## Revolute joint between ground and crank.
## The rotational axis of a revolute joint is along the Z axis of the
## specified joint coordinate frame. Here, we apply the 'z2y' rotation to
## align it with the Y axis of the global reference frame.
revolute_ground_crank = chrono.ChLinkLockRevolute()
revolute_ground_crank.SetName("revolute_ground_crank")
revolute_ground_crank.Initialize(
ground, crank, chrono.ChCoordsysD(chrono.ChVectorD(0, 0, 0), z2y))
system.AddLink(revolute_ground_crank)
## Prismatic joint between ground and slider.
## The translational axis of a prismatic joint is along the Z axis of the
## specified joint coordinate system. Here, we apply the 'z2x' rotation to
## align it with the X axis of the global reference frame.
prismatic_ground_slider = chrono.ChLinkLockPrismatic()
prismatic_ground_slider.SetName("prismatic_ground_slider")
prismatic_ground_slider.Initialize(
ground, slider, chrono.ChCoordsysD(chrono.ChVectorD(2, 0, 0), z2x))
system.AddLink(prismatic_ground_slider)
## Distance constraint between crank and slider.
## We provide the points on the two bodies in the global reference frame.
## By default the imposed distance is calculated automatically as the distance
## between these two points in the initial configuration.
dist_crank_slider = chrono.ChLinkDistance()
dist_crank_slider.SetName("dist_crank_slider")
dist_crank_slider.Initialize(crank, slider, False, chrono.ChVectorD(-2, 0, 0),
chrono.ChVectorD(2, 0, 0))
system.AddLink(dist_crank_slider)
slider2.SetMass(1)
slider2.SetInertiaXX(chrono.ChVectorD(0.1, 0.1, 0.1))
slider2.SetPos(chrono.ChVectorD(-4, 0, 1))
cyl2 = chrono.ChCylinderShape()
cyl2.GetCylinderGeometry().p1 = chrono.ChVectorD(-0.2, 0, 0)
cyl2.GetCylinderGeometry().p2 = chrono.ChVectorD(0.2, 0, 0)
cyl2.GetCylinderGeometry().rad = 0.2
slider2.AddAsset(cyl2)
col2 = chrono.ChColorAsset()
col2.SetColor(chrono.ChColor(0, 0, 0.6))
slider2.AddAsset(col2)
# Create prismatic joints between ground a sliders
prismatic1 = chrono.ChLinkLockPrismatic()
prismatic1.Initialize(
slider1, ground,
chrono.ChCoordsysD(chrono.ChVectorD(0, 0, -1),
chrono.Q_from_AngY(chrono.CH_C_PI_2)))
system.AddLink(prismatic1)
prismatic2 = chrono.ChLinkLockPrismatic()
prismatic2.Initialize(
slider2, ground,
chrono.ChCoordsysD(chrono.ChVectorD(0, 0, 1),
chrono.Q_from_AngY(chrono.CH_C_PI_2)))
system.AddLink(prismatic2)
# Sine function parameters
freq = 1
def reset(self):
#print("reset")
self.isdone = False
self.rev_pend_sys.Clear()
# create it
self.body_rod = chrono.ChBody()
# set initial position
self.body_rod.SetPos(chrono.ChVectorD(0, self.size_rod_y / 2, 0))
# set mass properties
self.body_rod.SetMass(self.mass_rod)
self.body_rod.SetInertiaXX(
chrono.ChVectorD(self.inertia_rod_x, self.inertia_rod_y,
self.inertia_rod_x))
# set collision surface properties
self.body_rod.SetMaterialSurface(self.rod_material)
self.cyl_base1 = chrono.ChVectorD(0, -self.size_rod_y / 2, 0)
self.cyl_base2 = chrono.ChVectorD(0, self.size_rod_y / 2, 0)
self.body_rod_shape = chrono.ChCylinderShape()
self.body_rod_shape.GetCylinderGeometry().p1 = self.cyl_base1
self.body_rod_shape.GetCylinderGeometry().p2 = self.cyl_base2
self.body_rod_shape.GetCylinderGeometry().rad = self.radius_rod
self.body_rod.AddAsset(self.body_rod_shape)
self.rev_pend_sys.Add(self.body_rod)
self.body_floor = chrono.ChBody()
self.body_floor.SetBodyFixed(True)
self.body_floor.SetPos(chrono.ChVectorD(0, -5, 0))
self.body_floor.SetMaterialSurface(self.rod_material)
self.body_floor_shape = chrono.ChBoxShape()
