fast-cody 0.0.8

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Fast Complementary Dynamics Code

We're currently working on a pip installation, but for now, this is how you can get started with our codebase.

Clone this repo and all its submodules:

git clone --recursive https://github.com/otmanon/fast_cd_pyb

Inside the repository above, install the dependencies:

pip install -r requirements.txt

Finally, build the library from source by running:

python setup.py install

Apps

We provide a variety of fast_cd apps shown in our paper.

Interactive Affine Handle

Run

import fast_cd_pyb as fcd
fcd.apps.interactive_cd_affine_handle()

This should run a few computations, and then finally open a window with the classic Complementary Dynamics fish. By playing with the Guizmo, you can interact with the fish. Press g to change guizmo transorm operations.

We also provide a few different meshes. The demo found in demos/affine_handle.py shows how to change some of the inputs we give to the interactive_cd_affine_handle such as changing the subspace size, reading from cache, or using different meshes.

We also provide many example meshes in the data directory. To run the demo on a .msh file of your choice, run

fcd.apps.interactive_cd_affine_handle(msh_file_path)