Yanked
This release has been yanked by its maintainers, and will be ignored by installers, except when explicitly specified.
Reason given by maintainers: Replaced by https://pypi.org/project/agx-openplx/
BRICK AGX
The brickagx package implements all Brick bundles such as Physics, Robotics, DriveTrain and Simulation using AGX Dynamics Real-time multi-body simulation. The package contains python bindings and native libraries needed to load and run .brick files.
See BRICK documentation for more info on BRICK.
Prerequisites
- Python 3.9 on Windows or OSX
- Python 3.8 on Ubuntu 20.04
- Python 3.10 on Ubuntu 22.04
- AGX Dynamics 2.38.0.2 and an AGX Dynamics License
At BRICK documentation you can find out which older version of BRICK matches which version of AGX.
Install
To get the version corresponding to your AGX on Windows do:
setup_env.bat
pip install %AGX_DATA_DIR%/agx-pypi
pip install -U brickagx
To get the version corresponding to your AGX on OSX and Linux do:
source setup_env.sh
pip3 install $AGX_DATA_DIR/agx-pypi
pip3 install -U brickagx
License
Usage Examples
Given the python file and brick file below, run with:
python3 inverted_pendulum.py
To just simulate the brick file without controllers, do:
brickview inverted_pendulum.brick
or python3 -m rebrick.brickview inverted_pendulum.brick
Store contents below in a new file named inverted_pendulum.brick:
Rod is Physics3D.Bodies.RigidBody:
inertia.mass: 10
geometry is Physics3D.Charges.Box:
size: Math.Vec3.from_xyz(0.1, 0.1, 1)
arrow is Physics3D.Charges.Box:
local_transform:
position.z: 0.5
rotation: Math.Quat.angleAxis(Math.PI / 4, Math.Vec3.Y_AXIS())
size: Math.Vec3.from_xyz(0.071, 0.1, 0.071)
mate_connector is Physics3D.Charges.MateConnector:
position.z: -geometry.size.z * 0.7
main_axis: Math.Vec3.Y_AXIS()
normal: Math.Vec3.Z_AXIS()
Cart is Physics3D.Bodies.RigidBody:
inertia.mass: 10
geometry is Physics3D.Charges.Box:
size: Math.Vec3.from_xyz(0.1, 0.1, 0.1)
connector is Physics3D.Charges.MateConnector:
main_axis: Math.Vec3.X_AXIS()
normal: Math.Vec3.Z_AXIS()
rotated_connector is Physics3D.Charges.MateConnector:
main_axis: Math.Vec3.Y_AXIS()
normal: Math.Vec3.Z_AXIS()
PendulumScene is Physics3D.System:
world_connector is Physics3D.Charges.MateConnector:
main_axis: Math.Vec3.X_AXIS()
normal: Math.Vec3.Z_AXIS()
cart is Cart
rod is Rod
prismatic is Physics3D.Interactions.Prismatic:
charges: [world_connector, cart.connector]
cart_motor is Physics3D.Interactions.LinearVelocityMotor:
desired_speed: 0
charges: prismatic.charges
hinge is Physics3D.Interactions.Hinge:
initial_angle: 0
charges: [cart.rotated_connector, rod.mate_connector]
motor_input is Physics3D.Signals.LinearVelocityMotorVelocityInput:
motor: cart_motor
hinge_angle_output is Physics3D.Signals.HingeAngleOutput:
hinge: hinge
hinge_angular_velocity_output is Physics3D.Signals.HingeAngularVelocityOutput:
hinge: hinge
cart_position_output is Physics3D.Signals.RigidBodyPositionOutput:
rigid_body: cart
cart_velocity_output is Physics3D.Signals.RigidBodyVelocityOutput:
