m_length = 1.0
m_visualization = "pov"
m_datapath = "C:/Program Files/chrono_solidworks/data/"
# For irrlicht fonts & background. Adjust to your path
chrono.SetChronoDataPath(m_datapath)
# ---------------------------------------------------------------------
#
# load the file generated by the SolidWorks CAD plugin
# and add it to the ChSystem.
#
print("Loading C::E scene...")
exported_items = chrono.ImportSolidWorksSystem('./engine4c')
print("...loading done!")
# Print exported items
for my_item in exported_items:
print(my_item.GetName())
# Add items to the physical system
my_system = chrono.ChSystemNSC()
for my_item in exported_items:
my_system.Add(my_item)
# Optionally set some solver parameters.
#my_system.SetMaxPenetrationRecoverySpeed(1.00)
my_system = chrono.ChSystemNSC()
# Set the collision margins. This is expecially important for very large or
# very small objects (as in this example)! Do this before creating shapes.
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001)
# ---------------------------------------------------------------------
#
# load the file generated by the SolidWorks CAD plugin
# and add it to the system
#
print("Loading C::E scene...")
exported_items = chrono.ImportSolidWorksSystem(chrono.GetChronoDataPath() +
"solid_works/swiss_escapement")
print("...done!")
# Print exported items
for my_item in exported_items:
print(my_item.GetName())
# Add items to the physical system
for my_item in exported_items:
my_system.Add(my_item)
# ---------------------------------------------------------------------
#
# Create an Irrlicht application to visualize the system
#
def reset(self):
self.isdone = False
self.hexapod_sys.Clear()
self.exported_items = chrono.ImportSolidWorksSystem(self.fpath)
self.csys = []
self.frames = []
self.revs = []
self.motors = []
self.limits = []
for con, coi in zip(self.con_link, self.coi_link):
indices = []
for i in range(len(self.exported_items)):
if con == self.exported_items[i].GetName(
) or coi == self.exported_items[i].GetName():
indices.append(i)
rev = self.exported_items[indices[0]]
af0 = rev.GetAssetsFrame()
# Revolute joints and ChLinkMotorRotation are z oriented, while parallel is x oriented.
# Event though this Frame won't be used anymore is good practice to create a copy before editing its value.
af = chrono.ChFrameD(af0)
af.SetRot(af0.GetRot() % chrono.Q_ROTATE_X_TO_Z)
self.frames.append(af)
for i in reversed(indices):
del self.exported_items[i]
# ADD IMPORTED ITEMS TO THE SYSTEM
for my_item in self.exported_items:
self.hexapod_sys.Add(my_item)
"""
$$$$$$$$ FIND THE SW DEFINED CONSTRAINTS, GET THEIR MARKERS AND GET RID OF EM $$$$$$$$
"""
self.hips = [
self.hexapod_sys.SearchBody(name) for name in self.hip_names
]
self.femurs = [
self.hexapod_sys.SearchBody(name) for name in self.femur_names
]
self.tibias = [
self.hexapod_sys.SearchBody(name) for name in self.tibia_names
]
self.feet = [
self.hexapod_sys.SearchBody(name) for name in self.feet_names
]
self.centralbody = self.hexapod_sys.SearchBody('Body-1')
# Bodies are used to replace constraints and detect unwanted collision, so feet are excluded
self.bodies = [self.centralbody
] + self.hips + self.femurs + self.tibias
self.centralbody.SetBodyFixed(False)
self.y0 = self.centralbody.GetPos().y
"""
# SNIPPET FOR COLOR
orange = chrono.ChColorAsset()
orange.SetColor(chrono.ChColor(255/255,77/255,6/255))
black = chrono.ChColorAsset()
black.SetColor(chrono.ChColor(0,0,0))
for body in self.bodies[:-1]:
assets = body.GetAssets()
for ast in assets:
ass_lev = chrono.CastToChAssetLevel(ast)
ass_lev.GetAssets().push_back(orange)
assets = self.hand.GetAssets()
for ast in assets:
ass_lev = chrono.CastToChAssetLevel(ast)
ass_lev.GetAssets().push_back(black)
"""
for i in range(len(self.con_link)):
revolute = chrono.ChLinkLockRevolute()
cs = chrono.ChCoordsysD(self.frames[i].GetPos(),
self.frames[i].GetRot())
self.csys.append(cs)
if i < 6:
j = 0
else:
j = i - 5
revolute.Initialize(self.bodies[j], self.bodies[i + 1],
self.csys[i])
self.revs.append(revolute)
self.hexapod_sys.Add(self.revs[i])
lim = self.revs[i].GetLimit_Rz()
self.limits.append(lim)
self.limits[i].SetActive(True)
self.limits[i].SetMin(self.minRot[i] * (math.pi / 180))
self.limits[i].SetMax(self.maxRot[i] * (math.pi / 180))
m = chrono.ChLinkMotorRotationTorque()
m.SetSpindleConstraint(False, False, False, False, False)
m.Initialize(self.bodies[j], self.bodies[i + 1], self.frames[i])
self.motors.append(m)
self.hexapod_sys.Add(self.motors[i])
self.body_floor = chrono.ChBody()
self.body_floor.SetBodyFixed(True)
self.body_floor.SetPos(chrono.ChVectorD(0, -1 - 0.128 - 0.0045, 10))
