def AddMovingObstacles(system):
# Create contact material, of appropriate type. Use default properties
material = None
if (NSC_SMC == chrono.ChContactMethod_NSC):
matNSC = chrono.ChMaterialSurfaceNSC()
#Change NSC material properties as desired
material = matNSC
elif (NSC_SMC == chrono.ChContactMethod_SMC):
matSMC = chrono.ChMaterialSurfaceSMC()
# Change SMC material properties as desired
material = matSMC
else:
raise ("Unvalid Contact Method")
sizeX = 300
sizeY = 300
height = 0
numObstacles = 10
for i in range(numObstacles):
o_sizeX = 1.0 + 3.0 * chrono.ChRandom()
o_sizeY = 0.3 + 0.2 * chrono.ChRandom()
o_sizeZ = 0.05 + 0.1 * chrono.ChRandom()
obstacle = chrono.ChBodyEasyBox(o_sizeX, o_sizeY, o_sizeZ, 2000.0,
True, True, material)
o_posX = (chrono.ChRandom() - 0.5) * 0.4 * sizeX
o_posY = (chrono.ChRandom() - 0.5) * 0.4 * sizeY
o_posZ = height + 4
rot = chrono.ChQuaternionD(chrono.ChRandom(), chrono.ChRandom(),
chrono.ChRandom(), chrono.ChRandom())
rot.Normalize()
obstacle.SetPos(chrono.ChVectorD(o_posX, o_posY, o_posZ))
obstacle.SetRot(rot)
system.AddBody(obstacle)
def __init__(self, filename, scale_range):
self.filename = filename
self.scale_range = scale_range
self.ready = False
self.mesh = chrono.ChTriangleMeshConnected()
self.mesh.LoadWavefrontMesh(chrono.GetChronoDataFile(self.filename), True, True)
self.shape = chrono.ChTriangleMeshShape()
self.shape.SetMesh(self.mesh)
self.shape.SetStatic(True)
self.body = chrono.ChBody()
self.body.AddAsset(self.shape)
self.body.SetCollide(True)
self.body.SetBodyFixed(True)
surface_mat = chrono.ChMaterialSurfaceNSC()
surface_mat.SetFriction(0.9)
surface_mat.SetRestitution(0.01)
self.body.GetCollisionModel().ClearModel()
self.body.GetCollisionModel().AddTriangleMesh(surface_mat, self.mesh, False, False)
self.body.GetCollisionModel().BuildModel()
self.scale = 1
def AddFixedObstacles(system):
# Create contact material, of appropriate type. Use default properties
material = None
if (NSC_SMC == chrono.ChContactMethod_NSC):
matNSC = chrono.ChMaterialSurfaceNSC()
#Change NSC material properties as desired
material = matNSC
elif (NSC_SMC == chrono.ChContactMethod_SMC):
matSMC = chrono.ChMaterialSurfaceSMC()
# Change SMC material properties as desired
material = matSMC
else:
raise ("Unvalid Contact Method")
radius = 3
length = 10
obstacle = chrono.ChBodyEasyCylinder(radius, length, 2000, True, True,
material)
obstacle.SetPos(chrono.ChVectorD(-20, 0, -2.7))
obstacle.SetBodyFixed(True)
system.AddBody(obstacle)
for i in range(8):
stoneslab = chrono.ChBodyEasyBox(0.5, 2.5, 0.25, 2000, True, True,
material)
stoneslab.SetPos(chrono.ChVectorD(-1.2 * i + 22, -1.5, -0.05))
stoneslab.SetRot(
chrono.Q_from_AngAxis(15 * chrono.CH_C_DEG_TO_RAD, chrono.VECT_Y))
stoneslab.SetBodyFixed(True)
system.AddBody(stoneslab)
def __init__(self):
ChronoBaseEnv.__init__(self)
#self._set_observation_space(np.ndarray([4,]))
#self.action_space = np.zeros([4,])
low = np.full(4, -1000)
high = np.full(4, 1000)
self.observation_space = spaces.Box(low, high, dtype=np.float32)
self.action_space = spaces.Box(low=-1.0,
high=1.0,
shape=(1, ),
dtype=np.float32)
self.info = {"timeout": 100000}
self.timestep = 0.01
# ---------------------------------------------------------------------
#
# Create the simulation system and add items
#
self.rev_pend_sys = chrono.ChSystemNSC()
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001)
#rev_pend_sys.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN) # precise, more slow
self.rev_pend_sys.SetMaxItersSolverSpeed(70)
# Create a contact material (surface property)to share between all objects.
self.rod_material = chrono.ChMaterialSurfaceNSC()
self.rod_material.SetFriction(0.5)
self.rod_material.SetDampingF(0.2)
self.rod_material.SetCompliance(0.0000001)
self.rod_material.SetComplianceT(0.0000001)
# Create the set of rods in a vertical stack, along Y axis
self.size_rod_y = 2.0
self.radius_rod = 0.05
self.density_rod = 50 # kg/m^3
self.mass_rod = self.density_rod * self.size_rod_y * chrono.CH_C_PI * (
self.radius_rod**2)
self.inertia_rod_y = (self.radius_rod**2) * self.mass_rod / 2
self.inertia_rod_x = (self.mass_rod / 12) * ((self.size_rod_y**2) + 3 *
(self.radius_rod**2))
self.size_table_x = 0.3
self.size_table_y = 0.3
self.size_table_z = 0.3
self.reset()
# Visualization shape
body_1_2_shape = chrono.ChObjShapeFile()
body_1_2_shape.SetFilename(shapes_dir + 'body_1_2.obj')
body_1_2_level = chrono.ChAssetLevel()
body_1_2_level.GetFrame().SetPos(
chrono.ChVectorD(0.0654391949504455, 0.053691361648147,
-0.187114016856069))
body_1_2_level.GetFrame().SetRot(
chrono.ChQuaternionD(0.667465028254667, -0.66746502825467,
-0.233431865984476, -0.233431865984475))
body_1_2_level.GetAssets().push_back(body_1_2_shape)
body_1.GetAssets().push_back(body_1_2_level)
# Collision material
mat_1 = chrono.ChMaterialSurfaceNSC()
# Collision shapes
body_1.GetCollisionModel().ClearModel()
mr = chrono.ChMatrix33D()
mr[0, 0] = 0.563277959889745
mr[1, 0] = -3.62094996255649E-15
mr[2, 0] = -0.826267474793996
mr[0, 1] = 0.826267474793996
mr[1, 1] = 1.45159525356894E-15
mr[2, 1] = 0.563277959889746
mr[0, 2] = -8.40195363182309E-16
mr[1, 2] = -1
mr[2, 2] = 3.80952479493291E-15
body_1.GetCollisionModel().AddBox(
mat_1, 0.00250923730353971, 0.00239999309720335, 0.00280857758415823,
def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# Create the HMMWV vehicle, set parameters, and initialize
my_hmmwv = veh.HMMWV_Full()
my_hmmwv.SetContactMethod(contact_method)
my_hmmwv.SetChassisFixed(False)
my_hmmwv.SetInitPosition(
chrono.ChCoordsysD(initLoc, chrono.ChQuaternionD(1, 0, 0, 0)))
my_hmmwv.SetPowertrainType(powertrain_model)
my_hmmwv.SetDriveType(drive_type)
my_hmmwv.SetSteeringType(steering_type)
my_hmmwv.SetTireType(tire_model)
my_hmmwv.SetTireStepSize(tire_step_size)
my_hmmwv.Initialize()
my_hmmwv.SetChassisVisualizationType(chassis_vis_type)
my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type)
my_hmmwv.SetSteeringVisualizationType(steering_vis_type)
my_hmmwv.SetWheelVisualizationType(wheel_vis_type)
my_hmmwv.SetTireVisualizationType(tire_vis_type)
# Create the terrain
terrain = veh.RigidTerrain(my_hmmwv.GetSystem())
if (contact_method == chrono.ChContactMethod_NSC):
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
elif (contact_method == chrono.ChContactMethod_SMC):
patch_mat = chrono.ChMaterialSurfaceSMC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch_mat.SetYoungModulus(2e7)
patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1), 300, 50)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
terrain.Initialize()
# Create the path-follower, cruise-control driver
# Use a parameterized ISO double lane change (to left)
path = veh.DoubleLaneChangePath(initLoc, 13.5, 4.0, 11.0, 50.0, True)
driver = veh.ChPathFollowerDriver(my_hmmwv.GetVehicle(), path, "my_path",
target_speed)
driver.GetSteeringController().SetLookAheadDistance(5)
driver.GetSteeringController().SetGains(0.8, 0, 0)
driver.GetSpeedController().SetGains(0.4, 0, 0)
driver.Initialize()
# Create the vehicle Irrlicht interface
app = veh.ChWheeledVehicleIrrApp(my_hmmwv.GetVehicle(), 'HMMWV',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(-60, -30, 100),
irr.vector3df(60, 30, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(chrono.ChVectorD(0.0, 0.0, 1.75), 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Visualization of controller points (sentinel & target)
ballS = app.GetSceneManager().addSphereSceneNode(0.1)
ballT = app.GetSceneManager().addSphereSceneNode(0.1)
ballS.getMaterial(0).EmissiveColor = irr.SColor(0, 255, 0, 0)
ballT.getMaterial(0).EmissiveColor = irr.SColor(0, 0, 255, 0)
# Simulation loop
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
time = my_hmmwv.GetSystem().GetChTime()
# End simulation
if (time >= t_end):
