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71 lines
2.4 KiB
71 lines
2.4 KiB
2 years ago
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#!/usr/local/bin/python3
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"""Script to generate a fixture of a box falling on a saw."""
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import pathlib
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from fixture_utils import *
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DEFAULT_NCP_TIME_EPSILON = 1e-4 # or 0
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DEFAULT_NCP_UPDATE_TYPE = "g_gradient" # linearize or g_gradient
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DEFAULT_LCP_SOLVER = "lcp_newton"
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NCP_UPDATE_TYPES = ["linearize", "g_gradient"]
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LCP_SOLVERS = ["lcp_gauss_seidel", "lcp_mosek", "lcp_newton"]
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def main():
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"""Parse command-line arguments to generate the desired fixture."""
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parser = argparse.ArgumentParser(
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description="convert a barrier fixture to a NCP fixture")
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parser.add_argument("input_path",
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type=pathlib.Path,
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help="input fixture to convert")
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parser.add_argument("--time-epsilon",
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type=float,
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default=DEFAULT_NCP_TIME_EPSILON,
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help="time epsilon used in the NCP STIV formulation")
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parser.add_argument("--update-type",
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choices=NCP_UPDATE_TYPES,
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default=DEFAULT_NCP_UPDATE_TYPE,
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help="updated type of the NCP")
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parser.add_argument("--lcp-solver",
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choices=LCP_SOLVERS,
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default=DEFAULT_LCP_SOLVER,
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help="solver for LCP")
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parser.add_argument("--out-path",
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metavar="path/to/output.json",
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type=pathlib.Path,
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default=None,
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help="path to save the fixture")
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args = parser.parse_args()
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if args.out_path is None:
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args.out_path = args.input_path.parent / (
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args.input_path.stem + "-ncp" + args.input_path.suffix)
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args.out_path.parent.mkdir(parents=True, exist_ok=True)
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with open(args.input_path, "r") as input_fixture:
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fixture = json.load(input_fixture)
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fixture["scene_type"] = "volume_rb_problem"
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fixture["ncp_solver"] = {
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"max_iterations": 1000,
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"do_line_search": False,
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"solve_for_active_cstr": True,
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"convergence_tolerance": -1,
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"update_type": args.update_type,
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"lcp_solver": args.lcp_solver
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}
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fixture["volume_constraint"] = {
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"detection_method": "hash_grid",
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"volume_epsilon": 1e-10,
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"custom_hashgrid_cellsize": -1,
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"time_epsilon": args.time_epsilon
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}
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save_fixture(fixture, args.out_path)
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if __name__ == "__main__":
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main()
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