self.body_floor_shape.GetBoxGeometry().Size = chrono.ChVectorD(3, 1, 3)
self.body_floor.GetAssets().push_back(self.body_floor_shape)
self.body_floor_texture = chrono.ChTexture()
self.body_floor_texture.SetTextureFilename(chrono.GetChronoDataPath() +
'/concrete.jpg')
self.body_floor.GetAssets().push_back(self.body_floor_texture)
self.rev_pend_sys.Add(self.body_floor)
self.body_table = chrono.ChBody()
self.body_table.SetPos(chrono.ChVectorD(0, -self.size_table_y / 2, 0))
self.body_table.SetMaterialSurface(self.rod_material)
self.body_table.SetMass(0.1)
self.body_table_shape = chrono.ChBoxShape()
self.body_table_shape.GetBoxGeometry().Size = chrono.ChVectorD(
self.size_table_x / 2, self.size_table_y / 2,
self.size_table_z / 2)
self.body_table_shape.SetColor(chrono.ChColor(0.4, 0.4, 0.5))
self.body_table.GetAssets().push_back(self.body_table_shape)
self.body_table_texture = chrono.ChTexture()
self.body_table_texture.SetTextureFilename(chrono.GetChronoDataPath() +
'/concrete.jpg')
self.body_table.GetAssets().push_back(self.body_table_texture)
self.rev_pend_sys.Add(self.body_table)
self.link_slider = chrono.ChLinkLockPrismatic()
z2x = chrono.ChQuaternionD()
z2x.Q_from_AngAxis(-chrono.CH_C_PI / 2, chrono.ChVectorD(0, 1, 0))
self.link_slider.Initialize(
self.body_table, self.body_floor,
chrono.ChCoordsysD(chrono.ChVectorD(0, 0, 0), z2x))
self.rev_pend_sys.Add(self.link_slider)
self.act_initpos = chrono.ChVectorD(0, 0, 0)
self.actuator = chrono.ChLinkMotorLinearForce()
self.actuator.Initialize(self.body_table, self.body_floor,
chrono.ChFrameD(self.act_initpos))
self.rev_pend_sys.Add(self.actuator)
self.rod_pin = chrono.ChMarker()
self.body_rod.AddMarker(self.rod_pin)
self.rod_pin.Impose_Abs_Coord(
chrono.ChCoordsysD(chrono.ChVectorD(0, 0, 0)))
self.table_pin = chrono.ChMarker()
self.body_table.AddMarker(self.table_pin)
self.table_pin.Impose_Abs_Coord(
chrono.ChCoordsysD(chrono.ChVectorD(0, 0, 0)))
self.pin_joint = chrono.ChLinkLockRevolute()
self.pin_joint.Initialize(self.rod_pin, self.table_pin)
self.rev_pend_sys.Add(self.pin_joint)
if self.render_setup:
self.myapplication.AssetBindAll()
self.myapplication.AssetUpdateAll()
self.isdone = False
self.steps = 0
self.step(np.array([[0]]))
return self.get_ob()
def reset(self):
#print("reset")
self.isdone = False
self.rev_pend_sys.Clear()
# create it
self.body_rod = chrono.ChBody()
# set initial position
self.body_rod.SetPos(chrono.ChVectorD(0, self.size_rod_y / 2, 0))
# set mass properties
self.body_rod.SetMass(self.mass_rod)
self.body_rod.SetInertiaXX(
chrono.ChVectorD(self.inertia_rod_x, self.inertia_rod_y,
self.inertia_rod_x))
# set collision surface properties
self.body_rod.SetMaterialSurface(self.rod_material)
# Visualization shape, for rendering animation
self.cyl_base1 = chrono.ChVectorD(0, -self.size_rod_y / 2, 0)
self.cyl_base2 = chrono.ChVectorD(0, self.size_rod_y / 2, 0)
self.body_rod_shape = chrono.ChCylinderShape()
self.body_rod_shape.GetCylinderGeometry().p1 = self.cyl_base1
self.body_rod_shape.GetCylinderGeometry().p2 = self.cyl_base2
self.body_rod_shape.GetCylinderGeometry().rad = self.radius_rod
self.body_rod.AddAsset(self.body_rod_shape)
self.rev_pend_sys.Add(self.body_rod)
self.body_floor = chrono.ChBody()
self.body_floor.SetBodyFixed(True)
self.body_floor.SetPos(chrono.ChVectorD(0, -5, 0))
self.body_floor.SetMaterialSurface(self.rod_material)
if self.render:
self.body_floor_shape = chrono.ChBoxShape()
self.body_floor_shape.GetBoxGeometry().Size = chrono.ChVectorD(
3, 1, 3)
self.body_floor.GetAssets().push_back(self.body_floor_shape)