break
# Update sentinel and target location markers for the path-follower controller.
pS = driver.GetSteeringController().GetSentinelLocation()
pT = driver.GetSteeringController().GetTargetLocation()
ballS.setPosition(irr.vector3df(pS.x, pS.y, pS.z))
ballT.setPosition(irr.vector3df(pT.x, pT.y, pT.z))
# Draw scene
app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Get driver inputs
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
driver.Synchronize(time)
terrain.Synchronize(time)
my_hmmwv.Synchronize(time, driver_inputs, terrain)
app.Synchronize("", driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
terrain.Advance(step_size)
my_hmmwv.Advance(step_size)
app.Advance(step_size)
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.01) chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.005) #chrono.ChCollisionSystemBullet.SetContactBreakingThreshold(0.01) # Create a fixed rigid body phi = 40 * chrono.CH_C_DEG_TO_RAD rad_sph = 0.1 alpha = 45 * chrono.CH_C_DEG_TO_RAD beta = alpha - 0 * chrono.CH_C_DEG_TO_RAD thick = 0.2 fixed_L = True friction = math.tan(phi) print(friction) brick_material = chrono.ChMaterialSurfaceNSC() brick_material.SetFriction(friction) brick_material.SetDampingF(0.00000) brick_material.SetCompliance(1e-9) brick_material.SetComplianceT(1e-9) # brick_material.SetRollingFriction(rollfrict_param) # brick_material.SetSpinningFriction(0) # brick_material.SetComplianceRolling(0.0000001) # brick_material.SetComplianceSpinning(0.0000001) L_material = chrono.ChMaterialSurfaceNSC() L_material.SetFriction(0) # brick_material.SetDampingF(0.2) # brick_material.SetCompliance (0.0000001) # brick_material.SetComplianceT(0.0000001) # brick_material.SetRollingFriction(rollfrict_param)
my_shbodyB.SetName('BodyB')
my_shbodyB.SetPos(chrono.ChVectorD(0,2,0))
my_shbodyB.GetCollisionModel().AddBox(1,1,1)
my_shbodyB.SetCollide(True)
my_shmarker = chrono.ChMarker()
my_funct = chrono.ChFunction_Sine(0,0.5,3)
my_shmarker.SetMotion_X(my_funct)
my_shmarker.SetPos(chrono.ChVectorD(1,2,3))
my_shbodyB.AddMarker(my_shmarker)
my_system.Add(my_shbodyA)
my_system.Add(my_shbodyB)
# Define surface material(s)
my_shmaterial = chrono.ChMaterialSurfaceNSC()
my_shmaterial.SetFriction(0.3)
my_shmaterial.SetCompliance(0)
my_shbodyA.SetMaterialSurface(my_shmaterial)
my_shbodyB.SetMaterialSurface(my_shmaterial)
# Add Contact callback (TO FIX!!)
##class MyContactCallback(chrono.ChCustomCollisionPointCallbackP):
## def __init__(self):
## chrono.ChCustomCollisionPointCallbackP.__init__(self)
## def ContactCallback(self,collinfo,matcouple):
## print (' add contact: ' , collinfo.distance, matcouple.static_friction)
##
##my_call = MyContactCallback()
##my_system.SetCustomCollisionPointCallback(my_call)
# Create a Chrono::Engine physical system
mphysicalSystem = chrono.ChSystemNSC()
# Create the Irrlicht visualization (open the Irrlicht device,
# bind a simple user interface, etc, etc.)
application = chronoirr.ChIrrApp(mphysicalSystem, "Gears annd pulleys",
chronoirr.dimension2du(800, 600), False)
# Easy shortcuts to add camera, lights, logo, and sky in Irrlicht scene:
application.AddTypicalLogo()
application.AddTypicalSky()
application.AddTypicalLights()
application.AddTypicalCamera(chronoirr.vector3df(12, 15, -20))
# Contact material shared among all bodies
mat = chrono.ChMaterialSurfaceNSC()
# Create all rigid bodies.
radA = 2
radB = 4
# ...the truss
mbody_truss = chrono.ChBodyEasyBox(20, 10, 2, 1000, True, False, mat)
mphysicalSystem.Add(mbody_truss)
mbody_truss.SetBodyFixed(True)
mbody_truss.SetPos(chrono.ChVectorD(0, 0, 3))
# ...a texture asset that will be shared among the four wheels
cylinder_texture = chrono.ChTexture(
chrono.GetChronoDataFile("textures/pinkwhite.png"))
def reset(self):
del self.manager
material = chrono.ChMaterialSurfaceNSC()
self.vehicle = veh.HMMWV_Reduced()
self.vehicle.SetContactMethod(chrono.ChContactMethod_NSC)
self.vehicle.SetChassisCollisionType(
veh.ChassisCollisionType_PRIMITIVES)
self.vehicle.SetChassisFixed(False)
self.vehicle.SetInitPosition(
chrono.ChCoordsysD(self.initLoc, self.initRot))
self.vehicle.SetPowertrainType(veh.PowertrainModelType_SHAFTS)
self.vehicle.SetDriveType(veh.DrivelineType_AWD)
#self.vehicle.SetSteeringType(veh.SteeringType_PITMAN_ARM)
self.vehicle.SetTireType(veh.TireModelType_TMEASY)
self.vehicle.SetTireStepSize(self.timestep)
self.vehicle.Initialize()
#self.vehicle.SetStepsize(self.timestep)
if self.play_mode == True:
self.vehicle.SetChassisVisualizationType(
veh.VisualizationType_MESH)
self.vehicle.SetWheelVisualizationType(veh.VisualizationType_MESH)
self.vehicle.SetTireVisualizationType(veh.VisualizationType_MESH)
else:
self.vehicle.SetChassisVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetWheelVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSuspensionVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSteeringVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.chassis_body = self.vehicle.GetChassisBody()
self.chassis_body.GetCollisionModel().ClearModel()
size = chrono.ChVectorD(3, 2, 0.2)
self.chassis_body.GetCollisionModel().AddBox(material, 0.5 * size.x,
0.5 * size.y,
0.5 * size.z)
self.chassis_body.GetCollisionModel().BuildModel()
# Driver
self.driver = veh.ChDriver(self.vehicle.GetVehicle())
# Rigid terrain
self.system = self.vehicle.GetSystem()
self.terrain = veh.RigidTerrain(self.system)
patch = self.terrain.AddPatch(
material, chrono.ChVectorD(0, 0, self.terrainHeight - .5),
chrono.VECT_Z, self.terrainLength, self.terrainWidth, 10)
material.SetFriction(0.9)
material.SetRestitution(0.01)
#patch.SetContactMaterialProperties(2e7, 0.3)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200,
200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
self.terrain.Initialize()
ground_body = patch.GetGroundBody()
ground_asset = ground_body.GetAssets()[0]
visual_asset = chrono.CastToChVisualization(ground_asset)
vis_mat = chrono.ChVisualMaterial()
vis_mat.SetKdTexture(chrono.GetChronoDataFile("concrete.jpg"))
visual_asset.material_list.append(vis_mat)
# create obstacles
self.boxes = []
for i in range(3):
box = chrono.ChBodyEasyBox(2, 2, 10, 1000, True, True)
box.SetPos(
chrono.ChVectorD(25 + 25 * i,
(np.random.rand(1)[0] - 0.5) * 10, .05))
box.SetBodyFixed(True)
box_asset = box.GetAssets()[0]
visual_asset = chrono.CastToChVisualization(box_asset)
vis_mat = chrono.ChVisualMaterial()
vis_mat.SetAmbientColor(chrono.ChVectorF(0, 0, 0))
vis_mat.SetDiffuseColor(chrono.ChVectorF(.2, .2, .9))
vis_mat.SetSpecularColor(chrono.ChVectorF(.9, .9, .9))
visual_asset.material_list.append(vis_mat)
visual_asset.SetStatic(True)
self.boxes.append(box)
self.system.Add(box)
# Set the time response for steering and throttle inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0
# time to go from 0 to +1 (or from 0 to -1)
throttle_time = .5
# time to go from 0 to +1
braking_time = 0.3
# time to go from 0 to +1
self.SteeringDelta = (self.timestep / steering_time)
self.ThrottleDelta = (self.timestep / throttle_time)
self.BrakingDelta = (self.timestep / braking_time)
self.manager = sens.ChSensorManager(self.system)
self.manager.scene.AddPointLight(chrono.ChVectorF(100, 100, 100),
chrono.ChVectorF(1, 1, 1), 4000.0)
self.manager.scene.AddPointLight(chrono.ChVectorF(-100, -100, 100),
chrono.ChVectorF(1, 1, 1), 4000.0)
# ------------------------------------------------
# Create a self.camera and add it to the sensor manager
# ------------------------------------------------
self.camera = sens.ChCameraSensor(
self.chassis_body, # body camera is attached to
50, # scanning rate in Hz
chrono.ChFrameD(chrono.ChVectorD(1.5, 0, .875)),
# offset pose
self.camera_width, # number of horizontal samples
self.camera_height, # number of vertical channels
chrono.CH_C_PI / 3, # horizontal field of view
#(self.camera_height / self.camera_width) * chrono.CH_C_PI / 3. # vertical field of view
)
self.camera.SetName("Camera Sensor")
self.camera.PushFilter(sens.ChFilterRGBA8Access())
self.manager.AddSensor(self.camera)
# -----------------------------------------------------------------
# Create a filter graph for post-processing the data from the lidar
# -----------------------------------------------------------------
self.d_old = np.linalg.norm(self.Xtarg + self.Ytarg)
self.step_number = 0
self.c_f = 0
self.isdone = False
self.render_setup = False
if self.play_mode:
self.render()
return self.get_ob()
# Add items to the physical system
my_system = chrono.ChSystemNSC()
for my_item in exported_items:
my_system.Add(my_item)
# Create a contact material (surface property)to share between all objects.
# The rolling and spinning parameters are optional - if enabled they double
# the computational time.
pebble_material = chrono.ChMaterialSurfaceNSC()
pebble_material.SetFriction(0.6)
#pebble_material.SetDampingF(0.1)
#pebble_material.SetCompliance (0.0000000001)
#pebble_material.SetComplianceT(0.0000000001)
pebble_material.SetRollingFriction(0.005)
pebble_material.SetSpinningFriction(0.005)
# pebble_material.SetComplianceRolling(0.0000001)
# pebble_material.SetComplianceSpinning(0.0000001)
# Assign the surface material also to items made with CAD:
my_bodyfloor = my_system.SearchBody('floor_box^assembly_conveyor-1')
if not my_bodyfloor :
sys.exit('Error: cannot find floor_box from its name in the C::E system!')
