tests

app/rule_extention.py

@@ -3,14 +3,12 @@ import networkx as nx
 import numpy as np
 import pychrono as chrono
 
-
-import numpy as np
-
-from rostok.block_builder_api.block_blueprints import TransformBlueprint, PrimitiveBodyBlueprint, \
-EnvironmentBodyBlueprint, RevolveJointBlueprint
+from rostok.block_builder_api.block_blueprints import (
+    EnvironmentBodyBlueprint, PrimitiveBodyBlueprint, RevolveJointBlueprint,
+    TransformBlueprint)
+from rostok.block_builder_api.block_parameters import JointInputType
 from rostok.block_builder_api.easy_body_shapes import Box
 from rostok.block_builder_chrono.blocks_utils import FrameTransform
-from rostok.block_builder_api.block_parameters import JointInputType
 from rostok.graph_grammar import node_vocabulary, rule_vocabulary
 from rostok.graph_grammar.node import ROOT
 

examples/example_simstep.py

@@ -19,7 +19,7 @@ mechs = [
 mechs = [get_terminal_graph_no_joints]
 for get_graph in mechs:
     # Constants
-    MAX_TIME = 0.5
+    MAX_TIME = 1000
     TIME_STEP = 1e-3
 
     graph = get_graph()
@@ -46,7 +46,8 @@ for get_graph in mechs:
                                           FrameTransform([0, 0.1, 0], [1, 0, 0, 0]))
     sim.set_flags_stop_simulation(flags)
     sim.change_config_system(config_sys)
-
+    #body: chrono.ChBody = sim.grasp_object.body
+    #body.SetPos_dt(chrono.ChVectorD(-1,0,0))
     # Start simulation
     sim_output = sim.simulate_system(TIME_STEP, True)
 

rostok/virtual_experiment/sensors.py

@@ -48,6 +48,9 @@ class ContactReporter(chrono.ReportContactCallback):
         body_b = chrono.CastToChBody(contactobjB)
         idx_a = None
         idx_b = None
+        #print(plane_coord)
+        if react_forces.x>0 or react_forces.y>0 or react_forces.z>0:
+            print(react_forces.x, react_forces.z, react_forces.y)
         for body_tuple in self._body_list:
             if body_a == body_tuple[1].body:
                 idx_a = body_tuple[0]