# Floor Collision.
self.body_floor.GetCollisionModel().ClearModel()
self.body_floor.GetCollisionModel().AddBox(self.my_material, 50, 1, 50,
chrono.ChVectorD(0, 0, 0))
self.body_floor.GetCollisionModel().BuildModel()
self.body_floor.SetCollide(True)
# Visualization shape
body_floor_shape = chrono.ChBoxShape()
body_floor_shape.GetBoxGeometry().Size = chrono.ChVectorD(4, 1, 15)
body_floor_shape.SetColor(chrono.ChColor(0.4, 0.4, 0.5))
self.body_floor.GetAssets().push_back(body_floor_shape)
body_floor_texture = chrono.ChTexture()
texpath = os.path.join(chrono.GetChronoDataPath(), 'concrete.jpg')
body_floor_texture.SetTextureFilename(texpath)
self.body_floor.GetAssets().push_back(body_floor_texture)
self.hexapod_sys.Add(self.body_floor)
self.numsteps = 0
if (self.render_setup):
self.myapplication.AssetBindAll()
self.myapplication.AssetUpdateAll()
return self.get_ob()
# ---------------------------------------------------------------------
#
# 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...");
exported_items = chrono.ImportSolidWorksSystem(m_modulename)
print ("...loading done!");
# Print exported items
for my_item in exported_items:
print (my_item.GetName())
# Add items to the physical system
my_system = chrono.ChSystemNSC()
for my_item in exported_items:
my_system.Add(my_item)
# Optionally set some solver parameters.
def reset(self):
self.isdone = False
self.robosystem.Clear()
#action = (np.random.rand(6,)-0.5)*2
#torques = np.multiply(action, self.maxT)
self.exported_items = chrono.ImportSolidWorksSystem(self.fpath)
self.csys = []
self.frames = []
self.revs = []
self.motors = []
self.limits = []
for con, coi in zip(self.con_link, self.coi_link):
indices = []
for i in range(len(self.exported_items)):
if con == self.exported_items[i].GetName(
) or coi == self.exported_items[i].GetName():
indices.append(i)
rev = self.exported_items[indices[0]]
af0 = rev.GetAssetsFrame()
# Revolute joints and ChLinkMotorRotation are z oriented, while parallel is x oriented.
# Event though this Frame won't be used anymore is good practice to create a copy before editing its value.
af = chrono.ChFrameD(af0)
af.SetRot(af0.GetRot() % chrono.Q_ROTATE_X_TO_Z)
self.frames.append(af)
for i in indices:
del self.exported_items[i]
# ADD IMPORTED ITEMS TO THE SYSTEM
for my_item in self.exported_items:
self.robosystem.Add(my_item)
"""
$$$$$$$$ FIND THE SW DEFINED CONSTRAINTS, GET THEIR MARKERS AND GET RID OF EM $$$$$$$$
"""
self.bodies = [
self.robosystem.SearchBody(name) for name in self.bodiesNames
]
self.hand = self.robosystem.SearchBody('Hand_base_and_p07-2')
self.base = self.robosystem.SearchBody('Racer3_p01-3')
self.biceps = self.robosystem.SearchBody('Racer3_p03-1')
self.forearm = self.robosystem.SearchBody('Racer3_p05-1')
self.finger1 = self.robosystem.SearchBody('HAND_e_finger-1')
self.finger2 = self.robosystem.SearchBody('HAND_e_finger-2')
for i in range(len(self.con_link)):
revolute = chrono.ChLinkLockRevolute()
cs = chrono.ChCoordsysD(self.frames[i].GetPos(),
self.frames[i].GetRot())
self.csys.append(cs)
revolute.Initialize(self.bodies[i], self.bodies[i + 1],
self.csys[i])
self.revs.append(revolute)
self.robosystem.Add(self.revs[i])
lim = self.revs[i].GetLimit_Rz()
self.limits.append(lim)
self.limits[i].SetActive(True)
self.limits[i].SetMin(self.minRot[i] * (math.pi / 180))
self.limits[i].SetMax(self.maxRot[i] * (math.pi / 180))
m = chrono.ChLinkMotorRotationTorque()
m.Initialize(self.bodies[i], self.bodies[i + 1], self.frames[i])
#self.robosystem.Add(m2)
#m2.SetTorqueFunction(chrono.ChFunction_Const(5))
self.motors.append(m)
#self.motors[i].SetTorqueFunction(chrono.ChFunction_Const(float(torques[i])))
self.robosystem.Add(self.motors[i])
self.body_floor = chrono.ChBody()
self.body_floor.SetBodyFixed(True)
self.body_floor.SetPos(chrono.ChVectorD(0, -1, 0))