def main():
print("Copyright (c) 2017 projectchrono.org" + "\n\n")
# Create systems
# Create the HMMWV vehicle, set parameters, and initialize
my_hmmwv = veh.HMMWV_Full()
my_hmmwv.SetContactMethod(contact_method)
my_hmmwv.SetChassisCollisionType(chassis_collision_type)
my_hmmwv.SetChassisFixed(False)
my_hmmwv.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))
my_hmmwv.SetPowertrainType(powertrain_model)
my_hmmwv.SetDriveType(drive_type)
my_hmmwv.SetSteeringType(steering_type)
my_hmmwv.SetTireType(tire_model)
my_hmmwv.SetTireStepSize(tire_step_size)
my_hmmwv.Initialize()
my_hmmwv.SetChassisVisualizationType(chassis_vis_type)
my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type)
my_hmmwv.SetSteeringVisualizationType(steering_vis_type)
my_hmmwv.SetWheelVisualizationType(wheel_vis_type)
my_hmmwv.SetTireVisualizationType(tire_vis_type)
# Create the terrain
terrain = veh.RigidTerrain(my_hmmwv.GetSystem())
if (contact_method == chrono.ChContactMethod_NSC):
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
elif (contact_method == chrono.ChContactMethod_SMC):
patch_mat = chrono.ChMaterialSurfaceSMC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch_mat.SetYoungModulus(2e7)
patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1), terrainLength,
terrainWidth)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
terrain.Initialize()
# Create the vehicle Irrlicht interface
app = veh.ChWheeledVehicleIrrApp(my_hmmwv.GetVehicle(), 'HMMWV',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(30, -30, 100),
irr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Initialize output
try:
os.mkdir(out_dir)
except:
print("Error creating directory ")
# Set up vehicle output
my_hmmwv.GetVehicle().SetChassisOutput(True)
my_hmmwv.GetVehicle().SetSuspensionOutput(0, True)
my_hmmwv.GetVehicle().SetSteeringOutput(0, True)
my_hmmwv.GetVehicle().SetOutput(veh.ChVehicleOutput.ASCII, out_dir,
"output", 0.1)
# Generate JSON information with available output channels
my_hmmwv.GetVehicle().ExportComponentList(out_dir + "/component_list.json")
# Create the interactive driver system
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
steering_time = 1.0 # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0 # time to go from 0 to +1
braking_time = 0.3 # time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
driver.Initialize()
# Simulation loop
# Number of simulation steps between miscellaneous events
render_steps = m.ceil(render_step_size / step_size)
debug_steps = m.ceil(debug_step_size / step_size)
# Initialize simulation frame counter and simulation time
step_number = 0
render_frame = 0
if (contact_vis):
app.SetSymbolscale(1e-4)
# app.SetContactsDrawMode(irr.eCh_ContactsDrawMode::CONTACT_FORCES);
# ---------------------------------------------
# Create a sensor manager and add a point light
# ---------------------------------------------
manager = sens.ChSensorManager(my_hmmwv.GetSystem())
manager.scene.AddPointLight(chrono.ChVectorF(0, 0, 100),
chrono.ChVectorF(2, 2, 2), 5000)
manager.SetKeyframeSizeFromTimeStep(.001, 1 / 5)
# ------------------------------------------------
# Create a camera and add it to the sensor manager
# ------------------------------------------------
fov = 1.408
lag = 0
update_rate = 5
exposure_time = 1 / update_rate
offset_pose = chrono.ChFrameD(chrono.ChVectorD(-5, 0, 2))
cam = sens.ChCameraSensor(
my_hmmwv.GetChassisBody(), # body camera is attached to
update_rate, # update rate in Hz
offset_pose, # offset pose
image_width, # image width
image_height, # image height
fov # camera's horizontal field of view
)
cam.SetName("Camera Sensor")
# cam.SetLag(0);
# cam.SetCollectionWindow(0);
# Visualizes the image
if vis:
cam.PushFilter(
sens.ChFilterVisualize(image_width, image_height, "HMMWV Camera"))
# Save the current image to a png file at the specified path
if save:
cam.PushFilter(sens.ChFilterSave(out_dir + "cam/"))
# Add a camera to a sensor manager
manager.AddSensor(cam)
# ----------------------------------------------
# Create an IMU sensor and add it to the manager
# ----------------------------------------------
offset_pose = chrono.ChFrameD(
chrono.ChVectorD(-8, 0, 1),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0)))
imu = sens.ChIMUSensor(
my_hmmwv.GetChassisBody(), # body imu is attached to
imu_update_rate, # update rate in Hz
offset_pose, # offset pose
imu_noise_none # noise model
)
imu.SetName("IMU Sensor")
imu.SetLag(imu_lag)
imu.SetCollectionWindow(imu_collection_time)
# Provides the host access to the imu data
imu.PushFilter(sens.ChFilterIMUAccess())
# Add the imu to the sensor manager
manager.AddSensor(imu)
# ----------------------------------------------
# Create an GPS sensor and add it to the manager
# ----------------------------------------------
offset_pose = chrono.ChFrameD(
chrono.ChVectorD(-8, 0, 1),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0)))
gps = sens.ChGPSSensor(
my_hmmwv.GetChassisBody(), # body imu is attached to
gps_update_rate, # update rate in Hz
offset_pose, # offset pose
gps_reference,
gps_noise_none # noise model
)
gps.SetName("GPS Sensor")
gps.SetLag(gps_lag)
gps.SetCollectionWindow(gps_collection_time)
# Provides the host access to the gps data
gps.PushFilter(sens.ChFilterGPSAccess())
# Add the gps to the sensor manager
manager.AddSensor(gps)
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
time = my_hmmwv.GetSystem().GetChTime()
#End simulation
if (time >= t_end):
break
if (step_number % render_steps == 0):
app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
#Debug logging
if (debug_output and step_number % debug_steps == 0):
print("\n\n============ System Information ============\n")
print("Time = " << time << "\n\n")
#my_hmmwv.DebugLog(OUT_SPRINGS | OUT_SHOCKS | OUT_CONSTRAINTS)
marker_driver = my_hmmwv.GetChassis().GetMarkers()[0].GetAbsCoord(
).pos
marker_com = my_hmmwv.GetChassis().GetMarkers()[1].GetAbsCoord(
).pos
print("Markers\n")
print(" Driver loc: ", marker_driver.x, " ", marker_driver.y,
" ", marker_driver.z)
print(" Chassis COM loc: ", marker_com.x, " ", marker_com.y, " ",
marker_com.z)
# Get driver inputs
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
driver.Synchronize(time)
terrain.Synchronize(time)
my_hmmwv.Synchronize(time, driver_inputs, terrain)
app.Synchronize(driver.GetInputModeAsString(), driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
terrain.Advance(step_size)
my_hmmwv.Advance(step_size)
app.Advance(step_size)
# Update sensor manager
# Will render/save/filter automatically
manager.Update()
# Increment frame number
step_number += 1
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0
# Set the default margins for collision detection, this is epecially
# important for very large or very small objects.
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001)
# Create the set of the particle clones (many rigid bodies that
# share the same mass and collision shape, so they are memory efficient
# in case you want to simulate granular material)
body_particles = chrono.ChParticlesClones()
body_particles.SetMass(0.01)
inertia = 2 / 5 * (pow(0.005, 2)) * 0.01
body_particles.SetInertiaXX(chrono.ChVectorD(inertia, inertia, inertia))
# Collision shape (shared by all particle clones) Must be defined BEFORE adding particles
particle_material = chrono.ChMaterialSurfaceNSC()
body_particles.GetCollisionModel().ClearModel()
body_particles.GetCollisionModel().AddSphere(particle_material, 0.005)
body_particles.GetCollisionModel().BuildModel()
body_particles.SetCollide(True)
# add particles
for ix in range(0, 5):
for iy in range(0, 5):
for iz in range(0, 3):
body_particles.AddParticle(
chrono.ChCoordsysD(
chrono.ChVectorD(ix / 100, 0.1 + iy / 100, iz / 100)))
# Visualization shape (shared by all particle clones)
def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# Create systems
# Create the HMMWV vehicle, set parameters, and initialize
my_hmmwv = veh.HMMWV_Full()
my_hmmwv.SetContactMethod(contact_method)
my_hmmwv.SetChassisCollisionType(chassis_collision_type)
my_hmmwv.SetChassisFixed(False)
my_hmmwv.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))
my_hmmwv.SetPowertrainType(powertrain_model)
my_hmmwv.SetDriveType(drive_type)
my_hmmwv.SetSteeringType(steering_type)
my_hmmwv.SetTireType(tire_model)
my_hmmwv.SetTireStepSize(tire_step_size)
my_hmmwv.Initialize()
my_hmmwv.SetChassisVisualizationType(chassis_vis_type)
my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type)
my_hmmwv.SetSteeringVisualizationType(steering_vis_type)
my_hmmwv.SetWheelVisualizationType(wheel_vis_type)
my_hmmwv.SetTireVisualizationType(tire_vis_type)
# Create the terrain
terrain = veh.RigidTerrain(my_hmmwv.GetSystem())
if (contact_method == chrono.ChContactMethod_NSC):
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
elif (contact_method == chrono.ChContactMethod_SMC):
patch_mat = chrono.ChMaterialSurfaceSMC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch_mat.SetYoungModulus(2e7)
patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1), terrainLength,
terrainWidth)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
terrain.Initialize()
# Create the vehicle Irrlicht interface
app = veh.ChWheeledVehicleIrrApp(my_hmmwv.GetVehicle(), 'HMMWV',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(30, -30, 100),
irr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Initialize output
try:
os.mkdir(out_dir)
except:
print("Error creating directory ")
# Set up vehicle output
my_hmmwv.GetVehicle().SetChassisOutput(True)
my_hmmwv.GetVehicle().SetSuspensionOutput(0, True)
my_hmmwv.GetVehicle().SetSteeringOutput(0, True)
my_hmmwv.GetVehicle().SetOutput(veh.ChVehicleOutput.ASCII, out_dir,
"output", 0.1)
# Generate JSON information with available output channels
my_hmmwv.GetVehicle().ExportComponentList(out_dir + "/component_list.json")
# Create the interactive driver system
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
steering_time = 1.0 # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0 # time to go from 0 to +1
braking_time = 0.3 # time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
driver.Initialize()
# Simulation loop
# Number of simulation steps between miscellaneous events
render_steps = m.ceil(render_step_size / step_size)
debug_steps = m.ceil(debug_step_size / step_size)
# Initialize simulation frame counter and simulation time
step_number = 0
render_frame = 0
if (contact_vis):
app.SetSymbolscale(1e-4)
#app.SetContactsDrawMode(irr.eCh_ContactsDrawMode::CONTACT_FORCES);
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
time = my_hmmwv.GetSystem().GetChTime()
#End simulation
if (time >= t_end):
break
app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
#Debug logging
if (debug_output and step_number % debug_steps == 0):
print("\n\n============ System Information ============\n")
print("Time = " << time << "\n\n")
#my_hmmwv.DebugLog(OUT_SPRINGS | OUT_SHOCKS | OUT_CONSTRAINTS)
marker_driver = my_hmmwv.GetChassis().GetMarkers()[0].GetAbsCoord(
).pos
marker_com = my_hmmwv.GetChassis().GetMarkers()[1].GetAbsCoord(
).pos
print("Markers\n")
print(" Driver loc: ", marker_driver.x, " ", marker_driver.y,
" ", marker_driver.z)
print(" Chassis COM loc: ", marker_com.x, " ", marker_com.y, " ",
marker_com.z)
# Get driver inputs
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
driver.Synchronize(time)
terrain.Synchronize(time)
my_hmmwv.Synchronize(time, driver_inputs, terrain)
app.Synchronize(driver.GetInputModeAsString(), driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
terrain.Advance(step_size)
my_hmmwv.Advance(step_size)
app.Advance(step_size)
# Increment frame number
step_number += 1
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0
def __init__(self, render):
self.render = render
#self.size_rod_y = l
self.observation_space = np.empty([4, 1])
self.action_space = np.empty([1, 1])
self.info = {}
# ---------------------------------------------------------------------
#
# Create the simulation system and add items
#
self.rev_pend_sys = chrono.ChSystemNSC()