rigid_body: cart
Store contents below in a new file named inverted_pendulum.py:
import os
import signal
import agxOSG
import agxSDK
from brickbundles import bundle_path
# Import useful utilities to access the current simulation, graphics root and application
from agxPythonModules.utils.environment import init_app, simulation, root
from rebrick import Math, Physics, Physics3D, Signals
from rebrick import InputSignalListener, OutputSignalListener, load_brick_file
def file_dir():
return os.path.dirname(os.path.abspath(__file__))
def pendulum():
return f"{file_dir()}/inverted_pendulum.brick"
class PDController:
def __init__(self, kp, kd, goal):
self.kp = kp
self.kd = kd
self.goal = goal
def observe(self, x, xdot):
error = self.goal - x
return self.kp * error - self.kd * xdot
class CartController(agxSDK.StepEventListener):
motor_input: Physics3D.Signals_LinearVelocityMotorVelocityInput
cart: PDController
pole: PDController
def __init__(self, motor_input: Physics3D.Signals_LinearVelocityMotorVelocityInput):
super().__init__()
self.motor_input = motor_input
self.cart = PDController(kp=10, kd=5, goal=0)
self.pole = PDController(kp=20, kd=5, goal=0)
def pre(self, time):
if time == 0.0:
hinge_angle = 0
hinge_angular_velocity = 0
cart_position = Math.Vec3.from_xyz(0,0,0)
cart_velocity = Math.Vec3.from_xyz(0,0,0)
else:
signal_values = {signal.source().getName():signal.value().value() for signal in Signals.getOutputSignals()}
hinge_angle = signal_values["PendulumScene.hinge_angle_output"]
hinge_angular_velocity = signal_values["PendulumScene.hinge_angular_velocity_output"]
cart_position = signal_values["PendulumScene.cart_position_output"]
cart_velocity = signal_values["PendulumScene.cart_velocity_output"]
u_cart = self.cart.observe(cart_position.x(), cart_velocity.x())
u_pole = self.pole.observe(hinge_angle, hinge_angular_velocity)
Signals.sendInputSignal(Physics.Signals_RealInputSignal.create(-u_cart - u_pole, self.motor_input))
def buildScene():
result = load_brick_file(simulation(), pendulum(), bundle_path(), "")
assembly = result.assembly()
brick_scene = result.brick_object()
# Add a signal listener so that signals are picked up from inputs
input_signal_listener = InputSignalListener(assembly)
output_signal_listener = OutputSignalListener(assembly, brick_scene)
simulation().add(input_signal_listener, InputSignalListener.RECOMMENDED_PRIO)
simulation().add(output_signal_listener, OutputSignalListener.RECOMMENDED_PRIO)
simulation().add(assembly.get())
agxOSG.createVisual(assembly.get(), root())
motor_input: Physics3D.Signals_LinearVelocityMotorVelocityInput = brick_scene.getDynamic("motor_input").asObject()
controller = CartController(motor_input)
simulation().add(controller)
def handler(_, __):
os._exit(0)
signal.signal(signal.SIGINT, handler)
init = init_app(name=__name__,
scenes=[(buildScene, '1')],
autoStepping=True, # Default: False
onInitialized=lambda app: print('App successfully initialized.'),
onShutdown=lambda app: print('App successfully shut down.'))
