def DrawCones(self, points, color, z=.3, n=10): for p in points[::n]: p.z += z cmesh = chrono.ChTriangleMeshConnected() if color == 'red': cmesh.LoadWavefrontMesh( chrono.GetChronoDataFile("sensor/cones/red_cone.obj"), False, True) elif color == 'green': cmesh.LoadWavefrontMesh( chrono.GetChronoDataFile("sensor/cones/green_cone.obj"), False, True) cshape = chrono.ChTriangleMeshShape() cshape.SetMesh(cmesh) cshape.SetName("Cone") cshape.SetStatic(True) cbody = chrono.ChBody() cbody.SetPos(p) cbody.AddAsset(cshape) cbody.SetBodyFixed(True) cbody.SetCollide(False) if color == 'red': cbody.AddAsset(chrono.ChColorAsset(1, 0, 0)) elif color == 'green': cbody.AddAsset(chrono.ChColorAsset(0, 1, 0)) self.system.Add(cbody)
def __init__(self, filename, bounding_box=None): self.filename = filename # If bounding box is not passed in, calculate it if bounding_box == None: self.bounding_box = CalcBoundingBox() else: self.bounding_box = bounding_box self.mesh = chrono.ChTriangleMeshConnected() self.mesh.LoadWavefrontMesh(chrono.GetChronoDataFile(filename), False, True) self.shape = chrono.ChTriangleMeshShape() self.shape.SetMesh(self.mesh) self.shape.SetStatic(True) self.body = chrono.ChBody() self.body.AddAsset(self.shape) self.body.SetCollide(False) self.body.SetBodyFixed(True) self.scaled = False self.pos = chrono.ChVectorD() self.scale = 1 self.ang = 0
def __init__(self, filename, scale_range): self.filename = filename self.scale_range = scale_range self.ready = False self.mesh = chrono.ChTriangleMeshConnected() self.mesh.LoadWavefrontMesh(chrono.GetChronoDataFile(self.filename), True, True) self.shape = chrono.ChTriangleMeshShape() self.shape.SetMesh(self.mesh) self.shape.SetStatic(True) self.body = chrono.ChBody() self.body.AddAsset(self.shape) self.body.SetCollide(True) self.body.SetBodyFixed(True) surface_mat = chrono.ChMaterialSurfaceNSC() surface_mat.SetFriction(0.9) surface_mat.SetRestitution(0.01) self.body.GetCollisionModel().ClearModel() self.body.GetCollisionModel().AddTriangleMesh(surface_mat, self.mesh, False, False) self.body.GetCollisionModel().BuildModel() self.scale = 1
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 make_mesh(filename, pos, fixed=False, collide=True, euler_angles=(0, 0, 0), color=(1., 1., 1.)): body = chrono.ChBodyEasyMesh( chrono.GetChronoDataFile(filename), # mesh filename 7000, # density kg/m^3 True, # automatically compute mass and inertia True, # visualize?> 0.001, collide # collide? ) # use mesh for collision? body.SetBodyFixed(fixed) body.SetPos(chrono.ChVectorD(*swap_yz(pos))) body.SetRot(chrono.Q_from_Euler123(chrono.ChVectorD(*euler_angles))) return body
def window(self, arm1, arm2, print_time=False, timestep=0.005, headless=True): if not headless: self.window = chronoirr.ChIrrApp( self.system, self.name, chronoirr.dimension2du(1920, 1080)) #Create window for visualization self.window.AddTypicalCamera(chronoirr.vector3df(1, 1, 2)) self.window.AddTypicalLights() self.window.AddTypicalSky() self.window.AssetBindAll() self.window.AssetUpdateAll() self.window.SetTimestep(timestep) self.window.AddTypicalLogo( chrono.GetChronoDataFile('logo_pychrono_alpha.png')) while (self.window.GetDevice().run() ): #create a window and display simulation s = time.perf_counter() self.window.BeginScene() self.window.DrawAll() motor_torque(arm1) motor_torque(arm2) self.window.DoStep() print(arm1.arm_tip.GetPos()) self.window.EndScene() if print_time == True: print(time.perf_counter() - s) else: while (self.system.GetChTime() < 10): #Run simulation without viewing motor_torque(arm1) motor_torque(arm2) self.system.DoStepDynamics(timestep) print(arm1.arm_tip.GetPos()) if print_time == True: print(time.perf_counter() - s)
