Engine

class eagerx.core.specs.EngineSpec(params)[source]

A parameter specification that specifies how BaseEnv should initialize the engine.

add_object(name, **kwargs)[source]

Adds an object to the simulator that is interfaced by the engine.

Parameters: kwargs (Union[bool, int, float, str, List, Dict]) – Other arguments of add_object().
Return type: None

property config: eagerx.core.view.SpecView

Provides an API to set/get the parameters to initialize.

The default parameters are:

Spec.config.rate: float

Rate (Hz) at which the callback() is called.
Spec.config.process: int = 0

Process in which the engine is launched. See process for all options.
Spec.config.sync: bool = True

Flag that specifies whether we run reactive or asynchronous.
Spec.config.real_time_factor: float = 0

A specified upper bound on the real-time factor. Wall-clock-rate`=`real_time_factor`*`rate. If real_time_factor < 1 the simulation is slower than real time.
Spec.config.simulate_delays: bool = True

Flag that specifies whether input delays are simulated. You probably want to set this to False when running in the real-world.
Spec.config.color: str = grey

Specifies the color of logged messages. Check-out the termcolor documentation for the supported colors.
Spec.config.print_mode: int = 1

Specifies the different modes for printing: {1: TERMCOLOR, 2: ROS}.
Spec.config.log_level: int = 30

Specifies the log level for the engine: {0: SILENT, 10: DEBUG, 20: INFO, 30: WARN, 40: ERROR, 50: FATAL}.

property inputs: eagerx.core.view.SpecView

Provides an API to set/get the parameters of registered eagerx.core.register.inputs().

The mutable parameters are:

Spec.inputs.<name>.window: int = 1
A non-negative number that specifies the number of messages to pass to the node’s callback().
- window = 1: Only the last received input message.
- window = x > 1: The trailing last x received input messages.
- window = 0: All input messages received since the last call to the node’s callback().
Note

With window = 0, the number of input messages may vary and can even be zero.
Spec.inputs.<name>.processor: ProcessorSpec = None

A processor that preprocesses the received input message before passing it to the node’s callback().
Spec.inputs.<name>.space: dict = None

This space defines the format of valid messages.
Spec.inputs.<name>.delay: float = 0.0

A non-negative simulated delay (seconds). This delay is ignored if simulate_delays = True in the engine’s spec().
Spec.inputs.<name>.skip: bool = False

Skip the dependency on this input during the first call to the node’s callback(). May be necessary to ensure that the connected graph is directed and acyclic.

property objects: eagerx.core.view.SpecView

Provides an API to set/get the parameters to add an object to the engine.

To add a new object, please use add_object().

Arguments correspond to the signature of add_object().

property outputs: eagerx.core.view.SpecView

Provides an API to set/get the parameters of registered eagerx.core.register.outputs().

The mutable parameters are:

Spec.outputs.<name>.processor: ProcessorSpec = None

A processor that preprocesses the output message, returned by callback(), before publishing it.
Spec.outputs.<name>.space: dict = None

This space defines the format of valid messages.

property states: eagerx.core.view.SpecView

Provides an API to set/get the parameters of registered eagerx.core.register.states().

The mutable parameters are:

Spec.states.<name>.space: dict = None

This space defines the format of valid messages.