1 maintainer
Metadata
1 maintainer
Release files for BrickAgx 0.14.0
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Built distributions (wheels)
| File | Reset | |||
|---|---|---|---|---|
| brickagx-0.14.0-cp310-cp310-manylinux_2_35_x86_64.whl | CPython 3.10 | CPython 3.10 | Linux glibc 2.35+ x86-64 | Details |
| brickagx-0.14.0-cp39-cp39-win_amd64.whl | CPython 3.9 | CPython 3.9 | Windows x86-64 | Details |
| brickagx-0.14.0-cp39-cp39-macosx_12_0_arm64.whl | CPython 3.9 | CPython 3.9 | macOS 12.0+ ARM64 | Details |
| brickagx-0.14.0-cp39-cp39-macosx_11_0_x86_64.whl | CPython 3.9 | CPython 3.9 | macOS 11.0+ x86-64 | Details |
| brickagx-0.14.0-cp38-cp38-manylinux_2_31_x86_64.whl | CPython 3.8 | CPython 3.8 | Linux glibc 2.31+ x86-64 | Details |
Total release size: 88.4 MB
Release files / brickagx-0.14.0-cp310-cp310-manylinux_2_35_x86_64.whl
| Download URL | brickagx-0.14.0-cp310-cp310-manylinux_2_35_x86_64.whl |
|---|---|
| Size | 22.6 MB |
| Tags | CPython 3.10 Linux glibc 2.35+ x86-64 |
|
SHA-256 checksum How to use checksums |
5ea87c0bb51cbc85e5eb5ea34ed6725f11c54bad98aba886328edd23ca966f29
|
|
BLAKE2b-256 checksum How to use checksums |
e038204d9f53db7382ebfae575a0a98fa89ff87621e3131ef09146a2515aa6a0
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
poetry/1.8.3 CPython/3.8.10 Linux/5.4.0-146-generic
|
Release files / brickagx-0.14.0-cp39-cp39-win_amd64.whl
| Download URL | brickagx-0.14.0-cp39-cp39-win_amd64.whl |
|---|---|
| Size | 10.2 MB |
| Tags | CPython 3.9 Windows x86-64 |
|
SHA-256 checksum How to use checksums |
8b55325b5c15bde28f4db70eac93cfd5a994e8e6db4554c55caf47338abd86a5
|
|
BLAKE2b-256 checksum How to use checksums |
65a99f728d8e5a96e337d35706ca72cafe93c13bbffd2e7373c8a507754f384e
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
poetry/1.8.3 CPython/3.8.10 Linux/5.4.0-146-generic
|
Release files / brickagx-0.14.0-cp39-cp39-macosx_12_0_arm64.whl
| Download URL | brickagx-0.14.0-cp39-cp39-macosx_12_0_arm64.whl |
|---|---|
| Size | 15.9 MB |
| Tags | CPython 3.9 macOS 12.0+ ARM64 |
|
SHA-256 checksum How to use checksums |
7bf62d2a01fcf8a2a46a52e9199b991083a89503ff62de7fa835240c329c8866
|
|
BLAKE2b-256 checksum How to use checksums |
ff407c24bd080c12fc2774844c6ec00078d537a6d6b26272c4a8146bff9a1322
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
poetry/1.8.3 CPython/3.8.10 Linux/5.4.0-146-generic
|
Release files / brickagx-0.14.0-cp39-cp39-macosx_11_0_x86_64.whl
| Download URL | brickagx-0.14.0-cp39-cp39-macosx_11_0_x86_64.whl |
|---|---|
| Size | 17.1 MB |
| Tags | CPython 3.9 macOS 11.0+ x86-64 |
|
SHA-256 checksum How to use checksums |
6dfb0dc6a67befbdc067ec872fbf9d49028b6b68db95637dd268b26a3af2070c
|
|
BLAKE2b-256 checksum How to use checksums |
fecf2912777fa6d00c4b1bc29502832caf7f727a36143c0452969066c2704328
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
poetry/1.8.3 CPython/3.8.10 Linux/5.4.0-146-generic
|
Release files / brickagx-0.14.0-cp38-cp38-manylinux_2_31_x86_64.whl
| Download URL | brickagx-0.14.0-cp38-cp38-manylinux_2_31_x86_64.whl |
|---|---|
| Size | 22.6 MB |
| Tags | CPython 3.8 Linux glibc 2.31+ x86-64 |
|
SHA-256 checksum How to use checksums |
21c155a75a874ae5159a6987e1c94cfd23312990b916624364023127762cf105
|
|
BLAKE2b-256 checksum How to use checksums |
408fab3be45b9318ba2c5eeca5ffbdeb012d0edf2c0bbc9edd5d5a4205449650
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
poetry/1.8.3 CPython/3.8.10 Linux/5.4.0-146-generic
|
Security for BrickAgx 0.14.0
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
No provenance found
None of the files in this release were uploaded with provenance metadata.
A note on package security
PyPI is a repository for distributing packages, not a service for auditing them. While third-party security researchers and our staff do their best to detect and remove malicious packages, PyPI cannot guarantee the quality, security or suitability of any given package.
To learn more about protecting yourself from malicious actors, visit our package security documentation.
