def load_chrono_terrain_from_json(system: 'WAChronoSystem', filename: str): """Load a ChTerrain from a json specification file Args: filename (str): the relative path to a terrain json file system (WAChronoSystem): the chrono system used to handle the terrain Returns: ChTerrain: The loaded terrain """ j = _load_json(filename) # Validate the json file _check_field(j, 'Terrain', field_type=dict) t = j['Terrain'] _check_field(t, 'Input File', field_type=str) _check_field(t, 'Texture', field_type=str, optional=True) terrain = veh.RigidTerrain(system._system, chrono.GetChronoDataFile(t['Input File'])) # noqa # Add texture to the terrain, if desired if 'Texture' in t: texture_filename = chrono.GetChronoDataFile(t['Texture']) vis_mat = chrono.ChVisualMaterial() vis_mat.SetKdTexture(texture_filename) vis_mat.SetSpecularColor(chrono.ChVectorF(0.0, 0.0, 0.0)) vis_mat.SetFresnelMin(0) vis_mat.SetFresnelMax(0.1) patch_asset = terrain.GetPatches()[0].GetGroundBody().GetAssets()[0] patch_visual_asset = chrono.CastToChVisualization(patch_asset) patch_visual_asset.material_list.append(vis_mat) return terrain
def main(): # print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n") # --------- # Load path # --------- path_file = "../data/paths/loop2.txt" path = np.genfromtxt(path_file, delimiter=",") ds = 5 # [m] distance of each intepolated points sp = Spline2D(path[:, 0], path[:, 1]) s = np.arange(0, sp.s[-1], ds) px, py = [], [] for i_s in s: ix, iy = sp.calc_position(i_s) px.append(ix) py.append(iy) px.append(px[0]) py.append(py[0]) initLoc = chrono.ChVectorD(px[0], py[0], 0.5) # -------------------------- # Create the various modules # -------------------------- # Create the vehicle system vehicle = veh.WheeledVehicle(vehicle_file, chrono.ChMaterialSurface.NSC) vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot)) # vehicle.GetChassis().SetFixed(True) vehicle.SetStepsize(step_size) vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES) vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES) vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES) vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE) # Create the ground terrain = veh.RigidTerrain(vehicle.GetSystem(), rigidterrain_file) # Create and initialize the powertrain system powertrain = veh.SimplePowertrain(simplepowertrain_file) vehicle.InitializePowertrain(powertrain) # Create and initialize the tires for axle in vehicle.GetAxles(): tireL = veh.RigidTire(rigidtire_file) vehicle.InitializeTire(tireL, axle.m_wheels[0], veh.VisualizationType_MESH) tireR = veh.RigidTire(rigidtire_file) vehicle.InitializeTire(tireR, axle.m_wheels[1], veh.VisualizationType_MESH) # ------------- # Create driver # ------------- driver = Driver(vehicle) # 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 = 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) # ------------------ # Draw path # ------------------ if irrlicht: road = vehicle.GetSystem().NewBody() road.SetBodyFixed(True) vehicle.GetSystem().AddBody(road) num_points = len(px) lines = chrono.ChLinePath() for i in range(num_points - 1): lines.AddSubLine( chrono.ChLineSegment( chrono.ChVectorD(px[i], py[i], 0.1), chrono.ChVectorD(px[i + 1], py[i + 1], 0.1))) path_asset = chrono.ChLineShape() path_asset.SetLineGeometry(lines) path_asset.SetColor(chrono.ChColor(0.0, 0.8, 0.0)) path_asset.SetNumRenderPoints(max(2 * num_points, 400)) road.AddAsset(path_asset) # -------------------- # Create controller(s) # -------------------- controller = MPCController(vehicle, driver, path) # ----------------------- # Initialize irrlicht app # ----------------------- if irrlicht: app = veh.ChVehicleIrrApp(vehicle) app.SetHUDLocation(500, 20) app.SetSkyBox() app.AddTypicalLogo() app.AddTypicalLights( chronoirr.vector3df(-150.0, -150.0, 200.0), chronoirr.vector3df(-150.0, 150.0, 200.0), 100, 100, ) app.AddTypicalLights( chronoirr.vector3df(150.0, -150.0, 200.0), chronoirr.vector3df(150.0, 150.0, 200.0), 100, 100, ) app.EnableGrid(False) app.SetChaseCamera(trackPoint, 6.0, 0.5) app.SetTimestep(step_size) app.AssetBindAll() app.AssetUpdateAll() # ----------------- # Initialize output # ----------------- if output: try: os.mkdir(out_dir) except: print("Error creating directory ") # Generate JSON information with available output channels out_json = vehicle.ExportComponentList() print(out_json) vehicle.ExportComponentList(out_dir + "/component_list.json") # --------------- # Simulation loop # --------------- # Number of simulation steps between miscellaneous events render_steps = int(math.ceil(render_step_size / step_size)) # Initialize simulation frame counter and simulation time step_number = 0 time = 0 if irrlicht: while app.GetDevice().run(): # Render scene if step_number % render_steps == 0: app.BeginScene(True, True, chronoirr.SColor(255, 140, 161, 192)) app.DrawAll() app.EndScene() # Collect output data from modules (for inter-module communication) driver_inputs = driver.GetInputs() # Update modules (process inputs from other modules) time = vehicle.GetSystem().GetChTime() driver.Synchronize(time) vehicle.Synchronize(time, driver_inputs, terrain) terrain.Synchronize(time) app.Synchronize("", driver_inputs) # Advance simulation for one timestep for all modules step = step_size # Update controllers controller.Advance(step) driver.Advance(step) vehicle.Advance(step) terrain.Advance(step) app.Advance(step) # Increment frame number step_number += 1 else: while True: # Collect output data from modules (for inter-module communication) driver_inputs = driver.GetInputs() # Update modules (process inputs from other modules) time = vehicle.GetSystem().GetChTime() driver.Synchronize(time) vehicle.Synchronize(time, driver_inputs, terrain) terrain.Synchronize(time) # Advance simulation for one timestep for all modules step = step_size # Update controllers steering_controller.Advance(step) throttle_controller.Advance(step) driver.Advance(step) vehicle.Advance(step) terrain.Advance(step) vis.Advance(step) # Increment frame number step_number += 1
