# Author: Alessandro Tasora
#
# Created: 1/01/2019
# Copyright: (c) ProjectChrono 2019
#------------------------------------------------------------------------------
import pychrono.core as chrono
import pychrono.irrlicht as chronoirr
import matplotlib.pyplot as plt
import numpy as np
print("Example: create a slider crank and plot results")
# Change this path to asset path, if running from other working dir.
# It must point to the data folder, containing GUI assets (textures, fonts, meshes, etc.)
chrono.SetChronoDataPath("../../../data/")
# ---------------------------------------------------------------------
#
# Create the simulation system and add items
#
mysystem = chrono.ChSystemNSC()
# Some data shared in the following
crank_center = chrono.ChVectorD(-1, 0.5, 0)
crank_rad = 0.4
crank_thick = 0.1
rod_length = 1.5
# Create four rigid bodies: the truss, the crank, the rod, the piston.
import math
import cv2
from control_utilities.track import RandomTrack, Track
import numpy as np
# import cv2
save_data = False
visualize = True
"""
!!!! Set this path before running the demo!
"""
chrono.SetChronoDataPath('../../../data/')
veh.SetDataPath('../../../data/vehicle/')
# Initial vehicle location and orientation
initLoc = chrono.ChVectorD(0, 0, 0.5)
initRot = chrono.ChQuaternionD(1, 0, 0, 0)
# Visualization type for vehicle parts (PRIMITIVES, MESH, or NONE)
chassis_vis_type = veh.VisualizationType_PRIMITIVES
suspension_vis_type = veh.VisualizationType_PRIMITIVES
steering_vis_type = veh.VisualizationType_PRIMITIVES
wheel_vis_type = veh.VisualizationType_MESH
# Collision type for chassis (PRIMITIVES, MESH, or NONE)
chassis_collision_type = veh.ChassisCollisionType_NONE
def PreSetup(args, SetupFunction):
chrono.SetChronoDataPath(os.getcwd() + "/")
SetupFunction()
#
# Main driver function for the City Bus full model.
#
# The vehicle reference frame has Z up, X towards the front of the vehicle, and
# Y pointing to the left.
#
# =============================================================================
import pychrono.core as chrono
import pychrono.irrlicht as irr
import pychrono.vehicle as veh
import math
"""
!!!! Set this path before running the demo!
"""
chrono.SetChronoDataPath('../../../../Library/data/')
veh.SetDataPath('../../../../Library/data/vehicle/')
# Initial vehicle location and orientation
initLoc = chrono.ChVectorD(0, 0, 0.5)
initRot = chrono.ChQuaternionD(1, 0, 0, 0)
# Visualization type for vehicle parts (PRIMITIVES, MESH, or NONE)
chassis_vis_type = veh.VisualizationType_MESH
suspension_vis_type = veh.VisualizationType_PRIMITIVES
steering_vis_type = veh.VisualizationType_PRIMITIVES
wheel_vis_type = veh.VisualizationType_MESH
# Collision type for chassis (PRIMITIVES, MESH, or NONE)
chassis_collision_type = veh.ChassisCollisionType_NONE
#------------------------------------------------------------------------------
# Adjustable Leaning EXersize Robot (ALEXR) Dynamic Simulations
#------------------------------------------------------------------------------
#---------------------------- Imports -----------------------------------------
import pychrono.core as chrono
import pychrono.irrlicht as chronoirr
import numpy as np
# Change this path to asset path, if running from other working dir.
# It must point to the data folder, containing GUI assets (textures, fonts, meshes, etc.)
chronoDataDir = "D:/programFiles/Miniconda3/pkgs/pychrono-5.0.0-py37_9/Library/data/"
chrono.SetChronoDataPath(chronoDataDir)
assetsPath = "C:/Users/adaws/Documents/gitRepos/NRI_Analyses/chrono/assets/"
# ----------- Calculate IK angles using custom Library ------------------------
#initial location of the end effector (EE) of the ALEX Robot
Xee = .5 #(these form the initial conditions of the robot)
Yee = -.5
#specify mass properties of the payload at the end effector.
