agx-openplx 0.15.0__cp39-cp39-macosx_12_0_arm64.whl → 0.15.1__cp39-cp39-macosx_12_0_arm64.whl

agx_openplx-0.15.1.dist-info/METADATA

@@ -0,0 +1,62 @@
+Metadata-Version: 2.1
+Name: agx-openplx
+Version: 0.15.1
+Summary: AGX-OpenPLX python interface development
+Home-page: https://pub.algoryx.dev/openplx/
+License: Apache 2.0
+Author: Algoryx
+Author-email: algoryx@algoryx.com
+Requires-Python: >=3.8
+Classifier: Intended Audience :: Manufacturing
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: Other/Proprietary License
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.8
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Topic :: Scientific/Engineering :: Physics
+Classifier: Topic :: Scientific/Engineering :: Visualization
+Requires-Dist: agx (==2.38.0.2)
+Requires-Dist: openplx-bundles (>=0.15.1,<0.16.0)
+Requires-Dist: pclick (>=0.4.1,<0.5.0)
+Description-Content-Type: text/markdown
+
+# AGX OpenPLX
+
+The agx-openplx package implements all OpenPLX bundles such as Physics, Robotics, DriveTrain and Simulation using [AGX Dynamics Real-time multi-body simulation](https://www.algoryx.se/agx-dynamics/).
+The package contains python bindings and native libraries needed to load and run .openplx files.
+
+See [OpenPLX documentation](https://pub.algoryx.dev/openplx/) for more info on OpenPLX.
+
+## Prerequisites
+
+- Python 3.9 on Windows or OSX
+- Python 3.8 on Ubuntu 20.04
+- Python 3.10 on Ubuntu 22.04
+- [AGX Dynamics](https://www.algoryx.se/agx-dynamics/) 2.38.0.2 and an AGX Dynamics License
+
+At [OpenPLX documentation](https://pub.algoryx.dev/openplx/getopenplx/) you can find out which older version of OpenPLX matches which version of AGX.
+
+## Install
+
+To get the version corresponding to your AGX on Windows do:
+
+```bash
+setup_env.bat
+pip install %AGX_DATA_DIR%/agx-pypi
+pip install -U agx-openplx
+```
+
+To get the version corresponding to your AGX on OSX and Linux do:
+
+```bash
+source setup_env.sh
+pip3 install $AGX_DATA_DIR/agx-pypi
+pip3 install -U agx-openplx
+```
+
+## License
+
+[Apache License 2.0](https://www.apache.org/licenses/LICENSE-2.0)
+

