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import numpy as np
import dartpy as dart
class MyWorldNode(dart.gui.osg.RealTimeWorldNode):
def __init__(self, world, shadow):
super(MyWorldNode, self).__init__(world, shadow)
def customPreStep(self):
pass
def main():
world = dart.utils.SkelParser.readWorld("dart://sample/skel/cubes.skel")
world.setGravity([0, -9.81, 0])
viewer = dart.gui.osg.Viewer()
shadow = dart.gui.osg.WorldNode.createDefaultShadowTechnique(viewer)
node = MyWorldNode(world, shadow)
viewer.addWorldNode(node)
viewer.setUpViewInWindow(0, 0, 640, 480)
viewer.setCameraHomePosition([0.8, 0.0, 0.8], [0, -0.25, 0], [0, 0.5, 0])
viewer.run()
if __name__== "__main__":
main()
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