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57 lines
2.2 KiB
57 lines
2.2 KiB
"""Provides an example translation of `cart_pole_passive_simluation.cc`."""
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import argparse
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from pydrake.multibody.plant import AddMultibodyPlantSceneGraph
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from pydrake.multibody.parsing import Parser
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from pydrake.systems.framework import DiagramBuilder
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from pydrake.systems.analysis import Simulator
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from pydrake.visualization import AddDefaultVisualization
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def main():
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument(
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"--target_realtime_rate", type=float, default=1.0,
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help="Desired rate relative to real time. See documentation for "
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"Simulator::set_target_realtime_rate() for details.")
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parser.add_argument(
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"--simulation_time", type=float, default=10.0,
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help="Desired duration of the simulation in seconds.")
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parser.add_argument(
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"--time_step", type=float, default=0.,
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help="If greater than zero, the plant is modeled as a system with "
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"discrete updates and period equal to this time_step. "
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"If 0, the plant is modeled as a continuous system.")
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args = parser.parse_args()
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builder = DiagramBuilder()
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cart_pole, scene_graph = AddMultibodyPlantSceneGraph(
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builder=builder, time_step=args.time_step)
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Parser(plant=cart_pole).AddModelsFromUrl(
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url="package://drake/examples/multibody/cart_pole/cart_pole.sdf")
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cart_pole.Finalize()
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AddDefaultVisualization(builder=builder)
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diagram = builder.Build()
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diagram_context = diagram.CreateDefaultContext()
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cart_pole_context = cart_pole.GetMyMutableContextFromRoot(diagram_context)
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cart_pole.get_actuation_input_port().FixValue(cart_pole_context, 0)
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cart_slider = cart_pole.GetJointByName("CartSlider")
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pole_pin = cart_pole.GetJointByName("PolePin")
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cart_slider.set_translation(context=cart_pole_context, translation=0.)
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pole_pin.set_angle(context=cart_pole_context, angle=2.)
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simulator = Simulator(diagram, diagram_context)
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simulator.set_publish_every_time_step(False)
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simulator.set_target_realtime_rate(args.target_realtime_rate)
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simulator.Initialize()
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simulator.AdvanceTo(args.simulation_time)
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if __name__ == "__main__":
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main()
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