{agx_openplx-0.15.0.dist-info → agx_openplx-0.15.1.dist-info}/RECORD

@@ -10,7 +10,7 @@ openplx/Terrain.py,sha256=9CxizkDVf9UtPIyBumenXzfbxAL6yn2G_d0_ZWbv-JY,184884
 openplx/Urdf.py,sha256=JOryVyaFIROiyJ9V9OMrZAS3MoUwVmJW_2TTPSsRlH4,23780
 openplx/Vehicles.py,sha256=QmtdIawHlYcIRtJH4LotXSQNs06rCpxPl6e5gklUvWg,450074
 openplx/Visuals.py,sha256=lYBFzzPZvMeWaKzXQgzikmO-fuDshcgf5uCJJQ-WKTM,187052
-openplx/_AgxOpenPlxPyApi.cpython-39-darwin.so,sha256=UNT_6ZHQ7CTkFJ0JV0pNqqxTHIWvfH7I7b6k_w3HkuA,12442370
+openplx/_AgxOpenPlxPyApi.cpython-39-darwin.so,sha256=Qtdjc8wXQ-e0mQ7O49zvAAowlQmUBwNIsS72qxXUIIg,12442370
 openplx/_CorePythonSwig.cpython-39-darwin.so,sha256=AC1Au-yZE8eefWcZh4iQ0Oq2LWExqJswpmOLl8T_5rM,3234113
 openplx/_DriveTrainSwig.cpython-39-darwin.so,sha256=S7K59t90bLKImeeDcs6pFN5dCryqv64tNesbnxHjQU4,6557505
 openplx/_MathSwig.cpython-39-darwin.so,sha256=sayquEba_a8Dz4oTlrHuTJW1NqeirzqeetLbHT4YO7g,2121771
@@ -23,19 +23,19 @@ openplx/_TerrainSwig.cpython-39-darwin.so,sha256=bWJ0k3fM4JtS3W09lOpExQlZetx7KTM
 openplx/_UrdfSwig.cpython-39-darwin.so,sha256=Uo_6kWz6hNJHI-a_oU0fbTYMvzjQkjcj-BA7mTO3FX8,3854011
 openplx/_VehiclesSwig.cpython-39-darwin.so,sha256=lRCt62LggLFZGR1oF4xSDRIvipX_ChivunOLrV4TPCY,6575247
 openplx/_VisualsSwig.cpython-39-darwin.so,sha256=n4R9qwQ6Y3f_1QkzJHW-8tFZgi9oilF7kOSYo5milEA,2249374
-openplx/__init__.py,sha256=84JW4DGXG1xhGs6hL701s4_zXS_ksXBfgboChdrwBoE,2050
+openplx/__init__.py,sha256=q3hkfn5aNgyXksGZjKomJ2t1pPGNkIiHWSPBEbMadVI,2050
 openplx/agxtoopenplx.py,sha256=gxQgZ_Pgda_5scCCBBhyu8D-jjL1yxlE7bZLtxigKCs,2422
 openplx/anytoopenplx.py,sha256=qAZVnelFOVAQIpCQt3y9LlfCBHQcNmxUWXFbCZuNQUc,2274
 openplx/api.py,sha256=05ECQBudlYfrMh1OgAYbq8VDsj_UlZKlPxx31RGnES0,46915
-openplx/migrate.py,sha256=Lm3dyiAH-1NUV9xjtCCKOj1GldYkw5DggJM8GO_p4us,5602
+openplx/migrate.py,sha256=bPnhmYv22k52bQf_H34IvW89Ep3ekziiEhJPPZOJemQ,6431
 openplx/migration_hint.py,sha256=2Xs2OB_HikmiynDAk4xHKhmU5N4pqOnPFPpeIWhK37Y,603
-openplx/migrations.py,sha256=-j9it2oNK0A4Z-PCPyXRE0UYdU4kMpbVEVoEIjGxkFA,15094
-openplx/openplx_application.py,sha256=VDSsIGCDay8__omhsdKkSRaqmvY_vH6yLHQr3fTzyzA,6346
+openplx/migrations.py,sha256=bvz7ZTUwQ-_84UEPf20TmGaZuZTtWFO93R3Slv1leGQ,15591
+openplx/openplx_application.py,sha256=ZJFq2RgfW01IhE4o0qoEMPuwYIc6W6gYqnowcJWTdSA,6401
 openplx/openplx_serialize.py,sha256=Uul2-6_BwyJzg26JdgAz2MjR37mQJ6kWKjPbmE-sJzk,1456
 openplx/openplx_validate.py,sha256=pqBg9WBh7OUi63dOmmCpDWt_jTn8OhCSmtgL-nmb1XY,2055
-openplx/openplx_view.py,sha256=nUca0BVnTTcCzGoj8q2f3QVmZFpKd3PPptjuKqoHA18,350
+openplx/openplx_view.py,sha256=GCFQSl4W-dPRWL0qLQmfJ69OEwgTMKL05J62YyKSb64,351
 openplx/versionaction.py,sha256=Obj_q69dn5GnFMZs2as87ZScPMLaLAduPppmXUzLB6I,283
-agx_openplx-0.15.0.dist-info/METADATA,sha256=n0lbchTEYxII_StBn_BQjEzYA-X-z40E8jL7Yk8mfBg,7824
-agx_openplx-0.15.0.dist-info/WHEEL,sha256=O5AT1Qb1jPpISLjIwxiRxhUaN9TX1BFXuc9iRVvoPmk,104
-agx_openplx-0.15.0.dist-info/entry_points.txt,sha256=IyHBVBNuH_4ZhfWnB1ZVXYtpKG_QT7dwGIUMLWdyhrc,263
-agx_openplx-0.15.0.dist-info/RECORD,,
+agx_openplx-0.15.1.dist-info/METADATA,sha256=HMmjVYcn7l1cUbXgnS1xEGk9-PD-CyXB8Z7kyECu-QE,2077
+agx_openplx-0.15.1.dist-info/WHEEL,sha256=O5AT1Qb1jPpISLjIwxiRxhUaN9TX1BFXuc9iRVvoPmk,104
+agx_openplx-0.15.1.dist-info/entry_points.txt,sha256=IyHBVBNuH_4ZhfWnB1ZVXYtpKG_QT7dwGIUMLWdyhrc,263
+agx_openplx-0.15.1.dist-info/RECORD,,

openplx/__init__.py

@@ -5,7 +5,7 @@ __init__ module for OpenPLX package
 import os
 import sys
 __AGXVERSION__ = "2.38.0.2"
-__version__ = "0.15.0"
+__version__ = "0.15.1"
 