self.body_floor_texture = chrono.ChTexture()
self.body_floor_texture.SetTextureFilename(
'../../../data/concrete.jpg')
self.body_floor.GetAssets().push_back(self.body_floor_texture)
self.rev_pend_sys.Add(self.body_floor)
self.body_table = chrono.ChBody()
self.body_table.SetPos(chrono.ChVectorD(0, -self.size_table_y / 2, 0))
self.body_table.SetMaterialSurface(self.rod_material)
if self.render:
self.body_table_shape = chrono.ChBoxShape()
self.body_table_shape.GetBoxGeometry().Size = chrono.ChVectorD(
self.size_table_x / 2, self.size_table_y / 2,
self.size_table_z / 2)
self.body_table_shape.SetColor(chrono.ChColor(0.4, 0.4, 0.5))
self.body_table.GetAssets().push_back(self.body_table_shape)
self.body_table_texture = chrono.ChTexture()
self.body_table_texture.SetTextureFilename(
'../../../data/concrete.jpg')
self.body_table.GetAssets().push_back(self.body_table_texture)
self.body_table.SetMass(0.1)
self.rev_pend_sys.Add(self.body_table)
self.link_slider = chrono.ChLinkLockPrismatic()
z2x = chrono.ChQuaternionD()
z2x.Q_from_AngAxis(-chrono.CH_C_PI / 2, chrono.ChVectorD(0, 1, 0))
self.link_slider.Initialize(
self.body_table, self.body_floor,
chrono.ChCoordsysD(chrono.ChVectorD(0, 0, 0), z2x))
self.rev_pend_sys.Add(self.link_slider)
self.act_initpos = chrono.ChVectorD(0, 0, 0)
self.actuator = chrono.ChLinkMotorLinearForce()
self.actuator.Initialize(self.body_table, self.body_floor,
chrono.ChFrameD(self.act_initpos))
self.rev_pend_sys.Add(self.actuator)
self.rod_pin = chrono.ChMarker()
self.body_rod.AddMarker(self.rod_pin)
self.rod_pin.Impose_Abs_Coord(
chrono.ChCoordsysD(chrono.ChVectorD(0, 0, 0)))
self.table_pin = chrono.ChMarker()
self.body_table.AddMarker(self.table_pin)
self.table_pin.Impose_Abs_Coord(
chrono.ChCoordsysD(chrono.ChVectorD(0, 0, 0)))
self.pin_joint = chrono.ChLinkLockRevolute()
self.pin_joint.Initialize(self.rod_pin, self.table_pin)
self.rev_pend_sys.Add(self.pin_joint)
if self.render:
# ---------------------------------------------------------------------
#
# 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.myapplication.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.myapplication.AssetUpdateAll()
self.isdone = False
self.steps = 0
self.step(np.array([[0]]))
return self.get_ob()
def reset(self):
#print("reset")
self.isdone = False
self.rev_pend_sys.Clear()
# create it
self.body_rod = chrono.ChBody()
# set initial position
self.body_rod.SetPos(chrono.ChVectorD(0, self.size_rod_y / 2, 0))
# set mass properties
self.body_rod.SetMass(self.mass_rod)
# una volta che le hao calcolate inserisci inerzie diverse
self.body_rod.SetInertiaXX(
chrono.ChVectorD(self.inertia_rod_x, self.inertia_rod_y,
self.inertia_rod_x))
# set collision surface properties
self.body_rod.SetMaterialSurface(self.rod_material)
# Visualization shape, for rendering animation
# vettori visual cilindro
self.cyl_base1 = chrono.ChVectorD(0, -self.size_rod_y / 2, 0)
self.cyl_base2 = chrono.ChVectorD(0, self.size_rod_y / 2, 0)
#body_rod_shape = chrono.ChCylinder(cyl_base1, cyl_base2, radius_rod)
self.body_rod_shape = chrono.ChCylinderShape()
self.body_rod_shape.GetCylinderGeometry().p1 = self.cyl_base1
self.body_rod_shape.GetCylinderGeometry().p2 = self.cyl_base2
self.body_rod_shape.GetCylinderGeometry().rad = self.radius_rod
#body_rod.GetAssets().push_back(body_rod_shape)
self.body_rod.AddAsset(self.body_rod_shape)
self.rev_pend_sys.Add(self.body_rod)
self.body_floor = chrono.ChBody()
self.body_floor.SetBodyFixed(True)
self.body_floor.SetPos(chrono.ChVectorD(0, -5, 0))