# Set the default outward/inward shape margins for collision detection,
# this is epecially important for very large or very small objects.
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001)
#rev_pend_sys.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN) # precise, more slow
self.rev_pend_sys.SetMaxItersSolverSpeed(70)
# Create a contact material (surface property)to share between all objects.
# The rolling and spinning parameters are optional - if enabled they double
# the computational time.
# non ho cantatti, da vedere se è necessario tenere tutto il baraccone
self.rod_material = chrono.ChMaterialSurfaceNSC()
self.rod_material.SetFriction(0.5)
self.rod_material.SetDampingF(0.2)
self.rod_material.SetCompliance(0.0000001)
self.rod_material.SetComplianceT(0.0000001)
# rod_material.SetRollingFriction(rollfrict_param)
# rod_material.SetSpinningFriction(0)
# rod_material.SetComplianceRolling(0.0000001)
# rod_material.SetComplianceSpinning(0.0000001)
# Create the set of rods in a vertical stack, along Y axis
self.size_rod_y = 2.0
self.radius_rod = 0.05
self.density_rod = 50
# kg/m^3
self.mass_rod = self.density_rod * self.size_rod_y * chrono.CH_C_PI * (
self.radius_rod**2)
self.inertia_rod_y = (self.radius_rod**2) * self.mass_rod / 2
self.inertia_rod_x = (self.mass_rod / 12) * ((self.size_rod_y**2) + 3 *
(self.radius_rod**2))
self.size_table_x = 0.3
self.size_table_y = 0.3
if self.render:
self.size_table_z = 0.3
self.myapplication = chronoirr.ChIrrApp(self.rev_pend_sys)
self.myapplication.AddShadowAll()
self.myapplication.SetStepManage(True)
self.myapplication.SetTimestep(0.01)
self.myapplication.SetTryRealtime(True)
self.myapplication.AddTypicalSky('../data/skybox/')
self.myapplication.AddTypicalCamera(
chronoirr.vector3df(0.5, 0.5, 1.0))
self.myapplication.AddLightWithShadow(
chronoirr.vector3df(2, 4, 2), # point
chronoirr.vector3df(0, 0, 0), # aimpoint
9, # radius (power)
1,
9, # near, far
30) # angle of FOV
def __init__(self, render):
self.render = render
self.observation_space = np.empty([4, 1])
self.action_space = np.empty([1, 1])
self.info = {}
self.timestep = 0.01
# ---------------------------------------------------------------------
#
# Create the simulation system and add items
#
self.rev_pend_sys = chrono.ChSystemNSC()
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001)
#rev_pend_sys.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN) # precise, more slow
self.rev_pend_sys.SetMaxItersSolverSpeed(70)
# Create a contact material (surface property)to share between all objects.
self.rod_material = chrono.ChMaterialSurfaceNSC()
self.rod_material.SetFriction(0.5)
self.rod_material.SetDampingF(0.2)
self.rod_material.SetCompliance(0.0000001)
self.rod_material.SetComplianceT(0.0000001)
# Create the set of rods in a vertical stack, along Y axis
self.size_rod_y = 2.0
self.radius_rod = 0.05
self.density_rod = 50
# kg/m^3
self.mass_rod = self.density_rod * self.size_rod_y * chrono.CH_C_PI * (
self.radius_rod**2)
self.inertia_rod_y = (self.radius_rod**2) * self.mass_rod / 2
self.inertia_rod_x = (self.mass_rod / 12) * ((self.size_rod_y**2) + 3 *
(self.radius_rod**2))
self.size_table_x = 0.3
self.size_table_y = 0.3
if self.render:
self.size_table_z = 0.3
self.myapplication = chronoirr.ChIrrApp(self.rev_pend_sys)
self.myapplication.AddShadowAll()
self.myapplication.SetStepManage(True)
self.myapplication.SetTimestep(0.01)
self.myapplication.SetTryRealtime(True)
self.myapplication.AddTypicalSky('../data/skybox/')
self.myapplication.AddTypicalCamera(
chronoirr.vector3df(0.5, 0.5, 1.0))
self.myapplication.AddLightWithShadow(
chronoirr.vector3df(2, 4, 2), # point
chronoirr.vector3df(0, 0, 0), # aimpoint
9, # radius (power)
1,
9, # near, far
30) # angle of FOV
def __init__(self):
ChronoBaseEnv.__init__(self)
low = np.full(30, -1000)
high = np.full(30, 1000)
self.observation_space = spaces.Box(low, high, dtype=np.float32)
self.action_space = spaces.Box(low=-1.0, high=1.0, shape=(8,), dtype=np.float32)
self.info = {"timeout": 10000.0}
# ---------------------------------------------------------------------
#
# Create the simulation system and add items
#
self.Xtarg = 1000.0
self.Ytarg = 0.0
self.d_old = np.linalg.norm(self.Xtarg + self.Ytarg)
self.ant_sys = chrono.ChSystemNSC()
# Set the default outward/inward shape margins for collision detection,
# this is epecially important for very large or very small objects.
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001)
#ant_sys.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN) # precise, more slow
self.ant_sys.SetSolverMaxIterations(70)
self.ant_material = chrono.ChMaterialSurfaceNSC()
self.ant_material.SetFriction(0.5)
self.ant_material.SetDampingF(0.2)
self.ant_material.SetCompliance (0.0005)
self.ant_material.SetComplianceT(0.0005)
self.timestep = 0.01
self.abdomen_x = 0.25
self.abdomen_y = 0.25
self.abdomen_z = 0.25
self.leg_density = 250 # kg/m^3
self.abdomen_density = 100
self.abdomen_y0 = 0.4
self.leg_length = 0.3
self.leg_radius = 0.04
self.ankle_angle = 60*(math.pi/180)
self.ankle_length = 0.4
self.ankle_radius = 0.04
self.gain = 30
self.abdomen_mass = self.abdomen_density * ((4/3)*chrono.CH_C_PI*self.abdomen_x*self.abdomen_y*self.abdomen_z)
self.abdomen_inertia = chrono.ChVectorD((1/5)*self.abdomen_mass*(pow(self.abdomen_y,2)+pow(self.abdomen_z,2)),(1/5)*self.abdomen_mass*(pow(self.abdomen_x,2)+pow(self.abdomen_z,2)),(1/5)*self.abdomen_mass*(pow(self.abdomen_y,2)+pow(self.abdomen_x,2)))
self.leg_mass = self.leg_density * self.leg_length * math.pi* pow (self.leg_radius,2)
self.leg_inertia = chrono.ChVectorD(0.5*self.leg_mass*pow(self.leg_radius,2), (self.leg_mass/12)*(3*pow(self.leg_radius,2)+pow(self.leg_length,2)),(self.leg_mass/12)*(3*pow(self.leg_radius,2)+pow(self.leg_length,2)))
self.ankle_mass = self.leg_density * self.ankle_length * math.pi* pow (self.ankle_radius,2)
self.ankle_inertia = chrono.ChVectorD(0.5*self.ankle_mass*pow(self.ankle_radius,2), (self.ankle_mass/12)*(3*pow(self.ankle_radius,2)+pow(self.ankle_length,2)),(self.ankle_mass/12)*(3*pow(self.ankle_radius,2)+pow(self.ankle_length,2)))
self.leg_limit = chrono.ChLinkLimit()
self.ankle_limit = chrono.ChLinkLimit()
self.leg_limit.SetRmax(math.pi/9)
self.leg_limit.SetRmin(-math.pi/9)
self.ankle_limit.SetRmax(math.pi/9)
self.ankle_limit.SetRmin(-math.pi/9)
def __init__(self):
ChronoBaseEnv.__init__(self)
# Set to False to avoid vis shapes loading. Once you do this, you can no longer render until this is re set to True
self.animate = True
low = np.full(53, -1000)
high = np.full(53, 1000)
self.observation_space = spaces.Box(low, high, dtype=np.float32)
self.action_space = spaces.Box(low=-1.0,
high=1.0,
shape=(18, ),
dtype=np.float32)
self.Xtarg = 0.0
self.Ztarg = 1000.0
self.d_old = np.linalg.norm(self.Xtarg + self.Ztarg)
#self.d_old = np.linalg.norm(self.Xtarg + self.Ytarg)
self.hexapod_sys = chrono.ChSystemNSC()
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.0001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.0001)
#hexapod_sys.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN) # precise, more slow
self.info = {"timeout": 3200.0}
if self.animate:
m_filename = "hexapod"
else:
m_filename = "hexapod_novis"
self.timestep = 0.005
m_length = 1.0
self.my_material = chrono.ChMaterialSurfaceNSC()
self.my_material.SetFriction(0.5)
self.my_material.SetDampingF(0.2)
self.my_material.SetCompliance(0.0000001)
self.my_material.SetComplianceT(0.0000001)
#self.my_material.SetCompliance (0.0005)
#self.my_material.SetComplianceT(0.0005)
#m_visualization = "irrlicht"
print(" file to load is ", m_filename)
print(" timestep is ", self.timestep)
print(" length is ", m_length)
print(" data path for fonts etc.: ", chrono.GetChronoDataPath())
# ---------------------------------------------------------------------
#
# load the file generated by the SolidWorks CAD plugin
# and add it to the ChSystem.
# Remove the trailing .py and add / in case of file without ./
#m_absfilename = os.path.abspath(m_filename)
#m_modulename = os.path.splitext(m_absfilename)[0]
print("Loading C::E scene...")