 # pylint doesn't like bare excepts, but we need to catch all exceptions here
 # pylint: disable=W0702 # bare-except

openplx/migrate.py

@@ -15,6 +15,8 @@ from openplx import __version__, get_error_strings
 from openplx.Core import OpenPlxContext, parseFromFile, analyze, StringVector, DocumentVector
 from openplx.migrations import collect_migrations, ReplaceOp
 from openplx.versionaction import VersionAction
+from openplx import register_plugins
+import agx
 
 def download_package_version(package_name, version):
     """Download a specific version of a package from PyPI."""
@@ -60,18 +62,27 @@ def has_errors(openplx_context):
         return True
     return False
 
-def refactor_openplx_file(openplxfile, bundle_path_vec, from_version, to_version) -> bool:
+def refactor_openplx_file(openplxfile, bundle_path_vec, from_version, to_version) -> bool: # pylint: disable=too-many-locals
     print(f"Migrating {openplxfile} from {from_version} to {to_version}")
-    openplx_context = OpenPlxContext(bundle_path_vec)
     migrations = collect_migrations(from_version, to_version)
+    print(f"Found {len(migrations)} migrations ", [m.__name__ for m in migrations])
+
+    file_rename_migrations = []
+    for migration in [m for m in migrations if m.__name__ == "rename_from_brick_to_openplx"]:
+        file_rename_migrations.append(migration(openplxfile))
+    if (openplxfile.endswith("config.openplx") or openplxfile.endswith("config.brick")):
+        for m in file_rename_migrations:
+            m.apply_to(None, None)
+        return True
 
+    migrations = [m for m in migrations if m.__name__ != "rename_from_brick_to_openplx"]
+    openplx_context = OpenPlxContext(bundle_path_vec)
+    register_plugins(openplx_context, None)
     documents = parse_and_analyze(openplxfile, openplx_context)
 
     if has_errors(openplx_context):
         return False
 
-    print(f"Found {len(migrations)} migrations ", [m.__name__ for m in migrations])
-
     order_group = [(key, list(group)) for key, group in itertools.groupby(migrations, lambda m: m.openplx_order)]
     order_group.sort(key=lambda pair: pair[0])
 
@@ -84,9 +95,14 @@ def refactor_openplx_file(openplxfile, bundle_path_vec, from_version, to_version
             if Path(openplxfile).samefile(key):
                 with open(key, 'r', encoding="utf8") as file:
                     lines = file.readlines()
-                lines = ReplaceOp.apply_many(op_group, lines)
+                replace_ops = [op for op in op_group if isinstance(op, ReplaceOp)]
+                lines = ReplaceOp.apply_many(replace_ops, lines)
                 with open(key, 'w', encoding="utf8") as file:
                     file.writelines(lines)
+
+    for m in file_rename_migrations:
+        m.apply_to(None, None)
+
     return True
 
 def run_openplx_migrate(args):
@@ -118,7 +134,7 @@ def run_openplx_migrate(args):
         if os.path.isdir(args.openplxfile):
             for root, _, files in os.walk(args.openplxfile):
                 for file in files:
-                    if file.endswith(".openplx") and not file.endswith("config.openplx"):
+                    if file.endswith(".openplx") or file.endswith(".brick"):
                         openplxfile = os.path.join(root, file)
                         if not refactor_openplx_file(openplxfile, bundle_path_vec, args.from_version, args.to_version):
                             success = False
@@ -131,6 +147,10 @@ def run_openplx_migrate(args):
             print(f"Refactor from {args.from_version} to {args.to_version} failed due to errors!")
             print("Note, some files might have been partially migrated.")
 