self.body_floor.SetMaterialSurface(self.rod_material)
# Visualization shape
if self.render:
self.body_floor_shape = chrono.ChBoxShape()
self.body_floor_shape.GetBoxGeometry().Size = chrono.ChVectorD(
3, 1, 3)
self.body_floor.GetAssets().push_back(self.body_floor_shape)
self.body_floor_texture = chrono.ChTexture()
self.body_floor_texture.SetTextureFilename(
'../../../data/concrete.jpg')
self.body_floor.GetAssets().push_back(self.body_floor_texture)
self.rev_pend_sys.Add(self.body_floor)
self.body_table = chrono.ChBody()
self.body_table.SetPos(chrono.ChVectorD(0, -self.size_table_y / 2, 0))
self.body_table.SetMaterialSurface(self.rod_material)
# Visualization shape
if self.render:
self.body_table_shape = chrono.ChBoxShape()
self.body_table_shape.GetBoxGeometry().Size = chrono.ChVectorD(
self.size_table_x / 2, self.size_table_y / 2,
self.size_table_z / 2)
self.body_table_shape.SetColor(chrono.ChColor(0.4, 0.4, 0.5))
self.body_table.GetAssets().push_back(self.body_table_shape)
self.body_table_texture = chrono.ChTexture()
self.body_table_texture.SetTextureFilename(
'../../../data/concrete.jpg')
self.body_table.GetAssets().push_back(self.body_table_texture)
self.body_table.SetMass(0.1)
self.rev_pend_sys.Add(self.body_table)
# Create a constraint that blocks free 3 x y z translations and 3 rx ry rz rotations
# of the table respect to the floor, and impose that the relative imposed position
# depends on a specified motion law.
self.link_slider = chrono.ChLinkLockPrismatic()
z2x = chrono.ChQuaternionD()
z2x.Q_from_AngAxis(-chrono.CH_C_PI / 2, chrono.ChVectorD(0, 1, 0))
self.link_slider.Initialize(
self.body_table, self.body_floor,
chrono.ChCoordsysD(chrono.ChVectorD(0, 0, 0), z2x))
self.rev_pend_sys.Add(self.link_slider)
self.link_slider.SetMotion_axis(chrono.ChVectorD(1, 0, 0))
#attuatore lineare
self.act_initpos = chrono.ChVectorD(0, 0, 0)
self.actuator = chrono.ChLinkMotorLinearForce()
self.actuator.Initialize(self.body_table, self.body_floor,
chrono.ChFrameD(self.act_initpos))
self.rev_pend_sys.Add(self.actuator)
# ..create the function for imposed y vertical motion, etc.
# tolta: solo traslazione asse z
#mfunY = chrono.ChFunction_Sine(0,1.5,0.001) # phase, frequency, amplitude
#link_slider.SetMotion_Y(mfunY)
# ..create the function for imposed z horizontal motion, etc.
#self.mfunX = chrono.ChFunction_Sine(0,1.5,0.4) # phase, frequency, amplitude
#self.link_slider.SetMotion_X(self.action)
# Note that you could use other types of ChFunction_ objects, or create
# your custom function by class inheritance (see demo_python.py), or also
# set a function for table rotation , etc.
# REVLOLUTE JOINT:
# create frames for the joint
self.rod_pin = chrono.ChMarker()
self.body_rod.AddMarker(self.rod_pin)
self.rod_pin.Impose_Abs_Coord(
chrono.ChCoordsysD(chrono.ChVectorD(0, 0, 0)))
self.table_pin = chrono.ChMarker()
self.body_table.AddMarker(self.table_pin)
self.table_pin.Impose_Abs_Coord(
chrono.ChCoordsysD(chrono.ChVectorD(0, 0, 0)))
self.pin_joint = chrono.ChLinkLockRevolute()
self.pin_joint.Initialize(self.rod_pin, self.table_pin)
self.rev_pend_sys.Add(self.pin_joint)
if self.render:
# ---------------------------------------------------------------------
#
# 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.myapplication.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.myapplication.AssetUpdateAll()
# If you want to show shadows because you used "AddLightWithShadow()'
# you must remember this:
self.isdone = False
self.steps = 0
self.step(np.array([[0]]))
return self.get_ob()