dir_path = os.path.dirname(os.path.realpath(__file__))
self.fpath = os.path.join(dir_path, m_filename)
#exported_items = chrono.ImportSolidWorksSystem(self.fpath)
#self.exported_items = chrono.ImportSolidWorksSystem(m_modulename)
print("...loading done!")
# Print exported items
#for my_item in exported_items:
#print (my_item.GetName())
# Optionally set some solver parameters.
#self.hexapod_sys.SetMaxPenetrationRecoverySpeed(1.00)
solver = chrono.ChSolverBB()
self.hexapod_sys.SetSolver(solver)
solver.SetMaxIterations(600)
solver.EnableWarmStart(True)
self.hexapod_sys.Set_G_acc(chrono.ChVectorD(0, -9.8, 0))
"""
$$$$$$$$ FIND THE SW DEFINED CONSTRAINTS, GET THEIR self.frames AND GET RID OF EM $$$$$$$$
"""
self.con_link = []
self.coi_link = []
self.hip_names = []
self.femur_names = []
self.tibia_names = []
self.feet_names = []
self.maxSpeed = []
self.maxRot = []
self.minRot = []
Tmax = []
for i in range(1, 19):
self.con_link.append("Concentric" + str(i))
self.coi_link.append("Coincident" + str(i))
self.maxSpeed.append(354) # 59 RPM to deg/s
self.maxRot.append(90) #deg
self.minRot.append(-90) #deg
self.minRot.append(-90) #deg
Tmax.append(1.5) #deg
for i in range(1, 7):
self.hip_names.append("Hip-" + str(i))
self.femur_names.append("Femur-" + str(i))
self.tibia_names.append("Tibia-" + str(i))
self.feet_names.append("Foot-" + str(i))
self.maxT = np.asarray(Tmax)
def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# Create systems
# Create the FEDA vehicle, set parameters, and initialize
my_feda = veh.FEDA()
my_feda.SetContactMethod(contact_method)
my_feda.SetChassisCollisionType(chassis_collision_type)
my_feda.SetChassisFixed(False)
my_feda.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))
my_feda.SetPowertrainType(powertrain_model)
my_feda.SetTireType(tire_model)
my_feda.SetTireStepSize(tire_step_size)
my_feda.Initialize()
my_feda.SetChassisVisualizationType(chassis_vis_type)
my_feda.SetSuspensionVisualizationType(suspension_vis_type)
my_feda.SetSteeringVisualizationType(steering_vis_type)
my_feda.SetWheelVisualizationType(wheel_vis_type)
my_feda.SetTireVisualizationType(tire_vis_type)
# Create the terrain
terrain = veh.RigidTerrain(my_feda.GetSystem())
if (contact_method == chrono.ChContactMethod_NSC):
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
elif (contact_method == chrono.ChContactMethod_SMC):
patch_mat = chrono.ChMaterialSurfaceSMC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch_mat.SetYoungModulus(2e7)
patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1), terrainLength,
terrainWidth)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
terrain.Initialize()
# Create the vehicle Irrlicht interface
app = veh.ChWheeledVehicleIrrApp(my_feda.GetVehicle(), 'HMMWV',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(30, -30, 100),
irr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Create the interactive driver system
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
steering_time = 1.0 # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0 # time to go from 0 to +1
braking_time = 0.3 # time to go from 0 to +1
driver.SetSteeringDelta(10 * step_size / steering_time)
driver.SetThrottleDelta(10 * step_size / throttle_time)
driver.SetBrakingDelta(10 * step_size / braking_time)
driver.Initialize()
# Simulation loop
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
time = my_feda.GetSystem().GetChTime()
app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Get driver inputs
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
driver.Synchronize(time)
terrain.Synchronize(time)
my_feda.Synchronize(time, driver_inputs, terrain)
app.Synchronize(driver.GetInputModeAsString(), driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
terrain.Advance(step_size)
my_feda.Advance(step_size)
app.Advance(step_size)
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0
def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# Create the M113 vehicle
# ------------------------
vehicle = veh.M113_Vehicle(False, veh.TrackShoeType_SINGLE_PIN,
veh.BrakeType_SIMPLE,
chrono.ChContactMethod_SMC,
veh.CollisionType_NONE)
vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot))
vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSprocketVisualizationType(veh.VisualizationType_MESH)
vehicle.SetIdlerVisualizationType(veh.VisualizationType_MESH)
vehicle.SetRoadWheelAssemblyVisualizationType(veh.VisualizationType_MESH)
vehicle.SetRoadWheelVisualizationType(veh.VisualizationType_MESH)
vehicle.SetTrackShoeVisualizationType(veh.VisualizationType_MESH)
# Create the powertrain system
# ----------------------------
powertrain = veh.M113_SimpleCVTPowertrain("Powertrain")
vehicle.InitializePowertrain(powertrain)
# Create the terrain
# ------------------
terrain = veh.RigidTerrain(vehicle.GetSystem())
if (contact_method == chrono.ChContactMethod_NSC):
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
elif (contact_method == chrono.ChContactMethod_SMC):
patch_mat = chrono.ChMaterialSurfaceSMC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch_mat.SetYoungModulus(2e7)
patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1), terrainLength,
terrainWidth)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
patch.SetColor(chrono.ChColor(0.5, 0.8, 0.5))
terrain.Initialize()
# Create the vehicle Irrlicht interface
# -------------------------------------
app = veh.ChTrackedVehicleIrrApp(vehicle, 'M113',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(30, -30, 100),
irr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Create the interactive driver system
# ------------------------------------
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
steering_time = 0.5 # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0 # time to go from 0 to +1
braking_time = 0.3 # time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
driver.Initialize()
# Simulation loop
# ---------------
# Inter-module communication data
shoe_forces_left = veh.TerrainForces(vehicle.GetNumTrackShoes(veh.LEFT))
shoe_forces_right = veh.TerrainForces(vehicle.GetNumTrackShoes(veh.RIGHT))
# Number of simulation steps between miscellaneous events
render_steps = m.ceil(render_step_size / step_size)
# Initialize simulation frame counter and simulation time
step_number = 0
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
time = vehicle.GetSystem().GetChTime()
app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Get driver inputs
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
driver.Synchronize(time)
terrain.Synchronize(time)
vehicle.Synchronize(time, driver_inputs, shoe_forces_left,
shoe_forces_right)
app.Synchronize("", driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
terrain.Advance(step_size)
vehicle.Advance(step_size)
app.Advance(step_size)
# Increment frame number
step_number += 1
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0
def __init__(self, render):
self.animate = render
self.observation_space = np.empty([
18,
])
self.action_space = np.zeros([
6,
])
#TODO: check if targ is reachable
self.fingerdist = chrono.ChVectorD(0, 0.1117, 0)
#self.d_old = np.linalg.norm(self.Xtarg + self.Ytarg)
self.robosystem = chrono.ChSystemNSC()
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001)
#robosystem.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN) # precise, more slow
self.timestep = 0.01
self.info = {}
m_filename = "ABB_IRB120"
self.timestep = 0.001
m_length = 1.0
self.my_material = chrono.ChMaterialSurfaceNSC()
self.my_material.SetFriction(0.5)
self.my_material.SetDampingF(0.2)
self.my_material.SetCompliance(0.0000001)
self.my_material.SetComplianceT(0.0000001)
#m_visualization = "irrlicht"
self.m_datapath = "../../../../../../codes/Chrono/Chrono_Source/data"
chrono.SetChronoDataPath(self.m_datapath)
print(" file to load is ", m_filename)
print(" timestep is ", self.timestep)
print(" length is ", m_length)
print(" data path for fonts etc.: ", self.m_datapath)
# ---------------------------------------------------------------------
#
# load the file generated by the SolidWorks CAD plugin
# and add it to the ChSystem.
# Remove the trailing .py and add / in case of file without ./
#m_absfilename = os.path.abspath(m_filename)
#m_modulename = os.path.splitext(m_absfilename)[0]
print("Loading C::E scene...")
dir_path = os.path.dirname(os.path.realpath(__file__))
self.fpath = os.path.join(dir_path, m_filename)
#exported_items = chrono.ImportSolidWorksSystem(self.fpath)
#self.exported_items = chrono.ImportSolidWorksSystem(m_modulename)
print("...loading done!")