def window( self, arm1, arm2, timestep, print_time=False, headless=True, ): if not headless: self.window = chronoirr.ChIrrApp( self.system, self.name, chronoirr.dimension2du(1920, 1080)) #Create window for visualization self.window.AddTypicalCamera(chronoirr.vector3df(1, 1, 2)) self.window.AddTypicalLights() self.window.AddTypicalSky() self.window.AssetBindAll() self.window.AssetUpdateAll() self.window.SetTimestep(timestep) self.window.AddTypicalLogo( chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
def CreateTerrain(sys, length, width, height, offset): ground_mat = chrono.ChMaterialSurface.DefaultMaterial( sys.GetContactMethod()) ground_mat.SetFriction(0.8) ground_mat.SetRestitution(0) if sys.GetContactMethod() == chrono.ChContactMethod_SMC: matSMC = chrono.CastToChMaterialSurfaceSMC(ground_mat) matSMC.SetYoungModulus(1e7) ground = robot.GetSystem().NewBody() ground.SetBodyFixed(True) ground.SetCollide(True) ground.GetCollisionModel().ClearModel() ground.GetCollisionModel().AddBox( ground_mat, length / 2, width / 2, 0.1, chrono.ChVectorD(offset, 0, height - 0.1)) ground.GetCollisionModel().BuildModel() box = chrono.ChBoxShape() box.GetBoxGeometry().Size = chrono.ChVectorD(length / 2, width / 2, 0.1) box.GetBoxGeometry().Pos = chrono.ChVectorD(offset, 0, height - 0.1) ground.AddAsset(box) texture = chrono.ChTexture() texture.SetTextureFilename( chrono.GetChronoDataFile("textures/pinkwhite.png")) texture.SetTextureScale(10 * length, 10 * width) ground.AddAsset(texture) ground.AddAsset(chrono.ChColorAsset(0.8, 0.8, 0.8)) sys.AddBody(ground) return ground
def __init__(self, render): self.animate = render self.observation_space = np.empty([30,]) self.action_space = np.zeros([8,]) self.info = {} # --------------------------------------------------------------------- # # Create the simulation system and add items # self.Xtarg = 1000.0 self.Ytarg = 0.0 self.d_old = np.linalg.norm(self.Xtarg + self.Ytarg) self.ant_sys = chrono.ChSystemNSC() # Set the default outward/inward shape margins for collision detection, # this is epecially important for very large or very small objects. chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001) chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001) #ant_sys.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN) # precise, more slow self.ant_sys.SetSolverMaxIterations(70) self.ant_material = chrono.ChMaterialSurfaceNSC() self.ant_material.SetFriction(0.5) self.ant_material.SetDampingF(0.2) self.ant_material.SetCompliance (0.0005) self.ant_material.SetComplianceT(0.0005) self.timestep = 0.01 self.abdomen_x = 0.25 self.abdomen_y = 0.25 self.abdomen_z = 0.25 self.leg_density = 250 # kg/m^3 self.abdomen_density = 100 self.abdomen_y0 = 0.4 self.leg_length = 0.3 self.leg_radius = 0.04 self.ankle_angle = 60*(math.pi/180) self.ankle_length = 0.4 self.ankle_radius = 0.04 self.gain = 30 self.abdomen_mass = self.abdomen_density * ((4/3)*chrono.CH_C_PI*self.abdomen_x*self.abdomen_y*self.abdomen_z) self.abdomen_inertia = chrono.ChVectorD((1/5)*self.abdomen_mass*(pow(self.abdomen_y,2)+pow(self.abdomen_z,2)),(1/5)*self.abdomen_mass*(pow(self.abdomen_x,2)+pow(self.abdomen_z,2)),(1/5)*self.abdomen_mass*(pow(self.abdomen_y,2)+pow(self.abdomen_x,2))) self.leg_mass = self.leg_density * self.leg_length * math.pi* pow (self.leg_radius,2) self.leg_inertia = chrono.ChVectorD(0.5*self.leg_mass*pow(self.leg_radius,2), (self.leg_mass/12)*(3*pow(self.leg_radius,2)+pow(self.leg_length,2)),(self.leg_mass/12)*(3*pow(self.leg_radius,2)+pow(self.leg_length,2))) self.ankle_mass = self.leg_density * self.ankle_length * math.pi* pow (self.ankle_radius,2) self.ankle_inertia = chrono.ChVectorD(0.5*self.ankle_mass*pow(self.ankle_radius,2), (self.ankle_mass/12)*(3*pow(self.ankle_radius,2)+pow(self.ankle_length,2)),(self.ankle_mass/12)*(3*pow(self.ankle_radius,2)+pow(self.ankle_length,2))) self.leg_limit = chrono.ChLinkLimit() self.ankle_limit = chrono.ChLinkLimit() self.leg_limit.SetRmax(math.pi/9) self.leg_limit.SetRmin(-math.pi/9) self.ankle_limit.SetRmax(math.pi/9) self.ankle_limit.SetRmin(-math.pi/9) if (self.animate) : self.myapplication = chronoirr.ChIrrApp(self.ant_sys) self.myapplication.AddShadowAll() self.myapplication.SetStepManage(True) self.myapplication.SetTimestep(self.timestep) self. myapplication.SetTryRealtime(True) self.myapplication.AddTypicalSky() self.myapplication.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png')) self.myapplication.AddTypicalCamera(chronoirr.vector3df(0,1.5,0)) self.myapplication.AddLightWithShadow(chronoirr.vector3df(4,4,0), # point chronoirr.vector3df(0,0,0), # aimpoint 20, # radius (power) 1,9, # near, far 90) # angle of FOV
my_mesh.AddAsset(mvisualizebeamC) # --------------------------------------------------------------------- # # Create an Irrlicht application to visualize the system # # Create the Irrlicht visualization (open the Irrlicht device, # bind a simple user interface, etc. etc.) myapplication = chronoirr.ChIrrApp(my_system, 'Test FEA beams', chronoirr.dimension2du(1024,768)) #application.AddTypicalLogo() myapplication.AddTypicalSky() myapplication.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png')) myapplication.AddTypicalCamera(chronoirr.vector3df(0.1,0.1,0.2)) myapplication.AddTypicalLights() # ==IMPORTANT!== Use this function for adding a ChIrrNodeAsset to all items # in the system. These ChIrrNodeAsset assets are 'proxies' to the Irrlicht meshes. 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! myapplication.AssetUpdateAll() # THE SOFT-REAL-TIME CYCLE
def __init__(self): ChronoBaseEnv.__init__(self) SetChronoDataDirectories() # Define action and observation space # They must be gym.spaces objects # Example when using discrete actions: #self.camera_width = 210 self.camera_width = 80 #self.camera_height = 160 self.camera_height = 45 self.action_space = spaces.Box(low=-1.0, high=1.0, shape=(2, ), dtype=np.float32) self.observation_space = spaces.Tuple(( spaces.Box(low=0, high=255, shape=(self.camera_height, self.camera_width, 3), dtype=np.uint8), # camera spaces.Box(low=-100, high=100, shape=(5, ), dtype=np.float))) self.info = {"timeout": 10000.0} self.timestep = 5e-3 # --------------------------------------------------------------------- # # Create the simulation system and add items # self.timeend = 60 self.opt_dist = 12 self.dist_rad = 4 # distance between vehicles along the Bezier parameter self.interval = 0.05 self.control_frequency = 5 # time needed by the leader to get to the end of the path self.leader_totalsteps = self.timeend / self.timestep self.terrain_model = veh.RigidTerrain.PatchType_BOX self.terrainHeight = 0 # terrain height (FLAT terrain only) self.terrainLength = 200.0 # size in X direction self.terrainWidth = 200.0 # size in Y direction self.obst_paths = [ 'sensor/offroad/rock1.obj', 'sensor/offroad/rock3.obj', 'sensor/offroad/rock4.obj', 'sensor/offroad/rock5.obj', 'sensor/offroad/tree1.obj', 'sensor/offroad/bush1.obj' ] self.vis_meshes = [ chrono.ChTriangleMeshConnected() for i in range(len(self.obst_paths)) ] for path, mesh in zip(self.obst_paths, self.vis_meshes): mesh.LoadWavefrontMesh(chrono.GetChronoDataFile(path), True, True) self.obst_bound = [ getObstacleBoundaryDim(mesh) for mesh in self.vis_meshes ] self.trimeshes = [] for vis_mesh in self.vis_meshes: trimesh_shape = chrono.ChTriangleMeshShape() trimesh_shape.SetMesh(vis_mesh) trimesh_shape.SetName("mesh_name") trimesh_shape.SetStatic(True) self.trimeshes.append(trimesh_shape) self.leaders = ghostLeaders(3, self.interval) self.origin = chrono.ChVectorD( -89.400, 43.070, 260.0) # Origin being somewhere in Madison WI # 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.render_setup = False self.play_mode = False self.step_number = 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 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(): #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 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
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 __init__(self, step_size, system, track, vehicle, terrain, irrlicht=False, obstacles=None, opponents=None, draw_barriers=False, draw_cones=False, draw_track=True, bind_all=True, pov=False, camera_save=False): # Chrono parameters self.step_size = step_size self.irrlicht = irrlicht self.step_number = 0 # Time interval between two render frames self.render_step_size = 1.0 / 60 # FPS = 60 self.render_steps = int( math.ceil(self.render_step_size / self.step_size)) # Track that vehicle is going through self.track = track # Static obstacles in the environment self.obstacles = obstacles # Dynamic opponents in the environment self.opponents = opponents self.system = system self.vehicle = vehicle self.terrain = terrain if self.irrlicht: if draw_track: self.DrawPath(track.center) if obstacles != None: self.DrawObstacles(obstacles) if opponents != None: temp = dict() for opponent in opponents: temp[opponent] = (opponent.vehicle, opponent.vehicle.driver) self.opponents = temp if draw_barriers: self.DrawBarriers(self.track.left.points) self.DrawBarriers(self.track.right.points) if draw_cones: self.DrawCones(self.track.left.points, 'red') self.DrawCones(self.track.right.points, 'green') if self.irrlicht and bind_all: self.app = veh.ChVehicleIrrApp(self.vehicle.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.vehicle.trackPoint, 6.0, 0.5) self.app.SetTimestep(self.step_size) # --------------------------------------------------------------------- # # 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.pov = pov if self.pov: self.pov_exporter = postprocess.ChPovRay(self.system) # Sets some file names for in-out processes. self.pov_exporter.SetTemplateFile( chrono.GetChronoDataFile('_template_POV.pov')) self.pov_exporter.SetOutputScriptFile("rendering_frames.pov") if not os.path.exists("output"): os.mkdir("output") if not os.path.exists("anim"): os.mkdir("anim") self.pov_exporter.SetOutputDataFilebase("output/my_state") self.pov_exporter.SetPictureFilebase("anim/picture") self.pov_exporter.SetCamera(chrono.ChVectorD(0.2, 