From a4b91f9d0768ef60033585269eb3cc06e7092f61 Mon Sep 17 00:00:00 2001
From: ziyanx02 <ziyanx02@gmail.com>
Date: Fri, 20 Dec 2024 00:06:04 -0500
Subject: [PATCH] test precommit

---
 examples/rigid/apply_external_force_torque.py | 70 -------------------
 1 file changed, 70 deletions(-)
 delete mode 100644 examples/rigid/apply_external_force_torque.py

diff --git a/examples/rigid/apply_external_force_torque.py b/examples/rigid/apply_external_force_torque.py
deleted file mode 100644
index 0e587d6e..00000000
--- a/examples/rigid/apply_external_force_torque.py
+++ /dev/null
@@ -1,70 +0,0 @@
-import argparse
-
-import numpy as np
-
-import genesis as gs
-from genesis.engine.solvers.rigid.rigid_solver_decomp import RigidSolver
-
-
-def main():
-    parser = argparse.ArgumentParser()
-    parser.add_argument("-v", "--vis", action="store_true", default=False)
-    args = parser.parse_args()
-
-    ########################## init ##########################
-    gs.init(backend=gs.gpu)
-
-    ########################## create a scene ##########################
-    viewer_options = gs.options.ViewerOptions(
-        camera_pos=(0, -3.5, 2.5),
-        camera_lookat=(0.0, 0.0, 1.0),
-        camera_fov=40,
-        max_FPS=60,
-    )
-
-    scene = gs.Scene(
-        viewer_options=viewer_options,
-        sim_options=gs.options.SimOptions(
-            dt=0.01,
-        ),
-        show_viewer=args.vis,
-    )
-
-    ########################## entities ##########################
-    plane = scene.add_entity(
-        gs.morphs.Plane(),
-    )
-    cube = scene.add_entity(
-        gs.morphs.Box(
-            pos=(0, 0, 1.0),
-            size=(0.2, 0.2, 0.2),
-        ),
-    )
-    ########################## build ##########################
-    scene.build()
-
-    for solver in scene.sim.solvers:
-        if not isinstance(solver, RigidSolver):
-            continue
-        rigid_solver = solver
-
-    rotation_direction = 1
-    # PD control
-    for i in range(1000):
-
-        cube_pos = rigid_solver.get_links_pos([1,])
-        cube_pos[:, 2] -= 1
-        force = -200 * cube_pos
-        rigid_solver.apply_links_external_force(force=force, links_idx=[1,])
-
-        torque = [[0, 0, rotation_direction * 5],]
-        rigid_solver.apply_links_external_torque(torque=torque, links_idx=[1,])
-
-        scene.step()
-
-        if (i + 50) % 100 == 0:
-            rotation_direction *= -1
-
-
-if __name__ == "__main__":
-    main()