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33 lines
942 B
33 lines
942 B
2 years ago
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import numpy
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import pathlib
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import rigidipc
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rigidipc.set_logger_level(rigidipc.LoggerLevel.error)
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sim = rigidipc.Simulation()
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root_path = pathlib.Path(__file__).parents[1]
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scene = root_path / "fixtures" / "3D" / "unit-tests" / "5-cubes.json"
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sim.load_scene(str(scene))
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print(f"timestep={sim.timestep:g}")
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sim.max_simulation_steps = 50
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# Make body 0 a kinematic object
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body = sim.bodies()[0]
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body.name = "kinematic_cube"
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body.type = rigidipc.KINEMATIC
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# Prescribe the kinematic motion of the body for the first 50 steps
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body.kinematic_poses = [
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rigidipc.Pose(numpy.array([0, i / 12.5, 0]), numpy.array([i / 12.5, 0, 0]))
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for i in range(50)]
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# Run the simulation
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output_path = pathlib.Path(__file__).parent / "output"
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rigidipc.set_profiler_output_directory(str(output_path))
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sim.run(str(output_path / "sim.json"))
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for body in sim.bodies():
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print(f"{body.name}: pose={body.pose}, group_id={body.group_id}, type={body.type}")
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