0.3, 0.5), chrono.ChVectorD(0, 0, 0), 35) self.pov_exporter.SetLight(chrono.ChVectorD(-2, 2, -1), chrono.ChColor(1.1, 1.2, 1.2), True) self.pov_exporter.SetPictureSize(1280, 720) self.pov_exporter.SetAmbientLight(chrono.ChColor(2, 2, 2)) # Add additional POV objects/lights/materials in the following way self.pov_exporter.SetCustomPOVcommandsScript(''' light_source{ <1,3,1.5> color rgb<1.1,1.1,1.1> } Grid(0.05,0.04, rgb<0.7,0.7,0.7>, rgbt<1,1,1,1>) ''') # Tell which physical items you want to render self.pov_exporter.AddAll() # Tell that you want to render the contacts # self.pov_exporter.SetShowContacts(True, # postprocess.ChPovRay.SYMBOL_VECTOR_SCALELENGTH, # 0.2, # scale # 0.0007, # width # 0.1, # max size # True,0,0.5 ) # colormap on, blue at 0, red at 0.5 # 1) Create the two .pov and .ini files for POV-Ray (this must be done # only once at the beginning of the simulation). self.pov_exporter.ExportScript()
# Initialize Robosimian robot ##robot.Initialize(ChCoordsys<>(chrono.ChVectorD(0, 0, 0), QUNIT)) robot.Initialize( chrono.ChCoordsysD(chrono.ChVectorD(0, 0, 0), chrono.Q_from_AngX(chrono.CH_C_PI))) # ----------------------------------- # Create a driver and attach to robot # ----------------------------------- if mode == robosimian.LocomotionMode_WALK: driver = robosimian.RS_Driver( "", # start input file chrono.GetChronoDataFile("robot/robosimian/actuation/walking_cycle.txt" ), # cycle input file "", # stop input file True) elif mode == robosimian.LocomotionMode_SCULL: driver = robosimian.RS_Driver( chrono.GetChronoDataFile( "robot/robosimian/actuation/sculling_start.txt" ), # start input file chrono.GetChronoDataFile( "robot/robosimian/actuation/sculling_cycle2.txt" ), # cycle input file chrono.GetChronoDataFile( "robot/robosimian/actuation/sculling_stop.txt"), # stop input file True) elif mode == robosimian.LocomotionMode_INCHWORM:
def reset(self): n = 10 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 = False # Ghost Terrain: rigid, vis, no contact self.ghost_terrain = veh.RigidTerrain(self.system) patch_mat = chrono.ChMaterialSurfaceNSC() patch_mat.SetFriction(0.9) patch_mat.SetRestitution(0.01) # Real Terrain: deformable, no vis, contact self.terrain = veh.SCMDeformableTerrain(self.system, False) # Parameters randpar = random.randint(1, 6) params = SCMParameters() params.InitializeParametersAsHard() params.SetParameters(self.terrain) # Bulldozing self.terrain.EnableBulldozing(True) self.terrain.SetBulldozingParameters( 55, # angle of friction for erosion of displaced material at the border of the rut 1, # displaced material vs downward pressed material. 5, # number of erosion refinements per timestep 10) # number of concentric vertex selections subject to erosion 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.ghost_terrain.AddPatch(patch_mat, 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 self.terrain.Initialize(self.bitmap_file, # heightmap file (.bmp) self.terrain_length * 1.5, # sizeX self.terrain_width * 1.5, # sizeY self.min_terrain_height, # hMin self.max_terrain_height, # hMax 0.05) # Delta except Exception: print('Corrupt Bitmap File') patch = self.ghost_terrain.AddPatch(patch_mat, 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 self.terrain.Initialize(self.bitmap_file_backup, # heightmap file (.bmp) self.terrain_length * 1.5, # sizeX self.terrain_width * 1.5, # sizeY