cleanup : imports in hackathon environment
@@ -9,7 +9,7 @@ from elastica.wrappers import (
Connections,
)
from elastica.rod.cosserat_rod import CosseratRod
-from elastica.rod.rigid_body import RigidBodyCylinder
+from elastica.rigidbody import Cylinder
from elastica.external_forces import GravityForces
from examples.ArmWithBasisFunctions.hierarchical_muscles.hierarchical_muscle_torques import (
HierarchicalMuscleTorques,
@@ -30,12 +30,8 @@ from elastica.joint import ExternalContact
from elastica._calculus import _isnan_check
from elastica.callback_functions import CallBackBaseClass
from elastica.timestepper.symplectic_steppers import PositionVerlet
-from elastica.timestepper import integrate, extend_stepper_interface
+from elastica.timestepper import extend_stepper_interface
from examples.ArmWithBasisFunctions.arm_sim_with_basis_functions_postprocessing import (
- plot_video,
- plot_video_actiavation_muscle,
- plot_arm_tip_sensor_values,
- plot_video_zx,
plot_video3d,
plot_video_with_surface,
)
@@ -131,7 +127,7 @@ class Environment:
# Below function takes previously computed node positions and centerline
# radius and modifies the rod.
- make_tappered_arm(
+ make_tapered_arm(
self.shearable_rod,
radius_along_rod,
base_length,
@@ -145,7 +141,7 @@ class Environment:
# Now rod is ready for simulation, append rod to simulation
self.simulator.append(self.shearable_rod)
- self.cylinder = RigidBodyCylinder(
+ self.cylinder = Cylinder(
self.cylinder_start, # cylinder initial position
normal, # cylinder direction
direction, # cylinder normal
@@ -524,7 +520,7 @@ class Environment:
# TODO: this function should be a part of rod initialization, factory function and it should be removed from here
-def make_tappered_arm(
+def make_tapered_arm(
rod,
radius_along_rod,
base_length,