def main(): #print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n") # -------------------------- # Create the various modules # -------------------------- # Create the vehicle system vehicle = veh.WheeledVehicle(vehicle_file, chrono.ChContactMethod_NSC) vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot)) #vehicle.GetChassis().SetFixed(True) vehicle.SetChassisVisualizationType(veh.VisualizationType_MESH) vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES) vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES) vehicle.SetWheelVisualizationType(veh.VisualizationType_MESH) # Create and initialize the vehicle tires for axle in vehicle.GetAxles(): tireL = veh.TMeasyTire(vehicle_tire_file) vehicle.InitializeTire(tireL, axle.m_wheels[0], veh.VisualizationType_MESH) tireR = veh.TMeasyTire(vehicle_tire_file) vehicle.InitializeTire(tireR, axle.m_wheels[1], veh.VisualizationType_MESH) # Create and initialize the powertrain system powertrain = veh.SimpleMapPowertrain(vehicle_powertrain_file) vehicle.InitializePowertrain(powertrain) # Create and initialize the trailer trailer = veh.WheeledTrailer(vehicle.GetSystem(), trailer_file) trailer.Initialize(vehicle.GetChassis()) trailer.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES) trailer.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES) trailer.SetWheelVisualizationType(veh.VisualizationType_NONE) # Create abd initialize the trailer tires for axle in trailer.GetAxles(): tireL = veh.TMeasyTire(trailer_tire_file) trailer.InitializeTire(tireL, axle.m_wheels[0], veh.VisualizationType_PRIMITIVES) tireR = veh.TMeasyTire(trailer_tire_file) trailer.InitializeTire(tireR, axle.m_wheels[1], veh.VisualizationType_PRIMITIVES) # Create the ground terrain = veh.RigidTerrain(vehicle.GetSystem(), rigidterrain_file) app = veh.ChVehicleIrrApp(vehicle, 'Sedan+Trailer (JSON specification)', 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() driver = veh.ChIrrGuiDriver(app) # Set the time response for steering and throttle keyboard 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 = 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 # --------------- realtime_timer = chrono.ChRealtimeStepTimer() while (app.GetDevice().run()): # Render scene app.BeginScene(True, True, irr.SColor(255, 140, 161, 192)) app.DrawAll() app.EndScene() # Collect output data from modules (for inter-module communication) driver_inputs = driver.GetInputs() # Update modules (process inputs from other modules) time = vehicle.GetSystem().GetChTime() driver.Synchronize(time) vehicle.Synchronize(time, driver_inputs, terrain) trailer.Synchronize(time, driver_inputs.m_braking, terrain) terrain.Synchronize(time) app.Synchronize(driver.GetInputModeAsString(), driver_inputs) # Advance simulation for one timestep for all modules driver.Advance(step_size) vehicle.Advance(step_size) trailer.Advance(step_size) terrain.Advance(step_size) app.Advance(step_size) # Spin in place for real time to catch up realtime_timer.Spin(step_size)
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()
my_truck.SetChassisCollisionType(chassis_collision_type) my_truck.SetChassisFixed(False) my_truck.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot)) my_truck.SetTireType(tire_model) my_truck.SetTireStepSize(tire_step_size) my_truck.SetShaftBasedDrivetrain(True) my_truck.Initialize() my_truck.SetChassisVisualizationType(chassis_vis_type) my_truck.SetSuspensionVisualizationType(suspension_vis_type) my_truck.SetSteeringVisualizationType(steering_vis_type) my_truck.SetWheelVisualizationType(wheel_vis_type) my_truck.SetTireVisualizationType(tire_vis_type) # Create the terrain terrain = veh.RigidTerrain(my_truck.GetSystem()) patch = terrain.AddPatch( chrono.ChCoordsysD(chrono.ChVectorD(0, 0, terrainHeight - 5), chrono.QUNIT), chrono.ChVectorD(terrainLength, terrainWidth, 10)) patch.SetContactFrictionCoefficient(0.9) patch.SetContactRestitutionCoefficient(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)) terrain.Initialize() # Create the vehicle Irrlicht interface app = veh.ChWheeledVehicleIrrApp(my_truck.GetVehicle()) app.SetSkyBox()
my_bus.SetChassisFixed(False) my_bus.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot)) my_bus.SetTireType(tire_model) my_bus.SetTireStepSize(tire_step_size) my_bus.Initialize() tire_vis_type = veh.VisualizationType_MESH # : VisualizationType::PRIMITIVES my_bus.SetChassisVisualizationType(chassis_vis_type) my_bus.SetSuspensionVisualizationType(suspension_vis_type) my_bus.SetSteeringVisualizationType(steering_vis_type) my_bus.SetWheelVisualizationType(wheel_vis_type) my_bus.SetTireVisualizationType(tire_vis_type) # Create the terrain terrain = veh.RigidTerrain(my_bus.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()
suspR = veh.CastToChLeafspringAxle(uaz.GetVehicle().GetSuspension(1)) springRL = suspR.GetSpring(veh.LEFT) shockRL = suspR.GetShock(veh.RIGHT) print("Spring rest length rear: " + str(springRL.GetRestLength()) + "\n") print("Shock rest length rear: " + str(shockRL.GetRestLength()) + "\n") print("Vehicle mass: " + str(uaz.GetVehicle().GetVehicleMass()) + "\n") print("Vehicle mass (with tires): " + str(uaz.GetTotalMass()) + "\n") # ------------------ # Create the terrain # ------------------ terrain = veh.RigidTerrain(uaz.GetSystem()) 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), 600, 600) patch.SetColor(chrono.ChColor(0.8, 0.8, 1.0)) patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 1200, 1200) terrain.Initialize() # ------------------------------------- # Create the vehicle Irrlicht interface # Create the driver system # ------------------------------------- app = veh.ChWheeledVehicleIrrApp(uaz.GetVehicle(), 'UAZBUS',