self.min_terrain_height, # hMin self.max_terrain_height, # hMax 0.05) patch.SetTexture(veh.GetDataFile("terrain/textures/grass.jpg"), 200, 200) patch.SetColor(chrono.ChColor(1.0, 1.0, 1.0)) self.ghost_terrain.Initialize() ground_body = patch.GetGroundBody() ground_body.SetCollide(False) ground_asset = ground_body.GetAssets()[0] visual_asset = chrono.CastToChVisualization(ground_asset) visual_asset.SetStatic(True) vis_mat = chrono.ChVisualMaterial() tex = np.random.randint(1,6) if tex%2 == 0 and tex%5 != 0 : vis_mat.SetKdTexture(veh.GetDataFile("terrain/textures/grass.jpg")) elif tex%2 == 1 and tex%5 != 0 : vis_mat.SetKdTexture(chrono.GetChronoDataFile("sensor/textures/grass_texture.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_RIGID_MESH) 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() self.old_dist = (self.goal - self.initLoc).Length() self.step_number = 0 self.c_f = 0 self.old_ac = 0 self.isdone = False self.render_setup = False self.dist0 = (self.goal - self.chassis_body.GetPos()).Length() if self.play_mode: self.render() return self.get_ob()
body_brick_shape.GetBoxGeometry().Size = chrono.ChVectorD( 0.01, 0.01, 0.01) body_brick.GetAssets().push_back(body_brick_shape) my_system.Add(body_brick) # --------------------------------------------------------------------- # # Render a short animation by generating scripts # to be used with POV-Ray # pov_exporter = postprocess.ChPovRay(my_system) # Sets some file names for in-out processes. pov_exporter.SetTemplateFile(chrono.GetChronoDataFile('_template_POV.pov')) pov_exporter.SetOutputScriptFile("rendering_frames.pov") if not os.path.exists("output"): os.mkdir("output") if not os.path.exists("anim"): os.mkdir("anim") pov_exporter.SetOutputDataFilebase("output/my_state") pov_exporter.SetPictureFilebase("anim/picture") pov_exporter.SetCamera(chrono.ChVectorD(0.2, 0.3, 0.5), chrono.ChVectorD(0, 0, 0), 35) pov_exporter.SetLight(chrono.ChVectorD(-2, 2, -1), chrono.ChColor(1.1, 1.2, 1.2), True) pov_exporter.SetPictureSize(640, 480) pov_exporter.SetAmbientLight(chrono.ChColor(2, 2, 2))
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 __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 reset(self): self.isdone = False self.ant_sys.Clear() self.body_abdomen = chrono.ChBody() self.body_abdomen.SetPos(chrono.ChVectorD(0, self.abdomen_y0, 0 )) self.body_abdomen.SetMass(self.abdomen_mass) self.body_abdomen.SetInertiaXX(self.abdomen_inertia) # set collision surface properties self.body_abdomen.SetMaterialSurface(self.ant_material) abdomen_ellipsoid = chrono.ChEllipsoid(chrono.ChVectorD(0, 0, 0 ), chrono.ChVectorD(self.abdomen_x, self.abdomen_y, self.abdomen_z )) self.abdomen_shape = chrono.ChEllipsoidShape(abdomen_ellipsoid) self.body_abdomen.AddAsset(self.abdomen_shape) self.body_abdomen.SetMaterialSurface(self.ant_material) self.body_abdomen.SetCollide(True) self.body_abdomen.GetCollisionModel().ClearModel() self.body_abdomen.GetCollisionModel().AddEllipsoid(self.abdomen_x, self.abdomen_y, self.abdomen_z, chrono.ChVectorD(0, 0, 0 ) ) self.body_abdomen.GetCollisionModel().BuildModel() self.ant_sys.Add(self.body_abdomen) leg_ang = (1/4)*math.pi+(1/2)*math.pi*np.array([0,1,2,3]) Leg_quat = [chrono.ChQuaternionD() for i in range(len(leg_ang))] self.leg_body = [chrono.ChBody() for i in range(len(leg_ang))] self.leg_pos= [chrono.ChVectorD() for i in range(len(leg_ang))] leg_cyl = chrono.ChCylinder(-chrono.ChVectorD( self.leg_length/2, 