From e019746996c8e5e6cb5a7d09eb9fac45d6f2e043 Mon Sep 17 00:00:00 2001
From: Mikhail Chaikovskii <chaykovskiym.e@gmail.com>
Date: Mon, 10 Apr 2023 18:46:35 +0300
Subject: [PATCH] tests
---
app/rule_extention.py | 10 ++++------
examples/example_simstep.py | 5 +++--
rostok/virtual_experiment/sensors.py | 3 +++
3 files changed, 10 insertions(+), 8 deletions(-)
diff --git a/app/rule_extention.py b/app/rule_extention.py
index 13515d8..64c951b 100644
--- a/app/rule_extention.py
+++ b/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
diff --git a/examples/example_simstep.py b/examples/example_simstep.py
index 8269923..1877911 100644
--- a/examples/example_simstep.py
+++ b/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)
diff --git a/rostok/virtual_experiment/sensors.py b/rostok/virtual_experiment/sensors.py
index 5e36b65..b13f67e 100644
--- a/rostok/virtual_experiment/sensors.py
+++ b/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]
--
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