my_hmmwv.SetTireStepSize(step_size) my_hmmwv.Initialize() my_hmmwv.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES) my_hmmwv.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES) my_hmmwv.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES) my_hmmwv.SetWheelVisualizationType(veh.VisualizationType_NONE) my_hmmwv.SetTireVisualizationType(veh.VisualizationType_PRIMITIVES) # Create the terrain minfo = veh.MaterialInfo() minfo.mu = 0.8 minfo.cr = 0.01 minfo.Y = 2e7 patch_mat = minfo.CreateMaterial(my_hmmwv.GetSystem().GetContactMethod()) terrain = veh.RigidTerrain(my_hmmwv.GetSystem()) patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0), chrono.ChVectorD(0, 0, 1), 200, 200) patch.SetColor(chrono.ChColor(1, 1, 1)) patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200) terrain.Initialize() # Left circle path path = veh.CirclePath(chrono.ChVectorD(-75, 0, 0.6), 20, 40, True, 10) npoints = path.getNumPoints() path_asset = chrono.ChLineShape() path_asset.SetLineGeometry(chrono.ChLineBezier(path)) path_asset.SetName("test path") path_asset.SetNumRenderPoints(max(2 * npoints, 400)) patch.GetGroundBody().AddAsset(path_asset)
def main(): #print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n") # -------------------------- # Create the various modules # -------------------------- # Create the vehicle system vehicle = veh.WheeledVehicle(vehicle_file, chrono.ChMaterialSurface.NSC) vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot)) #vehicle.GetChassis().SetFixed(True) vehicle.SetStepsize(step_size) vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES) vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES) vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES) vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE) # Create the ground terrain = veh.RigidTerrain(vehicle.GetSystem(), rigidterrain_file) # Create and initialize the powertrain system powertrain = veh.SimplePowertrain(simplepowertrain_file) vehicle.InitializePowertrain(powertrain) # Create and initialize the tires for axle in vehicle.GetAxles(): tireL = veh.RigidTire(rigidtire_file) vehicle.InitializeTire(tireL, axle.m_wheels[0], veh.VisualizationType_MESH) tireR = veh.RigidTire(rigidtire_file) vehicle.InitializeTire(tireR, axle.m_wheels[1], veh.VisualizationType_MESH) # ------------- # Create driver # ------------- driver = Driver(vehicle) # 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 = 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) # ------------------ # Load and draw path # ------------------ # path_file = 'paths/straight.txt' # path_file = 'paths/curve.txt' path_file = 'paths/NATO_double_lane_change.txt' # path_file = 'paths/ISO_double_lane_change.txt' path = chrono.ChBezierCurve.read(veh.GetDataFile(path_file)) if irrlicht: road = vehicle.GetSystem().NewBody() road.SetBodyFixed(True) vehicle.GetSystem().AddBody(road) num_points = path.getNumPoints() path_asset = chrono.ChLineShape() path_asset.SetLineGeometry(chrono.ChLineBezier(path)) path_asset.SetColor(chrono.ChColor(0.0, 0.8, 0.0)) path_asset.SetNumRenderPoints(max(2 * num_points, 400)) road.AddAsset(path_asset) # -------------------- # Create controller(s) # -------------------- steering_controller = PIDSteeringController(vehicle, driver, path) steering_controller.SetGains(Kp=0.4, Ki=0, Kd=0.25) steering_controller.SetLookAheadDistance(dist=5.0) throttle_controller = PIDThrottleController(vehicle, driver) throttle_controller.SetGains(Kp=0.4, Ki=0, Kd=0) throttle_controller.SetTargetSpeed(target_speed) # ----------------------- # Initialize irrlicht app # ----------------------- if irrlicht: app = veh.ChVehicleIrrApp(vehicle) app.SetHUDLocation(500, 20) app.SetSkyBox() app.AddTypicalLogo() app.AddTypicalLights(chronoirr.vector3df(-150., -150., 200.), chronoirr.vector3df(-150., 150., 200.), 100, 100) app.AddTypicalLights(chronoirr.vector3df(150., -150., 200.), chronoirr.vector3df(150., 150., 200.), 100, 100) app.EnableGrid(False) app.SetChaseCamera(trackPoint, 6.0, 0.5) app.SetTimestep(step_size) app.AssetBindAll() app.AssetUpdateAll() # ----------------- # Initialize output # ----------------- if output: try: os.mkdir(out_dir) except: print("Error creating directory ") # Generate JSON information with available output channels out_json = vehicle.ExportComponentList() print(out_json) vehicle.ExportComponentList(out_dir + "/component_list.json") # --------------- # Simulation loop # --------------- # Number of simulation steps between miscellaneous events render_steps = int(math.ceil(render_step_size / step_size)) # Initialize simulation frame counter and simulation time step_number = 0 time = 0 if irrlicht: while (app.GetDevice().run()): # Render scene if step_number % render_steps == 0: app.BeginScene(True, True, chronoirr.SColor(255, 140, 161, 192)) app.DrawAll() app.EndScene() # Collect output data from modules (for inter-module communication) driver_inputs = driver.GetInputs() # Update modules (process inputs from other modules) time = vehicle.GetSystem().GetChTime() driver.Synchronize(time) vehicle.Synchronize(time, driver_inputs, terrain) terrain.Synchronize(time) app.Synchronize("", driver_inputs) # Advance simulation for one timestep for all modules step = step_size # Update controllers steering_controller.Advance(step) throttle_controller.Advance(step) driver.Advance(step) vehicle.Advance(step) terrain.Advance(step) app.Advance(step) # Increment frame number step_number += 1 else: while (True): vehicle.GetSystem().DoStepDynamics(step_size) # Collect output data from modules (for inter-module communication) driver_inputs = driver.GetInputs() # Update modules (process inputs from other modules) time = vehicle.GetSystem().GetChTime() driver.Synchronize(time) vehicle.Synchronize(time, driver_inputs, terrain) terrain.Synchronize(time) # Advance simulation for one timestep for all modules step = step_size # Update controllers steering_controller.Advance(step) throttle_controller.Advance(step) driver.Advance(step) vehicle.Advance(step) terrain.Advance(step) # Increment frame number step_number += 1
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()