0 ,0),chrono.ChVectorD( self.leg_length/2, 0 ,0), self.leg_radius) self.leg_shape = chrono.ChCylinderShape(leg_cyl) ankle_cyl = chrono.ChCylinder(-chrono.ChVectorD( self.ankle_length/2, 0 ,0),chrono.ChVectorD( self.ankle_length/2, 0 ,0), self.ankle_radius) self.ankle_shape = chrono.ChCylinderShape(ankle_cyl) foot_sphere = chrono.ChSphere(chrono.ChVectorD(self.ankle_length/2, 0, 0 ), self.ankle_radius ) self.foot_shape = chrono.ChSphereShape(foot_sphere) Leg_qa = [ chrono.ChQuaternionD() for i in range(len(leg_ang))] Leg_q = [ chrono.ChQuaternionD() for i in range(len(leg_ang))] z2x_leg = [ chrono.ChQuaternionD() for i in range(len(leg_ang))] Leg_rev_pos=[] Leg_chordsys = [] self.legjoint_frame = [] x_rel = [] z_rel = [] self.Leg_rev = [chrono.ChLinkLockRevolute() for i in range(len(leg_ang))] self.leg_motor = [chrono.ChLinkMotorRotationTorque() for i in range(len(leg_ang)) ] #ankle lists anklejoint_chordsys = [] self.anklejoint_frame = [] self.ankleCOG_frame = [] q_ankle_zrot = [ chrono.ChQuaternionD() for i in range(len(leg_ang))] self.ankle_body = [chrono.ChBody() for i in range(len(leg_ang))] self.Ankle_rev = [chrono.ChLinkLockRevolute() for i in range(len(leg_ang))] self.ankle_motor = [chrono.ChLinkMotorRotationTorque() for i in range(len(leg_ang)) ] for i in range(len(leg_ang)): # Legs Leg_quat[i].Q_from_AngAxis(-leg_ang[i] , chrono.ChVectorD(0, 1, 0)) self.leg_pos[i] = chrono.ChVectorD( (0.5*self.leg_length+self.abdomen_x)*math.cos(leg_ang[i]) ,self.abdomen_y0, (0.5*self.leg_length+self.abdomen_z)*math.sin(leg_ang[i])) self.leg_body[i].SetPos(self.leg_pos[i]) self.leg_body[i].SetRot(Leg_quat[i]) self.leg_body[i].AddAsset(self.leg_shape) self.leg_body[i].SetMass(self.leg_mass) self.leg_body[i].SetInertiaXX(self.leg_inertia) self.ant_sys.Add(self.leg_body[i]) x_rel.append( Leg_quat[i].Rotate(chrono.ChVectorD(1, 0, 0))) z_rel.append( Leg_quat[i].Rotate(chrono.ChVectorD(0, 0, 1))) Leg_qa[i].Q_from_AngAxis(-leg_ang[i] , chrono.ChVectorD(0, 1, 0)) z2x_leg[i].Q_from_AngAxis(chrono.CH_C_PI / 2 , x_rel[i]) Leg_q[i] = z2x_leg[i] * Leg_qa[i] Leg_rev_pos.append(chrono.ChVectorD(self.leg_pos[i]-chrono.ChVectorD(math.cos(leg_ang[i])*self.leg_length/2,0,math.sin(leg_ang[i])*self.leg_length/2))) Leg_chordsys.append(chrono.ChCoordsysD(Leg_rev_pos[i], Leg_q[i])) self.legjoint_frame.append(chrono.ChFrameD(Leg_chordsys[i])) self.Leg_rev[i].Initialize(self.body_abdomen, self.leg_body[i],Leg_chordsys[i]) self.ant_sys.Add(self.Leg_rev[i]) self.leg_motor[i].Initialize(self.body_abdomen, self.leg_body[i],self.legjoint_frame[i]) self.ant_sys.Add(self.leg_motor[i]) # Ankles q_ankle_zrot[i].Q_from_AngAxis(-self.ankle_angle , z_rel[i]) anklejoint_chordsys.append(chrono.ChCoordsysD(self.leg_body[i].GetPos()+ self.leg_body[i].GetRot().Rotate(chrono.ChVectorD(self.leg_length/2, 0, 0)) , q_ankle_zrot[i] * self.leg_body[i].GetRot() )) self.anklejoint_frame.append(chrono.ChFrameD(anklejoint_chordsys[i])) self.ankle_body[i].SetPos(self.anklejoint_frame[i].GetPos() + self.anklejoint_frame[i].GetRot().Rotate(chrono.ChVectorD(self.ankle_length/2, 0, 0))) self.ankle_body[i].SetRot( self.anklejoint_frame[i].GetRot() ) self.ankle_body[i].AddAsset(self.ankle_shape) self.ankle_body[i].SetMass(self.ankle_mass) self.ankle_body[i].SetInertiaXX(self.ankle_inertia) self.ant_sys.Add(self.ankle_body[i]) self.Ankle_rev[i].Initialize(self.leg_body[i], self.ankle_body[i], anklejoint_chordsys[i]) self.ant_sys.Add(self.Ankle_rev[i]) self.ankle_motor[i].Initialize(self.leg_body[i], self.ankle_body[i],self.anklejoint_frame[i]) self.ant_sys.Add(self.ankle_motor[i]) # Feet