def __init__(self, step_size: float = 3e-3, render_step_size: float = 2e-2, end_time: float = 120, contact_method: str = "NSC", args: 'argparse.Namespace' = None):
super().__init__(step_size, render_step_size, end_time, args)
if not isinstance(contact_method, str):
raise TypeError("Contact method must be of type str")
if contact_method == "NSC":
system = chrono.ChSystemNSC()
elif contact_method == "SMC":
system = chrono.ChSystemSMC()
system.Set_G_acc(chrono.ChVectorD(0, 0, -9.81))
system.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN)
system.SetSolverMaxIterations(150)
system.SetMaxPenetrationRecoverySpeed(4.0)
self._system = system
# Global -- Optimisation algorithm
NEIGHBOURS = 2
INFERRED_RADIUS = 60. # in mm
INFERRED_LENGTH = (N_RINGS - 1) * RING_GAP # Constraint of the textile
# Global -- Dont touch
UNIT_FACTOR = 0.01
metrics = ['mm', 'cm', 'dm', 'm']
metric = metrics[int(math.fabs(round(math.log(UNIT_FACTOR, 10))))]
filename = SHAPE_PATH.split('/')[-1].split('.')[0]
# ---------------------------------------------------------------------------
# Chrono setup
chrono.SetChronoDataPath("../data/")
mysystem = chrono.ChSystemSMC()
mysystem.Set_G_acc(chrono.ChVectorD(0., 0., 0.)) # Remove gravity
contact_method = chrono.ChMaterialSurface.SMC
# Shape
filepath = tool.obj_from_millimeter(chrono.GetChronoDataPath() + SHAPE_PATH,
UNIT_FACTOR, f"_{metric}")
shape = tool.load_shape(filepath, contact_method, 'textures/skin.jpg')
# Get shape bounding box dimensions
bbmin, bbmax = chrono.ChVectorD(), chrono.ChVectorD()
shape.GetTotalAABB(bbmin, bbmax)
bbmin, bbmax = eval(str(bbmin)), eval(str(bbmax))
print(bbmin, bbmax)
print(shape.GetPos())
bb_dx = bbmax[0] - bbmin[0]
def __init__(self,
configuration,
visualization: bool = False,
output: Optional = None) -> None:
# TODO a copy of the configuration is better
self._conf = configuration
self._visualization = visualization
self._output = output
self._app = None
# TODO not sure about the meaning of theese two parameters, take them from the configuation
chrono.ChCollisionInfo.SetDefaultEffectiveCurvatureRadius(1)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.006)
# TODO look into the parameters of the system
# e.g. MinBounceSpeed, Gravity
self._system = chrono.ChSystemSMC()
if self._visualization:
# TODO take the data path, the title, the dimension and do_[something] from the configuration
chrono.SetChronoDataPath(
"/home/gianluca/anaconda3/envs/chrono/share/chrono/data/")
self._app = irr.ChIrrApp(
self._system,
"Artificial Skin",
irr.dimension2du(1024, 768),
do_fullscreen=False,
do_shadows=True,
do_antialias=True,
)
self._app.AddTypicalSky()
self._app.AddTypicalLights()
# TODO take the info for the came and lighs from the configuation
self._app.AddTypicalCamera(irr.vector3df(-1, -1, 0),
irr.vector3df(0, 0, 0))
# TODO this has too many parameters and it is not that important
self._app.AddLightWithShadow(
irr.vector3df(1.5, 5.5, -2.5),
irr.vector3df(0, 0, 0),
3,
2.2,
7.2,
40,
512,
irr.SColorf(1, 1, 1),
)
self._app.AddShadowAll()
self._app.SetTimestep(0.004)
self._make_sheets()
self._make_sensors()
# TODO make the load class -> it takes a node / pair of indexes and time and return the force
self._add_forces()
# TODO look at all the parameters of the solver and the stepper
# TODO consider also mkl.ChSolverMKL
# TODO take the parameters from the configuration
self._solver = chrono.ChSolverMINRES()
self._system.SetSolver(self._solver)
self._solver.SetMaxIterations(1000)
self._solver.SetTolerance(1e-12)
self._solver.EnableDiagonalPreconditioner(True)
self._solver.SetVerbose(
False) # don't take this from the configuration
# HHT implicit integrator for II order systems, adaptive
# TODO take the parameters from the configuaration
self._stepper = chrono.ChTimestepperHHT(self._system)
self._system.SetTimestepper(self._stepper)
self._stepper.SetAlpha(-0.2)
self._stepper.SetMaxiters(100)
self._stepper.SetAbsTolerances(1e-5)
self._stepper.SetMode(chrono.ChTimestepperHHT.POSITION)
self._stepper.SetScaling(True)
# TODO from configuarion
# length of the simulation
self._life = 5 # seconds
time_create_terrain = duration_pose # create terrain after robot assumes initial pose
time_start = time_create_terrain + duration_settle_robot # start actual simulation after robot settling
time_end = time_start + duration_sim # end simulation after specified duration
# -------------
# Create system
# -------------
if contact_method == chrono.ChContactMethod_NSC:
my_sys = chrono.ChSystemNSC()
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001)
if contact_method == chrono.ChContactMethod_SMC:
my_sys = chrono.ChSystemSMC()
my_sys.SetSolverMaxIterations(200)
my_sys.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN)
my_sys.Set_G_acc(chrono.ChVectorD(0, 0, -9.8))
# -----------------------
# Create RoboSimian robot
# -----------------------
robot = robosimian.RoboSimian(my_sys, True, True)
# Set output directory
robot.SetOutputDirectory(out_dir)