[MBsysPy][Example] Update PendulumSpringC to test MbsDirdyn oneshot case.

ExampleProjects/PendulumSpringC/workR/main_MBsysPy.py

 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
+"""Example of multibody system computed with MBsysPy using Python project files.
+
+Summary
+-------
+This template loads the data file *.mbs and execute:
+   - the coordinate partitioning module
+   - the direct dynamic module (time integration of equations of motion).
+   - the equilibrium module
+   - the modal module
+   - the inverse dynamic module
 """
-    
-       Universite catholique de Louvain
-       CEREM : Centre for research in mechatronics
-       http://www.robotran.be  
-       Contact : info@robotran.be
-    
-    
-       Main script template for complete model:
-       -----------------------------------------------
-        This template loads the data file *.mbs and execute:
-          - the coordinate partitioning module
-          - the direct dynamic module (time integration of
-            equations of motion).
-          - the equilibrium module
-          - the modal module
-          - the inverse dynamic module
-        It may be adapted and completed by the user.
-     
-        (c) Universite catholique de Louvain
-        
-"""
+# Author: Robotran Team
+# (c) Universite catholique de Louvain, 2021
 
-#==============================================================================
+# %%===========================================================================
 # Packages loading
-#==============================================================================
+# =============================================================================
 import sys
-sys.path.append("../../../MBsysC/mbs_interface") # Relative path for this example script
+# Add path to the MBsysC build folder
+sys.path.insert(1, "../../../MBsysC/build/python")
 
 import MBsysPy as Robotran
 
 
-#==============================================================================
+# %%===========================================================================
 # Project loading
-#==============================================================================
-mbs_data = Robotran.MbsData("../dataR/PendulumSpringC.mbs", user_path = "userfctR/userfctR_python", symbolic_path = "symbolicR/symbolicR_python")
+# =============================================================================
+mbs_data = Robotran.MbsData("../dataR/PendulumSpringC.mbs",
+                            user_path="userfctR/userfctR_python",
+                            symbolic_path="symbolicR/symbolicR_python"
+                            )
 print(mbs_data)
 
-#==============================================================================
+# %%===========================================================================
 # Partitionning
-#==============================================================================
+# =============================================================================
 mbs_data.process = 1
 mbs_part = Robotran.MbsPart(mbs_data)
-mbs_part.set_options(rowperm = 1, verbose = 1)
+mbs_part.set_options(rowperm=1, verbose=1)
 mbs_part.run()
 
-#==============================================================================
+# %%===========================================================================
 # Equilibrium
-#==============================================================================
+# =============================================================================
 mbs_data.process = 2
 mbs_equil = Robotran.MbsEquil(mbs_data)
-mbs_equil.set_options(method = 1, senstol = 1e-2, verbose = 1)
+mbs_equil.set_options(method=1, senstol=1e-2, verbose=1)
 mbs_equil.run()
 
-#==============================================================================
+# %%===========================================================================
 # Modal Analysis
-#==============================================================================
+# =============================================================================
 mbs_data.process = 4
 mbs_modal = Robotran.MbsModal(mbs_data)
-mbs_modal.set_options(save_result = 1, save_anim = 1, mode_ampl = 0.2)
+mbs_modal.set_options(save_result=1, save_anim=1, mode_ampl=0.2)
 mbs_modal.run()
 
-#==============================================================================
-# Direct Dynamics
-#==============================================================================
+# %%===========================================================================
+# Direct Dynamics, oneshot
+# =============================================================================
+mbs_data.process = 3
+mbs_data.qd[1] = 1.5
+mbs_dirdyn = Robotran.MbsDirdyn(mbs_data)
+mbs_dirdyn.set_options(flag_oneshot=1)
+mbs_dirdyn.run()
+
+# %%===========================================================================
+# Direct Dynamics, time integration
+# =============================================================================
 mbs_data.process = 3
 mbs_data.qd[1] = 1.5
 mbs_dirdyn = Robotran.MbsDirdyn(mbs_data)
-mbs_dirdyn.set_options(dt0 = 1e-3, tf = 10.0, save2file = 1)
-mbs_dirdyn.set_options(integrator = "RK4", resfilename = "RK4")
+mbs_dirdyn.set_options(dt0=1e-3, tf=0.1, save2file=1)
+mbs_dirdyn.set_options(integrator="RK4", resfilename="RK4")
 mbs_dirdyn.run()
 
-#==============================================================================
+# %%===========================================================================
 # Inverse Dynamics
-#==============================================================================
+# =============================================================================
 mbs_data.process = 6
 mbs_data.reset()
 mbs_data.set_qa(4)
@@ -82,8 +86,8 @@ mbs_data.set_qa(1)
 mbs_data.set_qa(3)
 mbs_data.set_qa(2)
 mbs_invdyn = Robotran.MbsInvdyn(mbs_data)
-mbs_invdyn.set_options(trajectoryqname = "../resultsR/RK4_q.res")
-mbs_invdyn.set_options(trajectoryqdname = "../resultsR/RK4_qd.res")
-mbs_invdyn.set_options(trajectoryqddname = "../resultsR/RK4_qdd.res")
-mbs_invdyn.set_options(t0 = 1.0, tf = 2.0, dt = 2.5e-3)
+mbs_invdyn.set_options(trajectoryqname="../resultsR/RK4_q.res")
+mbs_invdyn.set_options(trajectoryqdname="../resultsR/RK4_qd.res")
+mbs_invdyn.set_options(trajectoryqddname="../resultsR/RK4_qdd.res")
+mbs_invdyn.set_options(t0=1.0, tf=2.0, dt=2.5e-3)
 mbs_invdyn.run()