        self.build_scene = build_scene
+        self.build_scene_file = sys.modules[self.build_scene.__module__].__file__ if build_scene_file is None else build_scene_file
+
+    @staticmethod
+    def setup_args_parser(openplxfile = None):
+        parser = ArgumentParser(description="View OpenPLX models", formatter_class=ArgumentDefaultsHelpFormatter)
+        if openplxfile is None:
+            parser.add_argument("openplxfile", help="the .openplx file to load")
+        parser.add_argument("[AGX flags ...]", help="any additional AGX flags", default="", nargs="?")
+        parser.add_argument(
+            "--bundle-path",
+            help="list of path to bundle dependencies if any. Overrides environment variable OPENPLX_BUNDLE_PATH.",
+            metavar="<bundle_path>",
+            default=bundle_path(),
+        )
+        parser.add_argument("--click-addr", type=str, help="Address for Click to listen on, e.g. ipc:///tmp/click.ipc", default="tcp://*:5555")
+        parser.add_argument("--debug-render-frames", action="store_true", help="enable rendering of frames for mate connectors and rigid bodies.")
+        parser.add_argument("--enable-click", help="Enable sending and receiving signals as Click Messages", action="store_true", default=SUPPRESS)
+        parser.add_argument("--loglevel",
+                            choices=["trace", "debug", "info", "warn", "error", "critical", "off"],
+                            help="Set log level",
+                            default="info")
+        parser.add_argument("--modelname", help="The model to load (defaults to last model in file)", metavar="<name>", default=None)
+        parser.add_argument("--reload-on-update", help="Reload scene automatically when source is updated", action="store_true", default=SUPPRESS)
+        parser.add_argument("--agxhelp", help="Show AGX specific help", action=AgxHelpAction, nargs=0, default=SUPPRESS)
+        parser.add_argument("--version", help="Show version", action=VersionAction, nargs=0, default=SUPPRESS)
+        return parser
+
+    @staticmethod
+    def prepare_scene(openplxfile = None):
+        args, extra_args = OpenPlxApplication.setup_args_parser(openplxfile).parse_known_args()
+        set_log_level(args.loglevel)
+        if extra_args:
+            print(f"Passing these args to AGX: {(' ').join(extra_args)}")
+
+        opt_params = OptParams()
+        if args.modelname is not None:
+            opt_params = opt_params.with_model_name(args.modelname)
+
+        result = load_from_file(simulation(), args.openplxfile if openplxfile is None else openplxfile, args.bundle_path, opt_params)
+
+        assembly = result.assembly()
+        openplx_scene = result.scene()
+
+        # Add signal listeners so that signals are picked up from inputs
+        input_queue = InputSignalQueue.create()
+        output_queue = OutputSignalQueue.create()
+        input_signal_listener = InputSignalListener(assembly, input_queue)
+        output_signal_listener = OutputSignalListener(assembly, openplx_scene, output_queue)
+
+        simulation().add(input_signal_listener, InputSignalListener.RECOMMENDED_PRIO)
+        simulation().add(output_signal_listener, OutputSignalListener.RECOMMENDED_PRIO)
+
+        # Add click listeners unless this is scene-reload, in that case we want to keep our listeners
+        # Note that we use globals() since this whole file is reloaded on scene-reload by AGX, so no local globals are kept
+        if "click_adapter" not in globals():
+            globals()["click_adapter"] = OsgClickAdapter()
+            application().addListener(AllowCtrlBreakListener())
+
+            if "reload_on_update" in args:
+                print(f"Will reload scene when {args.openplxfile} is updated")
+                add_file_changed_listener(application(), args.openplxfile)
+
+        if "enable_click" in args:
+            click_adapter = globals()["click_adapter"]
+            click_adapter.add_listeners(application(), simulation(), args.click_addr, openplx_scene,
+                                        input_queue, output_queue, output_signal_listener)
+
+        if not addVisuals(result, root(), args.debug_render_frames):
+            application().setEnableDebugRenderer(True)
+        simulation().add(assembly.get())
+        addDeformableVisualUpdaters(result, root())
+        return openplx_scene, input_queue, output_queue
+
+    @staticmethod
+    def ctrl_break_handler(_signum, _frame):
+        # Unfortunately os._exit(0) doesn't cut it on Windows, so we're doing the kill to make sure we exit on Windows as well.
+        if os.name == "nt":
+            os.kill(os.getpid(), 9)
+        else:
+            application().stop()
+
+    @staticmethod
+    def on_shutdown(_):
+        if os.name == "nt":
+            os.kill(os.getpid(), 9)
+        else:
+            os._exit(0)
+
+    def start_agx(self):
+        # Tell AGX where build_scene is located
+        sys.argv[0] = self.build_scene_file
+        # Use __main__ otherwise AGX will just skip the init
+        # pylint: disable=unused-variable
+        init = init_app(name="__main__", scenes=[(self.build_scene, "1")], autoStepping=True, onShutdown=self.on_shutdown)
+        # pylint: enable=unused-variable
+
+    def run(self):
+        signal.signal(signal.SIGINT, self.ctrl_break_handler)
+        self.setup_args_parser("").parse_known_args()
+        self.start_agx()

