| 11 | |
| 12 | |
| 13 | class SimulationArgs(tap.Tap): |
| 14 | horizon: int = 1000 |
| 15 | dt: float = 1e-3 |
| 16 | contact_solver: str = "ADMM" # set to PGS or ADMM |
| 17 | maxit: int = 1000 # solver maxit |
| 18 | tol: float = 1e-6 # absolute constraint solver tol |
| 19 | tol_rel: float = 1e-6 # relative constraint solver tol |
| 20 | solve_ncp: int = 1 # set to 0 to solve ccp |
| 21 | warm_start: int = 1 # warm start the solver? |
| 22 | mu_prox: float = 1e-4 # prox value for admm |
| 23 | material: str = "metal" # contact friction |
| 24 | compliance: float = 0 |
| 25 | Kp: float = 0 # baumgarte proportional term |
| 26 | Kd: float = 0 # baumgarte derivative term |
| 27 | seed: int = 1234 |
| 28 | limits: bool = False # set to activate limits |
| 29 | floor: bool = False # add a floor |
| 30 | cos_torque: bool = False |
| 31 | dont_stop: bool = False |
| 32 | |
| 33 | |
| 34 | args = SimulationArgs().parse_args() |
nothing calls this directly
no outgoing calls
no test coverage detected