erwincoumans

#See Aras' post, https://twitter.com/aras_p/status/1579383862165405696
import time
import bpy
print("hello world")
mesh = bpy.data.meshes['Cube']
start = time.time()
for z in range (0,7,3):
  for x in range(-9,10):
    for y in range(-9,10):
        ob = bpy.data.objects.new("Gen", object_data=mesh)

erwincoumans

#pycuda cuda interop inspired by
#https://gist.github.com/victor-shepardson/5b3d3087dc2b4817b9bffdb8e87a57c4
#and https://discuss.pytorch.org/t/create-edit-pytorch-tensor-using-opengl/42111/5
#pip install pytinydiffsim, pycuda, numpy, matplotlib, PyQt5
#visit https://pytorch.org/get-started/locally to install cuda-enabled pytorch
#git clone https://github.com/erwincoumans/tiny-differentiable-simulator.git
#cd tiny-differentiable-simulator/python/examples


import pytinydiffsim as tds

erwincoumans

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2015 Google Inc. http://bulletphysics.org

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

erwincoumans

import sys
import usb.core
VENDOR_ID = 0x0922
PRODUCT_ID = 0x8003


# find USB devices
devices = list(usb.core.find(find_all=True, idVendor=VENDOR_ID,
                       idProduct=PRODUCT_ID))

erwincoumans

import pybullet as p
import time

usePhysX = True

if usePhysX:
	p.connect(p.PhysX)	
	p.loadPlugin("eglRendererPlugin")
else:
	p.connect(p.GUI)

erwincoumans

"""This file implements the gym environment of minitaur.

"""

import os, inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0,parentdir)

erwincoumans

<?xml version="1.0" ?>
<robot name="ground">
  <link name="ground">
    <visual>
      <geometry>
        <mesh filename="ground.obj" scale="2 2 0.1" />
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>

erwincoumans

import pybullet as p
import time
p.connect(p.GUI)

#disable rendering during loading speeds it up
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
p.loadURDF("ground.urdf",useMaximalCoordinates=True)
for i in range (10):
        for j in range (10):

erwincoumans

//This is taken from https://www.reddit.com/r/Dobot/comments/45ilan/controlling_dobot_with_ramps_14

#include <AccelStepper.h>

#define X_STEP_PIN         54
#define X_DIR_PIN          55
#define X_ENABLE_PIN       38
#define X_MIN_PIN           3
#define X_MAX_PIN           2

erwincoumans

//#include "Eigen/Dense"
#include "Eigen/Sparse"

static Eigen::VectorXf Solve_GaussSeidel (Eigen::MatrixXf & A, Eigen::VectorXf & b, Eigen::VectorXf & lo,Eigen::VectorXf & hi,int kMax = 5)
{
  //A is a m-n matrix, m rows, n columns
  if (A.rows() != b.rows()) 
    return b;

  int i, j, n = A.rows();