# Print exported items
#for my_item in exported_items:
#print (my_item.GetName())
# Optionally set some solver parameters.
#self.robosystem.SetMaxPenetrationRecoverySpeed(1.00)
self.robosystem.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN)
self.robosystem.SetMaxItersSolverSpeed(600)
self.robosystem.SetSolverWarmStarting(True)
self.robosystem.Set_G_acc(chrono.ChVectorD(0, -9.8, 0))
"""
$$$$$$$$ FIND THE SW DEFINED CONSTRAINTS, GET THEIR self.frames AND GET RID OF EM $$$$$$$$
"""
self.con_link = [
"Concentric1", "Concentric2", "Concentric3", "Concentric4",
"Concentric5", "Concentric6"
]
self.coi_link = [
"Coincident1", "Coincident2", "Coincident3", "Coincident4",
"Coincident5", "Coincident6"
]
self.bodiesNames = [
"Racer3_p01-1", "Racer3_p02-1", "Racer3_p03-1", "Racer3_p04-1",
"Racer3_p05-1", "Racer3_p06-2", "Hand_base_and_p07-3"
]
# self.maxSpeed = [430, 450, 500, 600, 600, 900] #°/s -->COMAU
self.maxSpeed = [250, 250, 250, 320, 320, 420] #°/s --> ABB
# TODO: convert to rads (converted in every operation)
#self.limits:
# TODO: check signs
# TODO: peridodicity ignored
# REAL self.limits
#self.maxRot = [170, 135, 90, 200, 125, 2700] # °
#self.minRot = [-170, -95, -155, -200, -125, -2700] # °
# MODIFIED self.limits
# self.maxRot = [170, 135, 90, 179, 50, 79] # ° --> COMAU
# self.minRot = [-170, -95, -155, -179, -50, -79] # ° --> COMAU
self.maxRot = [165, 110, 70, 160, 120, 179] # ° --> ABB
self.minRot = [-165, -110, -110, -160, -100, -179] # ° --> ABB
#self.maxT = np.asarray([28, 28, 28, 7.36, 7.36, 4.41])
self.maxT = np.asarray([100, 100, 50, 7.36, 7.36,
4.41]) # --> LASCIATI UGUALI A COMAU
if (self.animate):
self.myapplication = chronoirr.ChIrrApp(
self.robosystem, 'Test', chronoirr.dimension2du(1280, 720))
self.myapplication.AddShadowAll()
self.myapplication.SetStepManage(True)
self.myapplication.SetTimestep(self.timestep)
self.myapplication.AddTypicalSky(chrono.GetChronoDataPath() +
'skybox/')
self.myapplication.AddTypicalLogo(chrono.GetChronoDataPath() +
'logo_pychrono_alpha.png')
self.myapplication.AddTypicalCamera(
chronoirr.vector3df(1, 1, 1),
chronoirr.vector3df(0.0, 0.0, 0.0))
self.myapplication.AddTypicalLights() # angle of FOV
def reset(self):
x_half_length = 90
y_half_length = 40
self.path = BezierPath(x_half_length, y_half_length, 0.5,
self.interval)
pos, rot = self.path.getPosRot(self.path.current_t - self.interval)
self.initLoc = chrono.ChVectorD(pos)
self.initRot = chrono.ChQuaternionD(rot)
self.vehicle = veh.HMMWV_Reduced()
self.vehicle.SetContactMethod(chrono.ChContactMethod_NSC)
self.surf_material = chrono.ChMaterialSurfaceNSC()
self.vehicle.SetChassisCollisionType(
veh.ChassisCollisionType_PRIMITIVES)
self.vehicle.SetChassisFixed(False)
self.vehicle.SetInitPosition(
chrono.ChCoordsysD(self.initLoc, self.initRot))
self.vehicle.SetPowertrainType(veh.PowertrainModelType_SHAFTS)
self.vehicle.SetDriveType(veh.DrivelineType_AWD)
# self.vehicle.SetSteeringType(veh.SteeringType_PITMAN_ARM)
self.vehicle.SetTireType(veh.TireModelType_TMEASY)
self.vehicle.SetTireStepSize(self.timestep)
self.vehicle.Initialize()
if self.play_mode == True:
# self.vehicle.SetChassisVisualizationType(veh.VisualizationType_MESH)
self.vehicle.SetChassisVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetWheelVisualizationType(veh.VisualizationType_MESH)
self.vehicle.SetTireVisualizationType(veh.VisualizationType_MESH)
else:
self.vehicle.SetChassisVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetWheelVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSuspensionVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSteeringVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.chassis_body = self.vehicle.GetChassisBody()
self.chassis_body.GetCollisionModel().ClearModel()
size = chrono.ChVectorD(3, 2, 0.2)
self.chassis_body.GetCollisionModel().AddBox(self.surf_material,
0.5 * size.x,
0.5 * size.y,
0.5 * size.z)
self.chassis_body.GetCollisionModel().BuildModel()
self.m_inputs = veh.Inputs()
self.system = self.vehicle.GetVehicle().GetSystem()
self.manager = sens.ChSensorManager(self.system)
self.manager.scene.AddPointLight(chrono.ChVectorF(100, 100, 100),
chrono.ChVectorF(1, 1, 1), 5000.0)
self.manager.scene.AddPointLight(chrono.ChVectorF(-100, -100, 100),
chrono.ChVectorF(1, 1, 1), 5000.0)
# Driver
#self.driver = veh.ChDriver(self.vehicle.GetVehicle())
self.terrain = veh.RigidTerrain(self.system)
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch = self.terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1),
self.terrainLength * 1.5,
self.terrainWidth * 1.5)
patch.SetTexture(veh.GetDataFile("terrain/textures/grass.jpg"), 200,
200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
self.terrain.Initialize()
self.groundBody = patch.GetGroundBody()
ground_asset = self.groundBody.GetAssets()[0]
visual_asset = chrono.CastToChVisualization(ground_asset)
vis_mat = chrono.ChVisualMaterial()
vis_mat.SetKdTexture(veh.GetDataFile("terrain/textures/grass.jpg"))
visual_asset.material_list.append(vis_mat)
self.leaders.addLeaders(self.system, self.path)
self.leader_box = self.leaders.getBBox()
self.lead_pos = (self.chassis_body.GetPos() -
self.leaders[0].GetPos()).Length()
# Add obstacles:
self.obstacles = []
self.placeObstacle(8)
# for leader in self.leaders:
# ------------------------------------------------
# Create a self.camera and add it to the sensor manager
# ------------------------------------------------
self.camera = sens.ChCameraSensor(
self.chassis_body, # body camera is attached to
10, # scanning rate in Hz
chrono.ChFrameD(chrono.ChVectorD(1.5, 0, .875)),
# offset pose
self.camera_width, # number of horizontal samples
self.camera_height, # number of vertical channels
chrono.CH_C_PI / 2, # horizontal field of view
6)
self.camera.SetName("Camera Sensor")
self.camera.PushFilter(sens.ChFilterRGBA8Access())
self.manager.AddSensor(self.camera)
# -----------------------------------------------------
# Create a self.gps and add it to the sensor manager
# -----------------------------------------------------
gps_noise_none = sens.ChGPSNoiseNone()
self.AgentGPS = sens.ChGPSSensor(
self.chassis_body, 10,
chrono.ChFrameD(
chrono.ChVectorD(0, 0, 0),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0))),
self.origin, gps_noise_none)
self.AgentGPS.SetName("AgentGPS Sensor")
self.AgentGPS.PushFilter(sens.ChFilterGPSAccess())
self.manager.AddSensor(self.AgentGPS)
### Target GPS
self.TargetGPS = sens.ChGPSSensor(
self.leaders[0], 10,
chrono.ChFrameD(
chrono.ChVectorD(0, 0, 0),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0))),
self.origin, gps_noise_none)
self.TargetGPS.SetName("TargetGPS Sensor")
self.TargetGPS.PushFilter(sens.ChFilterGPSAccess())
self.manager.AddSensor(self.TargetGPS)
self.step_number = 0
self.num_frames = 0
self.num_updates = 0
self.c_f = 0
self.old_ac = [0, 0]
self.isdone = False
self.render_setup = False
if self.play_mode:
self.render()
return self.get_ob()
def __init__(self):
ChronoBaseEnv.__init__(self)
low = np.full(18, -1000)
high = np.full(18, 1000)
self.observation_space = spaces.Box(low, high, dtype=np.float32)
self.action_space = spaces.Box(low=-1.0,
high=1.0,
shape=(6, ),
dtype=np.float32)
self.fingerdist = chrono.ChVectorD(0, 0.1117, 0)
self.robosystem = chrono.ChSystemNSC()
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001)
self.timestep = 0.01
self.info = {"timeout": 2000.0}
m_filename = "ComauR3"
self.timestep = 0.001
m_length = 1.0
self.my_material = chrono.ChMaterialSurfaceNSC()
self.my_material.SetFriction(0.5)
self.my_material.SetDampingF(0.2)
self.my_material.SetCompliance(0.0000001)
self.my_material.SetComplianceT(0.0000001)
#m_visualization = "irrlicht"
print(" file to load is ", m_filename)
print(" timestep is ", self.timestep)
print(" length is ", m_length)
print(" data path for fonts etc.: ", chrono.GetChronoDataPath())
# ---------------------------------------------------------------------
#
# load the file generated by the SolidWorks CAD plugin
# and add it to the ChSystem.
# Remove the trailing .py and add / in case of file without ./
#m_absfilename = os.path.abspath(m_filename)
#m_modulename = os.path.splitext(m_absfilename)[0]
print("Loading C::E scene...")
dir_path = os.path.dirname(os.path.realpath(__file__))
self.fpath = os.path.join(dir_path, m_filename)
#exported_items = chrono.ImportSolidWorksSystem(self.fpath)
#self.exported_items = chrono.ImportSolidWorksSystem(m_modulename)
print("...loading done!")