def main(): # ---------------------- # Set path to data files # ---------------------- # Path to Chrono data files (textures, etc.) chrono.SetChronoDataPath(CHRONO_DATA_DIR) # Path to the data files for this vehicle (JSON specification files) veh.SetDataPath("./data/") # -------------------------- # Create the various modules # -------------------------- # Create and initialize the vehicle system vehicle = veh.WheeledVehicle(veh.GetDataFile(vehicle_file), NSC_SMC) vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot)) vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES) vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES) vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE) # Create the terrain terrain = veh.RigidTerrain(vehicle.GetSystem(), veh.GetDataFile(rigidterrain_file)) AddFixedObstacles(vehicle.GetSystem()) AddMovingObstacles(vehicle.GetSystem()) # Create and initialize the powertrain system powertrain = veh.SimplePowertrain(veh.GetDataFile(simplepowertrain_file)) vehicle.InitializePowertrain(powertrain) # Create and initialize the tires for axle in vehicle.GetAxles(): tireL = veh.RigidTire(veh.GetDataFile(rigidtire_file)) tireR = veh.RigidTire(veh.GetDataFile(rigidtire_file)) vehicle.InitializeTire(tireL, axle.m_wheels[0], veh.VisualizationType_MESH) vehicle.InitializeTire(tireR, axle.m_wheels[1], veh.VisualizationType_MESH) # Create the Irrlicht vehicle application app = veh.ChVehicleIrrApp(vehicle, "Vehicle Demo") app.SetSkyBox() app.AddTypicalLights(chronoirr.vector3df(30, -30, 100), chronoirr.vector3df(30, 50, 100), 250, 130) app.SetChaseCamera(trackPoint, 6.0, 0.5) app.SetTimestep(step_size) app.AssetBindAll() app.AssetUpdateAll() # Create the driver system (interactive) driver = veh.ChIrrGuiDriver(app) # Set the time response for steering and throttle keyboard 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 = 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) # ----------------- # Initialize output # ----------------- try: os.mkdir(out_dir) except: print("Error creating directory ") if (povray_output): try: os.mkdir(pov_dir) except: print("Error creating POV directory ") terrain.ExportMeshPovray(out_dir) # --------------- # Simulation loop # --------------- """driveshaft_speed powertrain_torque throttle_input steering_input braking_input""" # Number of simulation steps between two 3D view render frames render_steps = m.ceil(render_step_size / step_size) #Initialize simulation frame counter and simulation time step_number = 0 frame_number = 0 time = 0 realtime_timer = chrono.ChRealtimeStepTimer() while (app.GetDevice().run()): # Render scene if (step_number % render_steps == 0): app.BeginScene(True, True, chronoirr.SColor(255, 140, 161, 192)) app.DrawAll() app.EndScene() #char filename[100]; #sprintf(filename, "%s/data_%03d.dat", pov_dir.c_str(), frame_number + 1); #utils::WriteShapesPovray(vehicle.GetSystem(), filename); frame_number += 1 # Get driver inputs driver_inputs = driver.GetInputs() # Update modules (process inputs from other modules) time = vehicle.GetSystem().GetChTime() driver.Synchronize(time) vehicle.Synchronize(time, driver_inputs, terrain) terrain.Synchronize(time) app.Synchronize(driver.GetInputModeAsString(), driver_inputs) # Advance simulation for one timestep for all modules driver.Advance(step_size) vehicle.Advance(step_size) terrain.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 main() : #print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n") # -------------------------- # Create the various modules # -------------------------- # Create the vehicle system vehicle = veh.WheeledVehicle(vehicle_file ,chrono.ChMaterialSurface.NSC) vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot)) #vehicle.GetChassis().SetFixed(True) vehicle.SetStepsize(step_size) vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES) vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES) vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES) vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE) # Create the ground terrain = veh.RigidTerrain(vehicle.GetSystem(), rigidterrain_file) # Create and initialize the powertrain system powertrain = veh.SimplePowertrain(simplepowertrain_file) powertrain.Initialize(vehicle.GetChassisBody(), vehicle.GetDriveshaft()) #// Create and initialize the tires num_axles = vehicle.GetNumberAxles() num_wheels = 2 * num_axles tires = [ veh.RigidTire(rigidtire_file) for i in range(num_wheels)] for i, t in enumerate(tires): #t = std::make_shared<vehicle::RigidTire>(vehicle::GetDataFile(rigidtire_file)); s = [veh.LEFT, veh.RIGHT] t.Initialize(vehicle.GetWheelBody(veh.WheelID(i)), s[i % 2]) t.SetVisualizationType(veh.VisualizationType_MESH) app = veh.ChVehicleIrrApp (vehicle, powertrain) app.SetSkyBox() app.AddTypicalLights(chronoirr.vector3df(30, -30, 100), chronoirr.vector3df(30, 50, 100), 250, 130) app.SetChaseCamera(trackPoint, 6.0, 0.5) app.SetTimestep(step_size) app.AssetBindAll() app.AssetUpdateAll() """ bool do_shadows = false; // shadow map is experimental irr::scene::ILightSceneNode* mlight = 0; if (do_shadows) { mlight = application.AddLightWithShadow( irr::core::vector3df(10.f, 30.f, 60.f), irr::core::vector3df(0.f, 0.f, 0.f), 150, 60, 80, 15, 512, irr::video::SColorf(1, 1, 1), false, false); } else { application.AddTypicalLights( irr::core::vector3df(30.f, -30.f, 100.f), irr::core::vector3df(30.f, 50.f, 100.f), 250, 130); } if (do_shadows) application.AddShadowAll(); """ driver = veh.ChIrrGuiDriver(app) # Set the time response for steering and throttle keyboard 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 = 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) # Set file with driver input time series driver.SetInputDataFile(driver_file) """ #else ChDataDriver driver(vehicle, vehicle::GetDataFile(driver_file)); #endif """ driver.Initialize() # ----------------- # Initialize output # ----------------- try: os.mkdir(out_dir) except: print("Error