Model

Data

Cython data

Options

Animat options

class farms_core.model.options.AnimatOptions(sdf, spawn, morphology, control)

Bases: farms_core.model.options.ModelOptions

Animat options

Parameters

  • sdf (str) –

  • spawn (Union[SpawnOptions, Dict]) –

  • morphology (Union[MorphologyOptions, Dict]) –

  • control (Union[ControlOptions, Dict]) –

class farms_core.model.options.ArenaOptions(sdf, spawn, water, ground_height)

Bases: farms_core.model.options.ModelOptions

Arena options

Parameters

  • sdf (str) –

  • spawn (Union[SpawnOptions, Dict]) –

  • water (Union[WaterOptions, Dict]) –

  • ground_height (float) –

class farms_core.model.options.ControlOptions(**kwargs)

Bases: farms_core.options.Options

Control options

classmethod from_options(kwargs)

From options

Parameters

kwargs (Dict) –

joints_names()

Joints names

Return type

List[str]

motors_limits_torque()

Motors max torques

Return type

List[float]

static options_from_kwargs(kwargs)

Options from kwargs

class farms_core.model.options.JointOptions(**kwargs)

Bases: farms_core.options.Options

Joint options

class farms_core.model.options.LinkOptions(**kwargs)

Bases: farms_core.options.Options

Link options

class farms_core.model.options.ModelOptions(sdf, spawn)

Bases: farms_core.options.Options

Model options

Parameters

  • sdf (str) –

  • spawn (Union[SpawnOptions, Dict]) –

class farms_core.model.options.MorphologyOptions(**kwargs)

Bases: farms_core.options.Options

Morphology options

joints_names()

Joints names

Return type

List[str]

links_names()

Links names

Return type

List[str]

n_joints()

Number of joints

Return type

int

n_links()

Number of links

Return type

int

class farms_core.model.options.MotorOptions(**kwargs)

Bases: farms_core.options.Options

Motor options

class farms_core.model.options.SensorsOptions(**kwargs)

Bases: farms_core.options.Options

Sensors options

classmethod from_options(kwargs)

From options

Parameters

kwargs (Dict) –

static options_from_kwargs(kwargs)

Options from kwargs

class farms_core.model.options.SpawnLoader(value)

Bases: enum.IntEnum

Spawn loader

class farms_core.model.options.SpawnOptions(**kwargs)

Bases: farms_core.options.Options

Spawn options

classmethod from_options(kwargs)

From options

Parameters

kwargs (Dict) –

class farms_core.model.options.WaterOptions(**kwargs)

Bases: farms_core.options.Options

Water options

Control