# Print exported items
#for my_item in exported_items:
#print (my_item.GetName())
# Optionally set some solver parameters.
#self.robosystem.SetMaxPenetrationRecoverySpeed(1.00)
solver = chrono.ChSolverBB()
self.robosystem.SetSolver(solver)
solver.SetMaxIterations(600)
solver.EnableWarmStart(True)
self.robosystem.Set_G_acc(chrono.ChVectorD(0, -9.8, 0))
"""
$$$$$$$$ FIND THE SW DEFINED CONSTRAINTS, GET THEIR self.frames AND GET RID OF EM $$$$$$$$
"""
self.con_link = [
"Concentric1", "Concentric2", "Concentric3", "Concentric4",
"Concentric5", "Concentric6"
]
self.coi_link = [
"Coincident1", "Coincident2", "Coincident3", "Coincident4",
"Coincident5", "Coincident6"
]
self.bodiesNames = [
"Racer3_p01-3", "Racer3_p02-1", "Racer3_p03-1", "Racer3_p04-1",
"Racer3_p05-1", "Racer3_p06-1", "Hand_base_and_p07-2"
]
self.maxSpeed = [430, 450, 500, 600, 600, 900] #°/s
self.maxRot = [170, 135, 90, 179, 100, 179] # °
self.minRot = [-170, -95, -155, -179, -100, -179] # °
self.maxT = np.asarray([100, 100, 50, 7.36, 7.36, 4.41])
def __init__(self, render):
self.animate = render
self.observation_space = np.empty([30,])
self.action_space = np.zeros([8,])
self.info = {}
# ---------------------------------------------------------------------
#
# Create the simulation system and add items
#
self.Xtarg = 1000.0
self.Ytarg = 0.0
self.d_old = np.linalg.norm(self.Xtarg + self.Ytarg)
self.ant_sys = chrono.ChSystemNSC()
# Set the default outward/inward shape margins for collision detection,
# this is epecially important for very large or very small objects.
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001)
#ant_sys.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN) # precise, more slow
self.ant_sys.SetSolverMaxIterations(70)
self.ant_material = chrono.ChMaterialSurfaceNSC()
self.ant_material.SetFriction(0.5)
self.ant_material.SetDampingF(0.2)
self.ant_material.SetCompliance (0.0005)
self.ant_material.SetComplianceT(0.0005)
self.timestep = 0.01
self.abdomen_x = 0.25
self.abdomen_y = 0.25
self.abdomen_z = 0.25
self.leg_density = 250 # kg/m^3
self.abdomen_density = 100
self.abdomen_y0 = 0.4
self.leg_length = 0.3
self.leg_radius = 0.04
self.ankle_angle = 60*(math.pi/180)
self.ankle_length = 0.4
self.ankle_radius = 0.04
self.gain = 30
self.abdomen_mass = self.abdomen_density * ((4/3)*chrono.CH_C_PI*self.abdomen_x*self.abdomen_y*self.abdomen_z)
self.abdomen_inertia = chrono.ChVectorD((1/5)*self.abdomen_mass*(pow(self.abdomen_y,2)+pow(self.abdomen_z,2)),(1/5)*self.abdomen_mass*(pow(self.abdomen_x,2)+pow(self.abdomen_z,2)),(1/5)*self.abdomen_mass*(pow(self.abdomen_y,2)+pow(self.abdomen_x,2)))
self.leg_mass = self.leg_density * self.leg_length * math.pi* pow (self.leg_radius,2)
self.leg_inertia = chrono.ChVectorD(0.5*self.leg_mass*pow(self.leg_radius,2), (self.leg_mass/12)*(3*pow(self.leg_radius,2)+pow(self.leg_length,2)),(self.leg_mass/12)*(3*pow(self.leg_radius,2)+pow(self.leg_length,2)))
self.ankle_mass = self.leg_density * self.ankle_length * math.pi* pow (self.ankle_radius,2)
self.ankle_inertia = chrono.ChVectorD(0.5*self.ankle_mass*pow(self.ankle_radius,2), (self.ankle_mass/12)*(3*pow(self.ankle_radius,2)+pow(self.ankle_length,2)),(self.ankle_mass/12)*(3*pow(self.ankle_radius,2)+pow(self.ankle_length,2)))
self.leg_limit = chrono.ChLinkLimit()
self.ankle_limit = chrono.ChLinkLimit()
self.leg_limit.SetRmax(math.pi/9)
self.leg_limit.SetRmin(-math.pi/9)
self.ankle_limit.SetRmax(math.pi/9)
self.ankle_limit.SetRmin(-math.pi/9)
if (self.animate) :
self.myapplication = chronoirr.ChIrrApp(self.ant_sys)
self.myapplication.AddShadowAll()
self.myapplication.SetStepManage(True)
self.myapplication.SetTimestep(self.timestep)
self. myapplication.SetTryRealtime(True)
self.myapplication.AddTypicalSky()
self.myapplication.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
self.myapplication.AddTypicalCamera(chronoirr.vector3df(0,1.5,0))
self.myapplication.AddLightWithShadow(chronoirr.vector3df(4,4,0), # point
chronoirr.vector3df(0,0,0), # aimpoint
20, # radius (power)
1,9, # near, far
90) # angle of FOV
def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
step_size = 0.005
sys = chrono.ChSystemNSC()
sys.Set_G_acc(chrono.ChVectorD(0, 0, -9.81))
sys.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN)
sys.SetSolverMaxIterations(150)
sys.SetMaxPenetrationRecoverySpeed(4.0)
# Create the terrain
terrain = veh.RigidTerrain(sys)
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1), 200, 100)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
terrain.Initialize()
# Create and initialize the first vehicle
hmmwv_1 = veh.HMMWV_Reduced(sys)
hmmwv_1.SetInitPosition(
chrono.ChCoordsysD(chrono.ChVectorD(0, -1.5, 1.0),
chrono.ChQuaternionD(1, 0, 0, 0)))
hmmwv_1.SetPowertrainType(veh.PowertrainModelType_SIMPLE)
hmmwv_1.SetDriveType(veh.DrivelineType_RWD)
hmmwv_1.SetTireType(veh.TireModelType_RIGID)
hmmwv_1.Initialize()
hmmwv_1.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
hmmwv_1.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
hmmwv_1.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
hmmwv_1.SetWheelVisualizationType(veh.VisualizationType_NONE)
hmmwv_1.SetTireVisualizationType(veh.VisualizationType_PRIMITIVES)
driver_data_1 = veh.vector_Entry([
veh.DataDriverEntry(0.0, 0.0, 0.0, 0.0),
veh.DataDriverEntry(0.5, 0.0, 0.0, 0.0),
veh.DataDriverEntry(0.7, 0.3, 0.7, 0.0),
veh.DataDriverEntry(1.0, 0.3, 0.7, 0.0),
veh.DataDriverEntry(3.0, 0.5, 0.1, 0.0)
])
driver_1 = veh.ChDataDriver(hmmwv_1.GetVehicle(), driver_data_1)
driver_1.Initialize()
# Create and initialize the second vehicle
hmmwv_2 = veh.HMMWV_Reduced(sys)
hmmwv_2.SetInitPosition(
chrono.ChCoordsysD(chrono.ChVectorD(7, 1.5, 1.0),
chrono.ChQuaternionD(1, 0, 0, 0)))
hmmwv_2.SetPowertrainType(veh.PowertrainModelType_SIMPLE)
hmmwv_2.SetDriveType(veh.DrivelineType_RWD)
hmmwv_2.SetTireType(veh.TireModelType_RIGID)
hmmwv_2.Initialize()
hmmwv_2.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
hmmwv_2.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
hmmwv_2.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
hmmwv_2.SetWheelVisualizationType(veh.VisualizationType_NONE)
hmmwv_2.SetTireVisualizationType(veh.VisualizationType_PRIMITIVES)
driver_data_2 = veh.vector_Entry([
veh.DataDriverEntry(0.0, 0.0, 0.0, 0.0),
veh.DataDriverEntry(0.5, 0.0, 0.0, 0.0),
veh.DataDriverEntry(0.7, -0.3, 0.7, 0.0),
veh.DataDriverEntry(1.0, -0.3, 0.7, 0.0),
veh.DataDriverEntry(3.0, -0.5, 0.1, 0.0)
])
driver_2 = veh.ChDataDriver(hmmwv_2.GetVehicle(), driver_data_2)
driver_2.Initialize()
# Create the vehicle Irrlicht interface
app = veh.ChWheeledVehicleIrrApp(hmmwv_1.GetVehicle(), 'Two Car Demo',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(30, -30, 100),
irr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(chrono.ChVectorD(0.0, 0.0, 0.75), 6.0, 0.5)
app.SetChaseCameraState(veh.ChChaseCamera.Track)
app.SetChaseCameraPosition(chrono.ChVectorD(-15, 0, 2.0))
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Simulation loop
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
time = hmmwv_1.GetSystem().GetChTime()
app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Get driver inputs
driver_inputs_1 = driver_1.GetInputs()
driver_inputs_2 = driver_2.GetInputs()
# Update modules (process inputs from other modules)
driver_1.Synchronize(time)
driver_2.Synchronize(time)
hmmwv_1.Synchronize(time, driver_inputs_1, terrain)
hmmwv_2.Synchronize(time, driver_inputs_2, terrain)
terrain.Synchronize(time)
app.Synchronize("", driver_inputs_1)
# Advance simulation for one timestep for all modules
driver_1.Advance(step_size)
driver_2.Advance(step_size)
hmmwv_1.Advance(step_size)
hmmwv_2.Advance(step_size)
terrain.Advance(step_size)
app.Advance(step_size)
# Advance state of entire system (containing both vehicles)
sys.DoStepDynamics(step_size)
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0
def reset(self):
n = 2 * np.random.randint(0, 4)
b1 = 0
b2 = 0
r1 = n
r2 = n
r3 = n
r4 = n
r5 = n
t1 = 0
t2 = 0
t3 = 0
c = 0
self.assets = AssetList(b1, b2, r1, r2, r3, r4, r5, t1, t2, t3, c)
# Create systems
self.system = chrono.ChSystemNSC()
self.system.Set_G_acc(chrono.ChVectorD(0, 0, -9.81))
self.system.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN)
self.system.SetSolverMaxIterations(150)
self.system.SetMaxPenetrationRecoverySpeed(4.0)
# Create the terrain
rigid_terrain = True
self.terrain = veh.RigidTerrain(self.system)
if rigid_terrain:
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch = self.terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1),
self.terrain_length * 1.5,
self.terrain_width * 1.5)
else:
self.bitmap_file = os.path.dirname(
os.path.realpath(__file__)) + "/../utils/height_map.bmp"
self.bitmap_file_backup = os.path.dirname(
os.path.realpath(__file__)) + "/../utils/height_map_backup.bmp"
shape = (252, 252)