openplx/openplx_serialize.py

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+#!/usr/bin/env python3
+"""
+Command line utility that helps serialize OpenPLX models to json
+"""
+from argparse import ArgumentParser, ArgumentDefaultsHelpFormatter, SUPPRESS
+import agx
+from openplxbundles import bundle_path
+from openplx import serialize_file, __version__, set_log_level
+from openplx.versionaction import VersionAction
+
+
+def parse_args():
+    parser = ArgumentParser(description="Serialize OpenPLX models", formatter_class=ArgumentDefaultsHelpFormatter)
+    parser.add_argument("openplxfile", help="the .openplx file to serialize")
+    parser.add_argument("--bundle-path", help="list of path to bundle dependencies if any. Overrides environment variable OPENPLX_BUNDLE_PATH.",
+                        metavar="<bundle_path>", default=bundle_path())
+    parser.add_argument("--loglevel", choices=["trace", "debug", "info", "warn", "error", "critical", "off"], help="Set log level", default="warn")
+    parser.add_argument("--modelname", help="The model to serialize (defaults to last model in file)", metavar="<name>", default="")
+    parser.add_argument("--version", help="Show version", action=VersionAction, nargs=0, default=SUPPRESS)
+    return parser.parse_args()
+
+
+def run():
+    args = parse_args()
+    set_log_level(args.loglevel)
+
+    # Must initialize agx for plugin to work
+    _ = agx.init()
+
+    result = serialize_file(args.openplxfile, args.bundle_path, args.modelname)
+    print(result)
+
+
+if __name__ == '__main__':
+    run()

openplx/openplx_validate.py

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+#!/usr/bin/env python3
+"""
+Command line utility that validates OpenPLX files and prints the result to stdout.
+"""
+import os
+import signal
+import sys
+from argparse import ArgumentParser, ArgumentDefaultsHelpFormatter, SUPPRESS
+import agxOSG
+import agxSDK
+import agx
+from openplxbundles import bundle_path
+from openplx import load_from_file, OptParams, __version__, set_log_level
+from openplx.versionaction import VersionAction
+
+def parse_args():
+    parser = ArgumentParser(description="View OpenPLX models", formatter_class=ArgumentDefaultsHelpFormatter)
+    parser.add_argument("openplxfile", help="the .openplx file to load")
+    parser.add_argument("--bundle-path", help="list of path to bundle dependencies if any. Overrides environment variable OPENPLX_BUNDLE_PATH.",
+                        metavar="<bundle_path>", default=bundle_path())
+    parser.add_argument("--debug-render-frames", action='store_true', help="enable rendering of frames for mate connectors and rigid bodies.")
+    parser.add_argument("--loglevel", choices=["trace", "debug", "info", "warn", "error", "critical", "off"], help="Set log level", default="warn")
+    parser.add_argument("--modelname", help="The model to load (defaults to last model in file)", metavar="<name>", default=None)
+    parser.add_argument("--version", help="Show version", action=VersionAction, nargs=0, default=SUPPRESS)
+    return parser.parse_args()
+
+class AllowCtrlBreakListener(agxOSG.ExampleApplicationListener): # pylint: disable=too-few-public-methods
+    pass
+
+def validate():
+
+    args = parse_args()
+    set_log_level(args.loglevel)
+
+    _ = agx.init()
+    simulation = agxSDK.Simulation()
+
+    opt_params = OptParams()
+    if args.modelname is not None:
+        opt_params = opt_params.with_model_name(args.modelname)
+
+    result = load_from_file(simulation, args.openplxfile, args.bundle_path, opt_params)
+
+    if len(result.errors()) == 0:
+        sys.exit(0)
+    else:
+        sys.exit(255)
+
+def handler(_signum, _frame):
+    os._exit(0)
+
+def run():
+    signal.signal(signal.SIGINT, handler)
+    validate()
+
+if __name__ == '__main__':
+    run()

openplx/openplx_view.py

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+#!/usr/bin/env python3
+"""
+Command line utility that loads OpenPLX files and loads them into an AGX Simulation
+"""
+from openplx.openplx_application import OpenPlxApplication
+
+def openplx_view_build_scene():
+    OpenPlxApplication.prepare_scene()
+
+def run():
+    OpenPlxApplication(openplx_view_build_scene).run()
+
+if __name__ == "__main__":
+    run()

openplx/versionaction.py

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+"""
+A module for helping out with argparse version printing
+"""
+from argparse import Action
+import sys
+from openplx import __version__
+
+class VersionAction(Action):
+    def __call__(self, parser, namespace, values, option_string=None):
+        print(__version__)
+        sys.exit(0)