Do not simplify symbolic expressions if we are deriving dynamics for more than 2 segments

mstoelzle · mstoelzle · commit a57b2c893776 · 2024-10-16T17:38:35.000-04:00
diff --git a/examples/derive_planar_pcs.py b/examples/derive_planar_pcs.py
@@ -12,5 +12,5 @@
         / f"planar_pcs_ns-{NUM_SEGMENTS}.dill"
     )
     symbolically_derive_planar_pcs_model(
-        num_segments=NUM_SEGMENTS, filepath=sym_exp_filepath, simplify_expressions=True
+        num_segments=NUM_SEGMENTS, filepath=sym_exp_filepath, simplify_expressions=True if NUM_SEGMENTS < 3 else False
     )

Original file line number	Diff line number	Diff line change
`@@ -12,5 +12,5 @@`
`12`	`12`	`/ f"planar_pcs_ns-{NUM_SEGMENTS}.dill"`
`13`	`13`	`)`
`14`	`14`	`symbolically_derive_planar_pcs_model(`
`15`		`- num_segments=NUM_SEGMENTS, filepath=sym_exp_filepath, simplify_expressions=True`
	`15`	`+ num_segments=NUM_SEGMENTS, filepath=sym_exp_filepath, simplify_expressions=True if NUM_SEGMENTS < 3 else False`
`16`	`16`	`)`