eeMass = 1
#set the elbow discrete vars this will flip for right vs. left side useage
side = "right" # "left"
if side == "right":
ef = "up"
e3 = "down"
elif side == "left":
ef = "down"
import pychrono.core as chrono
import pychrono.irrlicht as chronoirr
import settings
# This file is used to evaluate the candidate's fitness, along with, along with returning its fitness.
# Fitness is calculated in the later parts of run_sim
chrono.SetChronoDataPath(settings.DATAPATH)
# Traits are in the format of [[block_x, block_z, block_y], ..., mass]
def run_sim(traits, trial_num, gen_num, difficulty_level):
my_system = chrono.ChSystemNSC()
# Set the default outward/inward shape margins for collision detection
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001)
# Sets simulation precision
my_system.SetMaxItersSolverSpeed(70)
# Create a contact material (surface property)to share between all objects.
rollfrict_param = 0.5 / 10.0 * 0.05
brick_material = chrono.ChMaterialSurfaceNSC()
brick_material.SetFriction(0.5)
brick_material.SetDampingF(0.2)
brick_material.SetCompliance(0.0000001)
brick_material.SetComplianceT(0.0000001)
brick_material.SetRollingFriction(rollfrict_param)
brick_material.SetSpinningFriction(0.00000001)
#
# Main driver function for the RCCar model.
#
# The vehicle reference frame has Z up, X towards the front of the vehicle, and
# Y pointing to the left.
#
# =============================================================================
import pychrono.core as chrono
import pychrono.irrlicht as irr
import pychrono.vehicle as veh
import math
"""
!!!! Set this path before running the demo!
"""
chrono.SetChronoDataPath(
'/home/hubble-02/miniconda3/envs/isro/share/chrono/data/')
veh.SetDataPath(
'/home/hubble-02/miniconda3/envs/isro/share/chrono/data/vehicle')
# Initial vehicle location and orientation
initLoc = chrono.ChVectorD(2, 2, 0.5)
initRot = chrono.ChQuaternionD(1, 0, 0, 0)
# Visualization type for vehicle parts (PRIMITIVES, MESH, or NONE)
chassis_vis_type = veh.VisualizationType_PRIMITIVES
suspension_vis_type = veh.VisualizationType_PRIMITIVES
steering_vis_type = veh.VisualizationType_PRIMITIVES
wheel_vis_type = veh.VisualizationType_PRIMITIVES
# Collision type for chassis (PRIMITIVES, MESH, or NONE)
chassis_collision_type = veh.CollisionType_NONE
def main():
chrono.SetChronoDataPath("../../../data/")
# -----------------
# Create the system
# -----------------
mphysicalSystem = chrono.ChSystemNSC()
# ----------------------------------
# add a mesh to be sensed by a lidar
# ----------------------------------
mmesh = chrono.ChTriangleMeshConnected()
mmesh.LoadWavefrontMesh(
chrono.GetChronoDataFile("vehicle/hmmwv/hmmwv_chassis.obj"), False,
True)
mmesh.Transform(chrono.ChVectorD(0, 0, 0),
chrono.ChMatrix33D(2)) # scale to a different size
trimesh_shape = chrono.ChTriangleMeshShape()
trimesh_shape.SetMesh(mmesh)
trimesh_shape.SetName("HMMWV Chassis Mesh")
trimesh_shape.SetStatic(True)
mesh_body = chrono.ChBody()
mesh_body.SetPos(chrono.ChVectorD(0, 0, 0))
mesh_body.AddAsset(trimesh_shape)
mesh_body.SetBodyFixed(True)
mphysicalSystem.Add(mesh_body)
# -----------------------
# Create a sensor manager
# -----------------------
manager = sens.ChSensorManager(mphysicalSystem)
manager.SetKeyframeSizeFromTimeStep(.001, 1 / collection_time)
# ------------------------------------------------
# Create a lidar and add it to the sensor manager
# ------------------------------------------------
offset_pose = chrono.ChFrameD(
chrono.ChVectorD(-8, 0, 1),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0)))
lidar = sens.ChLidarSensor(
mesh_body, # body lidar is attached to
update_rate, # scanning rate in Hz
offset_pose, # offset pose
horizontal_samples, # number of horizontal samples
vertical_samples, # number of vertical channels
horizontal_fov, # horizontal field of view
max_vert_angle, # vertical field of view
min_vert_angle,
100.0, #max lidar range