# Floor Collision.
self.body_floor.GetCollisionModel().ClearModel()
self.body_floor.GetCollisionModel().AddBox(self.my_material, 5, 1, 5,
chrono.ChVectorD(0, 0, 0))
self.body_floor.GetCollisionModel().BuildModel()
self.body_floor.SetCollide(True)
# Visualization shape
body_floor_shape = chrono.ChBoxShape()
body_floor_shape.GetBoxGeometry().Size = chrono.ChVectorD(5, 1, 5)
body_floor_shape.SetColor(chrono.ChColor(0.4, 0.4, 0.5))
self.body_floor.GetAssets().push_back(body_floor_shape)
body_floor_texture = chrono.ChTexture()
texpath = os.path.join(chrono.GetChronoDataPath(), 'concrete.jpg')
body_floor_texture.SetTextureFilename(texpath)
self.body_floor.GetAssets().push_back(body_floor_texture)
self.robosystem.Add(self.body_floor)
r = np.random.rand(2, ) - np.asarray([0.5, 0.5])
self.targ_init_pos = [
-0.52 + 2 * (r[0] * 0.05), 0.015, 2 * r[1] * 0.05
]
self.targ_box = chrono.ChBody()
# UNset to grasp
self.targ_box.SetBodyFixed(True)
self.targ_box.SetPos(
chrono.ChVectorD(self.targ_init_pos[0], self.targ_init_pos[1],
self.targ_init_pos[2]))
# Floor Collision.
self.targ_box.GetCollisionModel().ClearModel()
self.targ_box.GetCollisionModel().AddBox(self.my_material, 0.015,
0.015, 0.015,
chrono.ChVectorD(0, 0, 0))
self.targ_box.GetCollisionModel().BuildModel()
self.targ_box.SetCollide(True)
# Visualization shape
targ_box_shape = chrono.ChBoxShape()
targ_box_shape.GetBoxGeometry().Size = chrono.ChVectorD(
0.015, 0.015, 0.015)
col = chrono.ChColorAsset()
col.SetColor(chrono.ChColor(1.0, 0, 0))
self.targ_box.GetAssets().push_back(targ_box_shape)
self.targ_box.GetAssets().push_back(col)
self.robosystem.Add(self.targ_box)
self.numsteps = 0
if (self.render_setup):
self.myapplication.AssetBindAll()
self.myapplication.AssetUpdateAll()
return self.get_ob()
#from PyQt4 import QtGui, QtCore
m_timestep = 0.01
# Set the default outward/inward shape margins for collision detection,
# this is epecially important for very large or very small objects.
# This is a global setting to be put BEFORE creating objects/systems
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.005)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.005)
# Load the CAD file
exported_items = chrono.ImportSolidWorksSystem('./cad_conveyor')
# 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.
# Set the collision margins. This is expecially important for very large or
# very small objects (as in this example)! Do this before creating shapes.
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001);
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001);
# ---------------------------------------------------------------------
#
# load the file generated by the SolidWorks CAD plugin
# and add it to the system
#
print ("Loading C::E scene...");
exported_items = chrono.ImportSolidWorksSystem(chrono.GetChronoDataFile('solid_works/swiss_escapement'))
print ("...done!");
# Print exported items
for my_item in exported_items:
print (my_item.GetName())
# Add items to the physical system
for my_item in exported_items:
my_system.Add(my_item)
# ---------------------------------------------------------------------
#
# Create an Irrlicht application to visualize the system
# For irrlicht fonts & background. Adjust to your path
chrono.SetChronoDataPath(m_datapath)
# ---------------------------------------------------------------------
#
# load the file generated by the SolidWorks CAD plugin
# and add it to the ChSystem.
#
# This is usually done as
# from my_module import exported_items
# but here is 'my_module' is a string, so there's a workaround with 'exec'
print ("Loading C::E scene...");
exported_items = chrono.ImportSolidWorksSystem('./collisions')
print ("...loading done!");
# Print exported items
for my_item in exported_items:
print (my_item.GetName())
# Add items to the physical system
my_system = chrono.ChSystemNSC()
for my_item in exported_items:
my_system.Add(my_item)