-if __name__ == '__main__':
+def run():
     arguments, _ = parse_args()
+    init = agx.AutoInit()  # pylint: disable=W0612 # Unused variable 'init'
     run_openplx_migrate(arguments)
+
+if __name__ == '__main__':
+    run()

openplx/migrations.py

@@ -450,6 +450,11 @@ def migrations_for_0_13_1(documents):
 
     return [ReplaceOp(op) for op in ops]
 
+@migration("0.14.0", "0.15.0")
+def rename_from_brick_to_openplx(document_path):
+
+    return ChangeExtensionOp(Path(document_path), ".openplx")
+
 
 def split_version(v):
     match = re.match(r"^(\d+)\.(\d+)\.(\d+)", v)
@@ -482,6 +487,17 @@ class MigrateOp(ABC):  # pylint: disable=R0903 # Too few public methods
         pass
 
 
+class ChangeExtensionOp(MigrateOp):
+    def __init__(self, path: Path, new_extension: str):
+        self.path = path
+        self.new_extension = new_extension
+
+    def __str__(self):
+        return f"{{ {self.path}, {self.new_extension} }}"
+
+    def apply_to(self, _lines, _offset):
+        self.path.rename(self.path.with_suffix(self.new_extension))
+
 class ReplaceOp(MigrateOp):
     def __init__(self, op: RefactorReplaceOp):
         self.path = Path(op.source_id)

openplx/openplx_application.py

@@ -21,6 +21,7 @@ def dummy_build_scene():
 
 class AgxHelpAction(Action):
     def __call__(self, parser, namespace, values, option_string=None):
+        sys.argv.append("--usage")
         OpenPlxApplication(dummy_build_scene).start_agx()
         sys.exit(0)
 
@@ -38,7 +39,7 @@ class OpenPlxApplication:
         self.build_scene_file = sys.modules[self.build_scene.__module__].__file__ if build_scene_file is None else build_scene_file
 
     @staticmethod
-    def parse_args(openplxfile = None):
+    def setup_args_parser(openplxfile = None):
         parser = ArgumentParser(description="View OpenPLX models", formatter_class=ArgumentDefaultsHelpFormatter)
         if openplxfile is None:
             parser.add_argument("openplxfile", help="the .openplx file to load")
@@ -58,13 +59,13 @@ class OpenPlxApplication:
                             default="info")
         parser.add_argument("--modelname", help="The model to load (defaults to last model in file)", metavar="<name>", default=None)
         parser.add_argument("--reload-on-update", help="Reload scene automatically when source is updated", action="store_true", default=SUPPRESS)
-        parser.add_argument("--usage", help="Show AGX specific help", action=AgxHelpAction, nargs=0, default=SUPPRESS)
+        parser.add_argument("--agxhelp", help="Show AGX specific help", action=AgxHelpAction, nargs=0, default=SUPPRESS)
         parser.add_argument("--version", help="Show version", action=VersionAction, nargs=0, default=SUPPRESS)
-        return parser.parse_known_args()
+        return parser
 
     @staticmethod
-    def prepareScene(openplxfile = None): # pylint: disable=invalid-name
-        args, extra_args = OpenPlxApplication.parse_args(openplxfile)
+    def prepare_scene(openplxfile = None):
+        args, extra_args = OpenPlxApplication.setup_args_parser(openplxfile).parse_known_args()
         set_log_level(args.loglevel)
         if extra_args:
             print(f"Passing these args to AGX: {(' ').join(extra_args)}")
@@ -123,11 +124,12 @@ class OpenPlxApplication:
     def start_agx(self):
         # Tell AGX where build_scene is located
         sys.argv[0] = self.build_scene_file
-        # pylint: disable=W0612 # Unused variable 'init'
         # Use __main__ otherwise AGX will just skip the init
-        init = init_app(name="__main__", scenes=[(self.build_scene, "1")], autoStepping=True, onShutdown=self.on_shutdown)  # Default: False
+        # pylint: disable=unused-variable
+        init = init_app(name="__main__", scenes=[(self.build_scene, "1")], autoStepping=True, onShutdown=self.on_shutdown)
+        # pylint: enable=unused-variable
 
     def run(self):
         signal.signal(signal.SIGINT, self.ctrl_break_handler)
-        self.parse_args("")
+        self.setup_args_parser("").parse_known_args()
         self.start_agx()