generate_random_bitmap(shape=shape,
resolutions=[(2, 2)],
mappings=[(-1.5, 1.5)],
file_name=self.bitmap_file)
try:
patch = self.terrain.AddPatch(
chrono.CSYSNORM, # position
self.bitmap_file, # heightmap file (.bmp)
"test", # mesh name
self.terrain_length * 1.5, # sizeX
self.terrain_width * 1.5, # sizeY
self.min_terrain_height, # hMin
self.max_terrain_height) # hMax
except Exception:
print('Corrupt Bitmap File')
patch = self.terrain.AddPatch(
chrono.CSYSNORM, # position
self.bitmap_file_backup, # heightmap file (.bmp)
"test", # mesh name
self.terrain_length * 1.5, # sizeX
self.terrain_width * 1.5, # sizeY
self.min_terrain_height, # hMin
self.max_terrain_height) # hMax
patch.SetTexture(veh.GetDataFile("terrain/textures/grass.jpg"), 200,
200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
self.terrain.Initialize()
ground_body = patch.GetGroundBody()
ground_asset = ground_body.GetAssets()[0]
visual_asset = chrono.CastToChVisualization(ground_asset)
visual_asset.SetStatic(True)
vis_mat = chrono.ChVisualMaterial()
vis_mat.SetKdTexture(veh.GetDataFile("terrain/textures/grass.jpg"))
visual_asset.material_list.append(vis_mat)
theta = random.random() * 2 * np.pi
x, y = self.terrain_length * 0.5 * np.cos(
theta), self.terrain_width * 0.5 * np.sin(theta)
z = self.terrain.GetHeight(chrono.ChVectorD(x, y, 0)) + 0.25
ang = np.pi + theta
self.initLoc = chrono.ChVectorD(x, y, z)
self.initRot = chrono.Q_from_AngZ(ang)
self.vehicle = veh.Gator(self.system)
self.vehicle.SetContactMethod(chrono.ChContactMethod_NSC)
self.vehicle.SetChassisCollisionType(veh.ChassisCollisionType_NONE)
self.vehicle.SetChassisFixed(False)
self.m_inputs = veh.Inputs()
self.vehicle.SetInitPosition(
chrono.ChCoordsysD(self.initLoc, self.initRot))
self.vehicle.SetTireType(veh.TireModelType_TMEASY)
self.vehicle.SetTireStepSize(self.timestep)
self.vehicle.Initialize()
if self.play_mode:
self.vehicle.SetChassisVisualizationType(
veh.VisualizationType_MESH)
self.vehicle.SetWheelVisualizationType(veh.VisualizationType_MESH)
self.vehicle.SetTireVisualizationType(veh.VisualizationType_MESH)
else:
self.vehicle.SetChassisVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetWheelVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetTireVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSuspensionVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSteeringVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.chassis_body = self.vehicle.GetChassisBody()
# self.chassis_body.GetCollisionModel().ClearModel()
# size = chrono.ChVectorD(3,2,0.2)
# self.chassis_body.GetCollisionModel().AddBox(0.5 * size.x, 0.5 * size.y, 0.5 * size.z)
# self.chassis_body.GetCollisionModel().BuildModel()
self.chassis_collision_box = chrono.ChVectorD(3, 2, 0.2)
# Driver
self.driver = veh.ChDriver(self.vehicle.GetVehicle())
# create goal
# pi/4 ang displ
delta_theta = (random.random() - 0.5) * 1.0 * np.pi
gx, gy = self.terrain_length * 0.5 * np.cos(
theta + np.pi +
delta_theta), self.terrain_width * 0.5 * np.sin(theta + np.pi +
delta_theta)
self.goal = chrono.ChVectorD(
gx, gy,
self.terrain.GetHeight(chrono.ChVectorD(gx, gy, 0)) + 1.0)
i = 0
while (self.goal - self.initLoc).Length() < 15:
gx = random.random() * self.terrain_length - self.terrain_length / 2
gy = random.random() * self.terrain_width - self.terrain_width / 2
self.goal = chrono.ChVectorD(gx, gy, self.max_terrain_height + 1)
if i > 100:
print('Break')
break
i += 1
# self.goal = chrono.ChVectorD(75, 0, 0)
# Origin in Madison WI
self.origin = chrono.ChVectorD(43.073268, -89.400636, 260.0)
self.goal_coord = chrono.ChVectorD(self.goal)
sens.Cartesian2GPS(self.goal_coord, self.origin)
self.goal_sphere = chrono.ChBodyEasySphere(.55, 1000, True, False)
self.goal_sphere.SetBodyFixed(True)
sphere_asset = self.goal_sphere.GetAssets()[0]
visual_asset = chrono.CastToChVisualization(sphere_asset)
vis_mat = chrono.ChVisualMaterial()
vis_mat.SetAmbientColor(chrono.ChVectorF(0, 0, 0))
vis_mat.SetDiffuseColor(chrono.ChVectorF(.2, .2, .9))
vis_mat.SetSpecularColor(chrono.ChVectorF(.9, .9, .9))
visual_asset.material_list.append(vis_mat)
visual_asset.SetStatic(True)
self.goal_sphere.SetPos(self.goal)
if self.play_mode:
self.system.Add(self.goal_sphere)
# create obstacles
# start = t.time()
self.assets.Clear()
self.assets.RandomlyPositionAssets(self.system,
self.initLoc,
self.goal,
self.terrain,
self.terrain_length * 1.5,
self.terrain_width * 1.5,
should_scale=False)
# Set the time response for steering and throttle inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 0.75
# time to go from 0 to +1 (or from 0 to -1)
throttle_time = .5
# time to go from 0 to +1
braking_time = 0.3
# time to go from 0 to +1
self.SteeringDelta = (self.timestep / steering_time)
self.ThrottleDelta = (self.timestep / throttle_time)
self.BrakingDelta = (self.timestep / braking_time)
self.manager = sens.ChSensorManager(self.system)
self.manager.scene.AddPointLight(chrono.ChVectorF(100, 100, 100),
chrono.ChVectorF(1, 1, 1), 5000.0)
self.manager.scene.AddPointLight(chrono.ChVectorF(-100, -100, 100),
chrono.ChVectorF(1, 1, 1), 5000.0)
# Let's not, for the moment, give a different scenario during test
"""
if self.play_mode:
self.manager.scene.GetBackground().has_texture = True;
self.manager.scene.GetBackground().env_tex = "sensor/textures/qwantani_8k.hdr"
self.manager.scene.GetBackground().has_changed = True;
"""
# -----------------------------------------------------
# Create a self.camera and add it to the sensor manager
# -----------------------------------------------------
#chrono.ChFrameD(chrono.ChVectorD(1.5, 0, .875), chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0))),
self.camera = sens.ChCameraSensor(
self.chassis_body, # body camera is attached to
20, # scanning rate in Hz
chrono.ChFrameD(
chrono.ChVectorD(.65, 0, .75),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0))),
# offset pose
self.camera_width, # number of horizontal samples
self.camera_height, # number of vertical channels
chrono.CH_C_PI / 2, # horizontal field of view
6 # supersampling factor
)
self.camera.SetName("Camera Sensor")
self.camera.PushFilter(sens.ChFilterRGBA8Access())
if self.play_mode:
self.camera.PushFilter(
sens.ChFilterVisualize(self.camera_width, self.camera_height,
"RGB Camera"))
self.manager.AddSensor(self.camera)
# -----------------------------------------------------
# Create a self.gps and add it to the sensor manager
# -----------------------------------------------------
gps_noise_none = sens.ChGPSNoiseNone()
self.gps = sens.ChGPSSensor(
self.chassis_body, 15,
chrono.ChFrameD(
chrono.ChVectorD(0, 0, 0),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0))),
self.origin, gps_noise_none)
self.gps.SetName("GPS Sensor")
self.gps.PushFilter(sens.ChFilterGPSAccess())
self.manager.AddSensor(self.gps)
# have to reconstruct scene because sensor loads in meshes separately (ask Asher)
# start = t.time()
if self.assets.GetNum() > 0:
# self.assets.TransformAgain()
# start = t.time()
for asset in self.assets.assets:
if len(asset.frames) > 0:
self.manager.AddInstancedStaticSceneMeshes(
asset.frames, asset.mesh.shape)
# self.manager.ReconstructScenes()
# self.manager.AddInstancedStaticSceneMeshes(self.assets.frames, self.assets.shapes)
# self.manager.Update()
# print('Reconstruction :: ', t.time() - start)
self.old_dist = (self.goal - self.initLoc).Length()
self.step_number = 0
self.c_f = 0
self.isdone = False
self.render_setup = False
self.dist0 = (self.goal - self.chassis_body.GetPos()).Length()
if self.play_mode:
self.render()
# print(self.get_ob()[1])
return self.get_ob()
rod.AddAsset(cyl_r)
col_r = chrono.ChColorAsset()
col_r.SetColor(chrono.ChColor(0.2, 0.6, 0.2))
rod.AddAsset(col_r)
#### -------------------------------------------------------------------------
#### EXERCISE 2.1
#### Enable contact on the slider body and specify contact geometry
#### The contact shape attached to the slider body should be a box with the
#### same dimensions as the visualization asset, centered at the body origin.
#### Use a coefficient of friction of 0.4.
#### -------------------------------------------------------------------------
slider.SetCollide(True)
slider_mat = chrono.ChMaterialSurfaceNSC()
slider_mat.SetFriction(0.4)
slider.GetCollisionModel().ClearModel()
slider.GetCollisionModel().AddBox(slider_mat, 0.2, 0.1, 0.1, chrono.VNULL,
chrono.ChMatrix33D(chrono.QUNIT))
slider.GetCollisionModel().BuildModel()
#### -------------------------------------------------------------------------
#### EXERCISE 2.2
#### Create a new body, with a spherical shape (radius 0.2), used both as
#### visualization asset and contact shape (mu = 0.4). This body should have:
#### mass: 1
#### moments of inertia: I_xx = I_yy = I_zz = 0.02
#### initial location: (5.5, 0, 0)
#### -------------------------------------------------------------------------