sample_radius, # sample radius
divergence_angle, # divergence angle
return_mode, # return mode for the lidar
lens_model # method/model to use for generating data
)
lidar.SetName("Lidar Sensor")
lidar.SetLag(lag)
lidar.SetCollectionWindow(collection_time)
# -----------------------------------------------------------------
# Create a filter graph for post-processing the data from the lidar
# -----------------------------------------------------------------
if noise_model == "CONST_NORMAL_XYZI":
lidar.PushFilter(sens.ChFilterLidarNoiseXYZI(0.01, 0.001, 0.001, 0.01))
elif noise_model == "NONE":
# Don't add any noise models
pass
if vis:
# Visualize the raw lidar data
lidar.PushFilter(
sens.ChFilterVisualize(horizontal_samples, vertical_samples,
"Raw Lidar Depth Data"))
# Provides the host access to the Depth,Intensity data
lidar.PushFilter(sens.ChFilterDIAccess())
# Convert Depth,Intensity data to XYZI point cloud data
lidar.PushFilter(sens.ChFilterPCfromDepth())
if vis:
# Visualize the point cloud
lidar.PushFilter(
sens.ChFilterVisualizePointCloud(640, 480, 1.0,
"Lidar Point Cloud"))
# Provides the host access to the XYZI data
lidar.PushFilter(sens.ChFilterXYZIAccess())
# Add the lidar to the sensor manager
manager.AddSensor(lidar)
# ---------------
# Simulate system
# ---------------
orbit_radius = 5
orbit_rate = 0.2
ch_time = 0.0
render_time = 0
t1 = time.time()
while (ch_time < end_time):
lidar.SetOffsetPose(
chrono.ChFrameD(
chrono.ChVectorD(
-orbit_radius * math.cos(ch_time * orbit_rate),
-orbit_radius * math.sin(ch_time * orbit_rate), 1),
chrono.Q_from_AngAxis(ch_time * orbit_rate,
chrono.ChVectorD(0, 0, 1))))
# Access the XYZI buffer from lidar
xyzi_buffer = lidar.GetMostRecentXYZIBuffer()
if xyzi_buffer.HasData():
xyzi_data = xyzi_buffer.GetXYZIData()
print('XYZI buffer recieved from lidar. Lidar resolution: {0}x{1}'\
.format(xyzi_buffer.Width, xyzi_buffer.Height))
print('Max Value: {0}'.format(np.max(xyzi_data)))
# Update sensor manager
# Will render/save/filter automatically
manager.Update()
# Perform step of dynamics
mphysicalSystem.DoStepDynamics(step_size)
# Get the current time of the simulation
ch_time = mphysicalSystem.GetChTime()
print("Sim time:", end_time, "Wall time:", time.time() - t1)
print(*traits, sep='\n')
# Get the fitness for this tower:
fitness = ""
with open(parent_path + '/data/' + folder + file + '_trial_' + str(trial) +
'.csv',
newline='') as csvfile:
csvreader = csv.reader(csvfile, delimiter=',', quotechar='|')
# next(csvfile)
for row in reversed(list(csvreader)):
fitness = row[-1]
break
print(fitness)
chrono.SetChronoDataPath(set.DATAPATH)
my_system = chrono.ChSystemNSC()
# Set the default outward/inward shape margins for collision detection,
# this is especially important for very large or very small objects.
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001)
# Maybe you want to change some settings for the solver. For example you
# might want to use SetMaxItersSolverSpeed to set the number of iterations
# per timestep, etc.
# my_system.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN) # precise, more slow
my_system.SetMaxItersSolverSpeed(70)
#
# FEA for thin shells of Kirchhoff-Love type, with BST triangle finite elements
#
# =============================================================================
import pychrono.core as chrono
import pychrono.irrlicht as chronoirr
import pychrono.fea as fea
import pychrono.mkl as mkl
import os
# Output directory
out_dir = "./FEA_SHELLS"
chrono.SetChronoDataPath('C:/codes/Chrono/Chrono_Source/data/')
#GetLog() << "Copyright (c) 2017 projectchrono.org\nChrono version: " << CHRONO_VERSION << "\n\n"
# Create (if needed) output directory
if not os.path.isdir(out_dir):
os.mkdir(out_dir)
# Create a Chrono::Engine physical system
my_system = chrono.ChSystemNSC()
# Create a mesh, that is a container for groups
# of elements and their referenced nodes.