creating directory " ) """if (povray_output): try: os.mkdir(pov_dir) except: print("Error creating POV directory ") terrain.ExportMeshPovray(out_dir)""" # Generate JSON information with available output channels out_json = vehicle.ExportComponentList() print(out_json) vehicle.ExportComponentList(out_dir + "/component_list.json") # --------------- # Simulation loop # --------------- # Inter-module communication data tire_forces = veh.TerrainForces(num_wheels) wheel_states = veh.WheelStates(num_wheels) # Initialize simulation frame counter and simulation time step_number = 0 time = 0 #ifdef USE_IRRLICHT realtime_timer = chrono.ChRealtimeStepTimer() while (app.GetDevice().run()) : # Render scene app.BeginScene(True, True, chronoirr.SColor(255, 140, 161, 192)) app.DrawAll() # Collect output data from modules (for inter-module communication) throttle_input = driver.GetThrottle() steering_input = driver.GetSteering() braking_input = driver.GetBraking() powertrain_torque = powertrain.GetOutputTorque() driveshaft_speed = vehicle.GetDriveshaftSpeed() for i in range (num_wheels) : tire_forces[i] = tires[i].GetTireForce() wheel_states[i] = vehicle.GetWheelState(veh.WheelID(i)) # Update modules (process inputs from other modules) time = vehicle.GetSystem().GetChTime() driver.Synchronize(time) powertrain.Synchronize(time, throttle_input, driveshaft_speed) vehicle.Synchronize(time, steering_input, braking_input, powertrain_torque, tire_forces) terrain.Synchronize(time) for i in range (num_wheels): tires[i].Synchronize(time, wheel_states[i], terrain) app.Synchronize(driver.GetInputModeAsString(), steering_input, throttle_input, braking_input) # Advance simulation for one timestep for all modules step = realtime_timer.SuggestSimulationStep(step_size) driver.Advance(step) powertrain.Advance(step) vehicle.Advance(step) terrain.Advance(step) for i in range(num_wheels) : tires[i].Advance(step) app.Advance(step) # Increment frame number step_number += 1 app.EndScene()
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
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 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 reset(self): self.generate_track() self.vehicle = veh.Sedan() self.vehicle.SetContactMethod(chrono.ChMaterialSurface.NSC) self.vehicle.SetChassisCollisionType(veh.ChassisCollisionType_NONE) self.vehicle.SetChassisFixed(False) self.vehicle.SetInitPosition( chrono.ChCoordsysD(self.initLoc, self.initRot)) self.vehicle.SetTireType(veh.TireModelType_RIGID) self.vehicle.SetTireStepSize(self.timestep) self.vehicle.Initialize() 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.vehicle.SetTireVisualizationType(veh.VisualizationType_PRIMITIVES) self.system = self.vehicle.GetSystem() self.chassis_body = self.vehicle.GetChassisBody() # Create contact model 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() # Driver self.driver = Driver(self.vehicle.GetVehicle()) # Throttle controller #self.throttle_controller = PIDThrottleController() #self.throttle_controller.SetGains(Kp=0.4, Ki=0, Kd=0) #self.throttle_controller.SetTargetSpeed(speed=self.target_speed) # Rigid terrain self.terrain = veh.RigidTerrain(self.system) patch = self.terrain.AddPatch( chrono.ChCoordsysD(chrono.ChVectorD(0, 0, self.terrainHeight - 5), chrono.QUNIT), chrono.ChVectorD(self.terrainLength, self.terrainWidth, 10)) patch.SetContactFrictionCoefficient(0.9) patch.SetContactRestitutionCoefficient(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 barriers self.barriers = [] self.DrawBarriers(self.track.left.points) self.DrawBarriers(self.track.right.points) # 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 = 0.5 # time to go from 0 to +1 (or from 0 to -1) throttle_time = 0.5 # time to go from 0 to +1 braking_time = 0.3 # time to go from 0 to +1 self.driver.SetSteeringDelta(self.timestep / steering_time) self.driver.SetThrottleDelta(self.timestep / throttle_time) self.driver.SetBrakingDelta(self.timestep / braking_time) self.manager = sens.ChSensorManager(self.system) self.manager.scene.AddPointLight(chrono.ChVectorF(100, 100, 100), chrono.ChVectorF(1, 1, 1), 500.0) self.manager.scene.AddPointLight(chrono.ChVectorF(-100, -100, 100), chrono.ChVectorF(1, 1, 1), 500.0) # ----------------------------------------------------- # 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), 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 (self.camera_height / self.camera_width) * chrono.CH_C_PI / 3. # vertical field of view ) self.camera.SetName("Camera Sensor") self.camera.FilterList().append(sens.ChFilterRGBA8Access()) self.manager.AddSensor(self.camera) self.old_dist = self.track.center.calcDistance( self.chassis_body.GetPos()) 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()
def main(): # 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.SetVehicleStepSize(step_size) my_hmmwv.Initialize() #VisualizationType tire_vis_type = # (tire_model == TireModelType::RIGID_MESH) ? VisualizationType::MESH : VisualizationType::NONE; tire_vis_type = veh.VisualizationType_MESH # if tire_model == veh.TireModelType_RIGID_MESH else tire_vis_type = veh.VisualizationType_NONE 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()) #patch = veh.Patch() """ switch (terrain_model) { case RigidTerrain::BOX: patch = terrain.AddPatch(ChCoordsys<>(ChVector<>(0, 0, terrainHeight - 5), QUNIT), ChVector<>(terrainLength, terrainWidth, 10)); patch->SetTexture(vehicle::GetDataFile("terrain/textures/tile4.jpg"), 200, 200); break; case RigidTerrain::HEIGHT_MAP: patch = terrain.AddPatch(CSYSNORM, vehicle::GetDataFile("terrain/height_maps/test64.bmp"), "test64", 128, 128, 0, 4); patch->SetTexture(vehicle::GetDataFile("terrain/textures/grass.jpg"), 16, 16); break; case RigidTerrain::MESH: patch = terrain.AddPatch(CSYSNORM, vehicle::GetDataFile("terrain/meshes/test.obj"), "test_mesh"); patch->SetTexture(vehicle::GetDataFile("terrain/textures/grass.jpg"), 100, 100); break; } """ patch = terrain.AddPatch( chrono.ChCoordsysD(chrono.ChVectorD(0, 0, terrainHeight - 5), chrono.QUNIT), chrono.ChVectorD(terrainLength, terrainWidth, 10)) patch.SetContactFrictionCoefficient(0.9) patch.SetContactRestitutionCoefficient(0.01) patch.SetContactMaterialProperties(2e7, 0.3) patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5)) terrain.Initialize() # Create the vehicle Irrlicht interface # please note that wchar_t conversion requres some workaround app = veh.ChWheeledVehicleIrrApp( my_hmmwv.GetVehicle(), my_hmmwv.GetPowertrain()) #, "HMMWV Demo") app.SetSkyBox() app.AddTypicalLights(chronoirr.vector3df(30, -30, 100), chronoirr.vector3df(30, 50, 100), 250, 130) 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 ") if (povray_output): try: os.mkdir(pov_dir) except: print("Error creating POV directory ") terrain.ExportMeshPovray(out_dir) # Initialize output file for driver inputs #driver_file = out_dir + "/driver_inputs.txt" # no RECORD so far #utils::CSV_writer driver_csv(" "); # 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 driver system # 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) # If in playback mode, attach the data file to the driver system and # force it to playback the driver inputs. if (driver_mode == "PLAYBACK"): #driver.SetInputDataFile(driver_file) driver.SetInputMode(veh.ChIrrGuiDriver.DATAFILE) driver.Initialize() # Simulation loop """ if (debug_output) : GetLog() << "\n\n============ System Configuration ============\n" my_hmmwv.LogHardpointLocations()""" # 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 realtime_timer = chrono.ChRealtimeStepTimer() step_number = 0 render_frame = 0 time = 0 if (contact_vis): app.SetSymbolscale(1e-4) #app.SetContactsDrawMode(chronoirr.eCh_ContactsDrawMode::CONTACT_FORCES); while (app.GetDevice().run()): time = my_hmmwv.GetSystem().GetChTime() #End simulation if (time >= t_end): break app.BeginScene(True, True, chronoirr.SColor(255, 140, 161, 192)) app.DrawAll() app.AddTypicalLogo(chrono.GetChronoDataPath() + 'logo_pychrono_alpha.png') # Output POV-Ray data if (povray_output and step_number % render_steps == 0): #char filename[100]; print('filename', "%s/data_%03d.dat", pov_dir.c_str(), render_frame + 1) #utils::WriteShapesPovray(my_hmmwv.GetSystem(), filename); #render_frame++; #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) # Collect output data from modules (for inter-module communication) throttle_input = driver.GetThrottle() steering_input = driver.GetSteering() braking_input = driver.GetBraking() # Driver output """ if (driver_mode == RECORD) { driver_csv << time << steering_input << throttle_input << braking_input << std::endl; }""" # Update modules (process inputs from other modules) driver.Synchronize(time) terrain.Synchronize(time) my_hmmwv.Synchronize(time, steering_input, braking_input, throttle_input, terrain) app.Synchronize(driver.GetInputModeAsString(), steering_input, throttle_input, braking_input) # Advance simulation for one timestep for all modules step = realtime_timer.SuggestSimulationStep(step_size) driver.Advance(step) terrain.Advance(step) my_hmmwv.Advance(step) app.Advance(step) # Increment frame number step_number += 1 app.EndScene() """ if (driver_mode == RECORD) { driver_csv.write_to_file(driver_file); }""" return 0
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 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
gator.SetSteeringVisualizationType(steering_vis_type) gator.SetWheelVisualizationType(wheel_vis_type) gator.SetTireVisualizationType(tire_vis_type) print("Vehicle mass: " + str(gator.GetVehicle().GetVehicleMass())) print("Vehicle mass (with tires): " + str(gator.GetTotalMass())) print("Driveline type: " + gator.GetVehicle().GetDriveline().GetTemplateName()) print("Brake type: " + gator.GetVehicle().GetBrake(1, veh.LEFT).GetTemplateName()) print("Tire type: " + gator.GetVehicle().GetTire(1, veh.LEFT).GetTemplateName()) print("\n") # ------------------ # Create the terrain # ------------------ terrain = veh.RigidTerrain(gator.GetSystem()) 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), 600, 600) patch.SetColor(chrono.ChColor(0.8, 0.8, 1.0)) patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 1200, 1200) terrain.Initialize() # ------------------------------------- # Create the vehicle Irrlicht interface # Create the driver system # -------------------------------------
def __init__(self, step_size, sys, irrlicht=False, terrain_type='json', height=-0.5, width=300, length=300): # Chrono parameters self.step_size = step_size self.irrlicht = irrlicht self.step_number = 0 # Rigid terrain dimensions self.height = height self.length = length # size in X direction self.width = width # size in Y direction self.sys = sys if terrain_type == 'json': import os # JSON files for terrain self.rigidterrain_file = veh.GetDataPath() + os.path.join('terrain', 'RigidPlane.json') checkFile(self.rigidterrain_file) # Create the ground self.terrain = veh.RigidTerrain(self.sys, self.rigidterrain_file) elif terrain_type == 'concrete': # Create the terrain self.terrain = veh.RigidTerrain(self.sys) patch = self.terrain.AddPatch(chrono.ChCoordsysD(chrono.ChVectorD(0, 0, self.height - 5), chrono.QUNIT), chrono.ChVectorD(self.width, self.length, 10)) patch.SetContactFrictionCoefficient(0.9) patch.SetContactRestitutionCoefficient(0.01) patch.SetContactMaterialProperties(2e7, 0.3) patch.SetTexture(chrono.GetChronoDataFile("concrete.jpg"), self.length, self.width) patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5)) self.terrain.Initialize() try: 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")) vis_mat.SetFresnelMax(0); visual_asset.material_list.append(vis_mat) except: print("Not Visual Material") elif terrain_type == 'hallway': y_max = 5.65 x_max = 23 offset = chrono.ChVectorD(-x_max/2, -y_max/2, .21) offsetF = chrono.ChVectorF(offset.x, offset.y, offset.z) self.terrain = veh.RigidTerrain(self.sys) coord_sys = chrono.ChCoordsysD(offset, chrono.ChQuaternionD(1,0,0,0)) patch = self.terrain.AddPatch(coord_sys, chrono.GetChronoDataFile("sensor/textures/hallway.obj"), "mesh", 0.01, False) vis_mesh = chrono.ChTriangleMeshConnected() vis_mesh.LoadWavefrontMesh(chrono.GetChronoDataFile("sensor/textures/hallway.obj"), True, True) trimesh_shape = chrono.ChTriangleMeshShape() trimesh_shape.SetMesh(vis_mesh) trimesh_shape.SetName("mesh_name") trimesh_shape.SetStatic(True) patch.GetGroundBody().AddAsset(trimesh_shape) patch.SetContactFrictionCoefficient(0.9) patch.SetContactRestitutionCoefficient(0.01) patch.SetContactMaterialProperties(2e7, 0.3) self.terrain.Initialize()