openplx/openplx_view.py

@@ -5,7 +5,7 @@ Command line utility that loads OpenPLX files and loads them into an AGX Simulat
 from openplx.openplx_application import OpenPlxApplication
 
 def openplx_view_build_scene():
-    OpenPlxApplication.prepareScene()
+    OpenPlxApplication.prepare_scene()
 
 def run():
     OpenPlxApplication(openplx_view_build_scene).run()

agx_openplx-0.15.0.dist-info/METADATA

@@ -1,231 +0,0 @@
-Metadata-Version: 2.1
-Name: agx-openplx
-Version: 0.15.0
-Summary: AGX-OpenPLX python interface development
-Home-page: https://pub.algoryx.dev/openplx/
-License: Apache 2.0
-Author: Algoryx
-Author-email: algoryx@algoryx.com
-Requires-Python: >=3.8
-Classifier: Intended Audience :: Manufacturing
-Classifier: Intended Audience :: Science/Research
-Classifier: License :: Other/Proprietary License
-Classifier: Programming Language :: Python :: 3
-Classifier: Programming Language :: Python :: 3.8
-Classifier: Programming Language :: Python :: 3.9
-Classifier: Programming Language :: Python :: 3.10
-Classifier: Programming Language :: Python :: 3.11
-Classifier: Topic :: Scientific/Engineering :: Physics
-Classifier: Topic :: Scientific/Engineering :: Visualization
-Requires-Dist: agx (==2.38.0.2)
-Requires-Dist: openplx-bundles (>=0.15.0,<0.16.0)
-Requires-Dist: pclick (>=0.4.1,<0.5.0)
-Description-Content-Type: text/markdown
-
-# AGX OpenPLX
-
-The agx-openplx package implements all OpenPLX bundles such as Physics, Robotics, DriveTrain and Simulation using [AGX Dynamics Real-time multi-body simulation](https://www.algoryx.se/agx-dynamics/).
-The package contains python bindings and native libraries needed to load and run .openplx files.
-
-See [OpenPLX documentation](https://pub.algoryx.dev/openplx/) for more info on OpenPLX.
-
-## Prerequisites
-
-- Python 3.9 on Windows or OSX
-- Python 3.8 on Ubuntu 20.04
-- Python 3.10 on Ubuntu 22.04
-- [AGX Dynamics](https://www.algoryx.se/agx-dynamics/) 2.38.0.2 and an AGX Dynamics License
-
-At [OpenPLX documentation](https://pub.algoryx.dev/openplx/getopenplx/) you can find out which older version of OpenPLX matches which version of AGX.
-
-## Install
-
-To get the version corresponding to your AGX on Windows do:
-
-```bash
-setup_env.bat
-pip install %AGX_DATA_DIR%/agx-pypi
-pip install -U agx-openplx
-```
-
-To get the version corresponding to your AGX on OSX and Linux do:
-
-```bash
-source setup_env.sh
-pip3 install $AGX_DATA_DIR/agx-pypi
-pip3 install -U agx-openplx
-```
-
-## License
-
-[Apache License 2.0](https://www.apache.org/licenses/LICENSE-2.0)
-
-## Usage Examples
-
-Given the python file and openplx file below, run with:
-
-```bash
-python3 inverted_pendulum.py
-```
-
-To just simulate the openplx file without controllers, do:
-
-```bash
-openplx_view inverted_pendulum.openplx
-```
-
-or `python3 -m openplx.openplx_view inverted_pendulum.openplx`
-
-Store contents below in a new file named `inverted_pendulum.openplx`:
-
-```openplx
-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`:
-
-```python
-import os
-import signal
-import agxOSG
-import agxSDK
-from openplxbundles 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 openplx import Math, Physics, Physics3D, Signals
-from openplx import InputSignalListener, OutputSignalListener, load_from_file
-
-def file_dir():
-    return os.path.dirname(os.path.abspath(__file__))
-
-def pendulum():
-    return f"{file_dir()}/inverted_pendulum.openplx"
-
-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_from_file(simulation(), pendulum(), bundle_path(), "")
-    assembly = result.assembly()
-    openplx_scene = result.scene()
-    # Add a signal listener so that signals are picked up from inputs
-    input_signal_listener = InputSignalListener(assembly)
-    output_signal_listener = OutputSignalListener(assembly, openplx_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 = openplx_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.'))
-```
-