def main() : #print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n") # -------------------------- # Create the various modules # -------------------------- # Create the vehicle system vehicle = veh.WheeledVehicle(vehicle_file ,chrono.ChMaterialSurface.NSC) vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot)) #vehicle.GetChassis().SetFixed(True) vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES) vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES) vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES) vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE) # Create the ground terrain = veh.RigidTerrain(vehicle.GetSystem(), rigidterrain_file) # Create and initialize the powertrain system powertrain = veh.SimplePowertrain(simplepowertrain_file) vehicle.InitializePowertrain(powertrain) # Create and initialize the tires for axle in vehicle.GetAxles() : tireL = veh.RigidTire(rigidtire_file) vehicle.InitializeTire(tireL, axle.m_wheels[0], veh.VisualizationType_MESH) tireR = veh.RigidTire(rigidtire_file) vehicle.InitializeTire(tireR, axle.m_wheels[1], veh.VisualizationType_MESH) app = veh.ChVehicleIrrApp(vehicle) app.SetSkyBox() app.AddTypicalLights(chronoirr.vector3df(30, -30, 100), chronoirr.vector3df(30, 50, 100), 250, 130) app.AddTypicalLogo(chrono.GetChronoDataPath() + 'logo_pychrono_alpha.png') app.SetChaseCamera(trackPoint, 6.0, 0.5) app.SetTimestep(step_size) app.AssetBindAll() app.AssetUpdateAll() driver = veh.ChIrrGuiDriver(app) # Set the time response for steering and throttle keyboard 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 = 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() # ----------------- # Initialize output # ----------------- try: os.mkdir(out_dir) except: print("Error creating directory " ) # Generate JSON information with available output channels out_json = vehicle.ExportComponentList() print(out_json) vehicle.ExportComponentList(out_dir + "/component_list.json") # --------------- # Simulation loop # --------------- realtime_timer = chrono.ChRealtimeStepTimer() while (app.GetDevice().run()) : # Render scene app.BeginScene(True, True, chronoirr.SColor(255, 140, 161, 192)) app.DrawAll() app.EndScene() # Collect output data from modules (for inter-module communication) driver_inputs = driver.GetInputs() # Update modules (process inputs from other modules) time = vehicle.GetSystem().GetChTime() driver.Synchronize(time) vehicle.Synchronize(time, driver_inputs, terrain) terrain.Synchronize(time) app.Synchronize(driver.GetInputModeAsString(), driver_inputs) # Advance simulation for one timestep for all modules driver.Advance(step_size) vehicle.Advance(step_size) terrain.Advance(step_size) app.Advance(step_size) # Spin in place for real time to catch up realtime_timer.Spin(step_size)
my_rccar.SetSteeringVisualizationType(steering_vis_type) my_rccar.SetWheelVisualizationType(wheel_vis_type) my_rccar.SetTireVisualizationType(tire_vis_type) chassis_asset = my_rccar.GetChassisBody().GetAssets()[0] visual_asset = chrono.CastToChVisualization(chassis_asset) vis_mat = chrono.ChVisualMaterial() vis_mat.SetAmbientColor(chrono.ChVectorF(0, 0, 0)) vis_mat.SetDiffuseColor(chrono.ChVectorF(.5, .5, .5)) vis_mat.SetSpecularColor(chrono.ChVectorF(1, 1, 1)) vis_mat.SetFresnelMin(0) vis_mat.SetFresnelMax(1) visual_asset.material_list.append(vis_mat) # Create the terrain terrain = veh.RigidTerrain(my_rccar.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()
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
def reset(self): print("reset") self.generator.generatePath(difficulty=50, seed=randint(1, 1000)) self.path = Path(self.generator) self.path_tracker = PathTracker(self.path) self.initLoc = self.path_tracker.GetInitLoc() self.initRot = self.path_tracker.GetInitRot() self.vehicle = veh.WheeledVehicle(self.vehicle_file, chrono.ChMaterialSurface.NSC) self.vehicle.Initialize(chrono.ChCoordsysD(self.initLoc, self.initRot)) self.vehicle.SetStepsize(self.timestep) self.vehicle.SetChassisVisualizationType( veh.VisualizationType_PRIMITIVES) self.vehicle.SetSuspensionVisualizationType( veh.VisualizationType_PRIMITIVES) self.vehicle.SetSteeringVisualizationType( veh.VisualizationType_PRIMITIVES) self.vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE) # Create and initialize the powertrain system self.powertrain = veh.SimplePowertrain(self.simplepowertrain_file) self.vehicle.InitializePowertrain(self.powertrain) # Create the ground self.terrain = veh.RigidTerrain(self.vehicle.GetSystem(), self.rigidterrain_file) for axle in self.vehicle.GetAxles(): tireL = veh.RigidTire(self.rigidtire_file) self.vehicle.InitializeTire(tireL, axle.m_wheels[0], veh.VisualizationType_MESH) tireR = veh.RigidTire(self.rigidtire_file) self.vehicle.InitializeTire(tireR, axle.m_wheels[1], veh.VisualizationType_MESH) # ------------- # Create driver # ------------- self.driver = Driver(self.vehicle) # Time interval between two render frames render_step_size = 1.0 / 60 # FPS = 60 # 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 = 1.0 # time to go from 0 to +1 braking_time = 0.3 # time to go from 0 to +1 self.driver.SetSteeringDelta(render_step_size / steering_time) self.driver.SetThrottleDelta(render_step_size / throttle_time) self.driver.SetBrakingDelta(render_step_size / braking_time) vec = chrono.ChVectorD(0, 0, 0) self.path_tracker.calcClosestPoint(self.vehicle.GetVehiclePos(), vec) self.last_dist = vec.Length() self.last_throttle, self.last_braking, self.last_steering = 0, 0, 0 if self.render: road = self.vehicle.GetSystem().NewBody() road.SetBodyFixed(True) self.vehicle.GetSystem().AddBody(road) num_points = self.path.getNumPoints() path_asset = chrono.ChLineShape() path_asset.SetLineGeometry( chrono.ChLineBezier(self.path_tracker.path)) path_asset.SetColor(chrono.ChColor(0.0, 0.8, 0.0)) path_asset.SetNumRenderPoints(max(2 * num_points, 400)) road.AddAsset(path_asset) if self.render: self.app = veh.ChVehicleIrrApp(self.vehicle) self.app.SetHUDLocation(500, 20) self.app.SetSkyBox() self.app.AddTypicalLogo() self.app.AddTypicalLights(chronoirr.vector3df(-150., -150., 200.), chronoirr.vector3df(-150., 150., 200.), 100, 100) self.app.AddTypicalLights(chronoirr.vector3df(150., -150., 200.), chronoirr.vector3df(150., 150., 200.), 100, 100) self.app.EnableGrid(False) self.app.SetChaseCamera(self.trackPoint, 6.0, 0.5) self.app.SetTimestep(self.timestep) # --------------------------------------------------------------------- # # Create an Irrlicht application to visualize the system # # ==IMPORTANT!== Use this function for adding a ChIrrNodeAsset to all items # in the system. These ChIrrNodeAsset assets are 'proxies' to the Irrlicht meshes. # If you need a finer control on which item really needs a visualization proxy # Irrlicht, just use application.AssetBind(myitem); on a per-item basis. self.app.AssetBindAll() # ==IMPORTANT!== Use this function for 'converting' into Irrlicht meshes the assets # that you added to the bodies into 3D shapes, they can be visualized by Irrlicht! self.app.AssetUpdateAll() self.isdone = False self.steps = 0 self.step(np.zeros(3)) self.tracknum = self.tracknum = 0 if self.tracknum >= 3 else self.tracknum + 1 # self.tracknum = self.tracknum + 1 return self.get_ob()
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()) patch = terrain.AddPatch(chrono.ChCoordsysD(chrono.ChVectorD(0, 0, terrainHeight - 5), chrono.QUNIT), chrono.ChVectorD(terrainLength, terrainWidth, 10)) patch.SetContactFrictionCoefficient(0.9) patch.SetContactRestitutionCoefficient(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)) terrain.Initialize() # Create the vehicle Irrlicht interface # please note that wchar_t conversion requres some workaround app = veh.ChWheeledVehicleIrrApp(my_hmmwv.GetVehicle()) app.SetSkyBox() app.AddTypicalLights(chronoirr.vector3df(30, -30, 100), chronoirr.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(chronoirr.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, chronoirr.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 reset(self): self.generate_track(starting_index=350, z=.40) self.vehicle = veh.RCCar() self.vehicle.SetContactMethod(chrono.ChMaterialSurface.NSC) self.vehicle.SetChassisCollisionType(veh.ChassisCollisionType_NONE) self.vehicle.SetChassisFixed(False) self.vehicle.SetInitPosition( chrono.ChCoordsysD(self.initLoc, self.initRot)) self.vehicle.SetTireType(veh.TireModelType_RIGID) self.vehicle.SetTireStepSize(self.timestep) self.vehicle.Initialize() 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.vehicle.SetTireVisualizationType(veh.VisualizationType_PRIMITIVES) self.chassis_body = self.vehicle.GetChassisBody() self.system = self.vehicle.GetVehicle().GetSystem() # Driver self.driver = Driver(self.vehicle.GetVehicle()) # 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 = .65 # 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.driver.SetSteeringDelta(self.timestep / steering_time) self.driver.SetThrottleDelta(self.timestep / throttle_time) self.driver.SetBrakingDelta(self.timestep / braking_time) # Longitudinal controller (throttle and braking) self.long_controller = PIDLongitudinalController( self.vehicle, self.driver) self.long_controller.SetGains(Kp=0.4, Ki=0, Kd=0) self.long_controller.SetTargetSpeed(speed=self.target_speed) # Mesh hallway y_max = 5.65 x_max = 23 offset = chrono.ChVectorD(-x_max / 2, -y_max / 2, .21) offsetF = chrono.ChVectorF(offset.x, offset.y, offset.z) self.terrain = veh.RigidTerrain(self.system) coord_sys = chrono.ChCoordsysD(offset, chrono.ChQuaternionD(1, 0, 0, 0)) patch = self.terrain.AddPatch( coord_sys, chrono.GetChronoDataFile("sensor/textures/hallway_contact.obj"), "mesh", 0.01, False) vis_mesh = chrono.ChTriangleMeshConnected() vis_mesh.LoadWavefrontMesh( chrono.GetChronoDataFile("sensor/textures/hallway.obj"), True, True) trimesh_shape = chrono.ChTriangleMeshShape() trimesh_shape.SetMesh(vis_mesh) trimesh_shape.SetName("mesh_name") trimesh_shape.SetStatic(True) patch.GetGroundBody().AddAsset(trimesh_shape) patch.SetContactFrictionCoefficient(0.9) patch.SetContactRestitutionCoefficient(0.01) patch.SetContactMaterialProperties(2e7, 0.3) self.terrain.Initialize() f = 0 start_light = 0 end_light = 8 self.manager = sens.ChSensorManager(self.system) for i in range(8): f += 3 if i < start_light or i > end_light: continue self.manager.scene.AddPointLight( chrono.ChVectorF(f, 1.25, 2.3) + offsetF, chrono.ChVectorF(1, 1, 1), 5) self.manager.scene.AddPointLight( chrono.ChVectorF(f, 3.75, 2.3) + offsetF, chrono.ChVectorF(1, 1, 1), 5) # ----------------------------------------------------- # 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(-.075, 0, .15), 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 (self.camera_height / self.camera_width) * chrono.CH_C_PI / 3. # vertical field of view ) self.camera.SetName("Camera Sensor") self.camera.FilterList().append(sens.ChFilterRGBA8Access()) self.manager.AddSensor(self.camera) # create obstacles self.cones = [] self.DrawCones(self.track.left.points, 'green', z=.31) self.DrawCones(self.track.right.points, 'red', z=.31) self.old_dist = self.track.center.calcDistance( self.chassis_body.GetPos()) self.step_number = 0 self.isdone = False self.render_setup = False if self.play_mode: self.render() return self.get_ob()