collisions self.ankle_body[i].SetMaterialSurface(self.ant_material) self.ankle_body[i].SetCollide(True) self.ankle_body[i].GetCollisionModel().ClearModel() self.ankle_body[i].GetCollisionModel().AddSphere(self.ankle_radius, chrono.ChVectorD(self.ankle_length/2, 0, 0 ) ) self.ankle_body[i].GetCollisionModel().BuildModel() self.ankle_body[i].AddAsset(self.ankle_shape) self.ankle_body[i].AddAsset(self.foot_shape) self.Leg_rev[i].GetLimit_Rz().SetActive(True) self.Leg_rev[i].GetLimit_Rz().SetMin(-math.pi/3) self.Leg_rev[i].GetLimit_Rz().SetMax(math.pi/3) self.Ankle_rev[i].GetLimit_Rz().SetActive(True) self.Ankle_rev[i].GetLimit_Rz().SetMin(-math.pi/2) self.Ankle_rev[i].GetLimit_Rz().SetMax(math.pi/4) # Create the room floor: a simple fixed rigid body with a collision shape # and a visualization shape self.body_floor = chrono.ChBody() self.body_floor.SetBodyFixed(True) self.body_floor.SetPos(chrono.ChVectorD(0, -1, 0 )) self.body_floor.SetMaterialSurface(self.ant_material) # Floor Collision. self.body_floor.SetMaterialSurface(self.ant_material) self.body_floor.GetCollisionModel().ClearModel() self.body_floor.GetCollisionModel().AddBox(50, 1, 50, chrono.ChVectorD(0, 0, 0 )) self.body_floor.GetCollisionModel().BuildModel() self.body_floor.SetCollide(True) # Visualization shape body_floor_shape = chrono.ChBoxShape() body_floor_shape.GetBoxGeometry().Size = chrono.ChVectorD(5, 1, 5) body_floor_shape.SetColor(chrono.ChColor(0.4,0.4,0.5)) self.body_floor.GetAssets().push_back(body_floor_shape) body_floor_texture = chrono.ChTexture() body_floor_texture.SetTextureFilename(chrono.GetChronoDataFile('vehicle/terrain/textures/grass.jpg')) self.body_floor.GetAssets().push_back(body_floor_texture) self.ant_sys.Add(self.body_floor) #self.body_abdomen.SetBodyFixed(True) if (self.animate): self.myapplication.AssetBindAll() self.myapplication.AssetUpdateAll() self.numsteps= 0 self.step(np.zeros(8)) return self.get_ob()
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 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)
mat = chrono.ChMaterialSurfaceNSC() # Create all rigid bodies. radA = 2 radB = 4 # ...the truss mbody_truss = chrono.ChBodyEasyBox(20, 10, 2, 1000, True, False, mat) mphysicalSystem.Add(mbody_truss) mbody_truss.SetBodyFixed(True) mbody_truss.SetPos(chrono.ChVectorD(0, 0, 3)) # ...a texture asset that will be shared among the four wheels cylinder_texture = chrono.ChTexture( chrono.GetChronoDataFile("textures/pinkwhite.png")) # ...the rotating bar support for the two epicycloidal wheels mbody_train = chrono.ChBodyEasyBox(8, 1.5, 1.0, 1000, True, False, mat) mphysicalSystem.Add(mbody_train) mbody_train.SetPos(chrono.ChVectorD(3, 0, 0)) # ...which must rotate respect to truss along Z axis, in 0,0,0 link_revoluteTT = chrono.ChLinkLockRevolute() link_revoluteTT.Initialize( mbody_truss, mbody_train, chrono.ChCoordsysD(chrono.ChVectorD(0, 0, 0), chrono.QUNIT)) mphysicalSystem.AddLink(link_revoluteTT) # ...the first gear mbody_gearA = chrono.ChBodyEasyCylinder(radA, 0.5, 1000, True, False, mat)
mvisualizebeamC.SetZbufferHide(False) my_mesh.AddAsset(mvisualizebeamC) # --------------------------------------------------------------------- # # Create an Irrlicht application to visualize the system # # Create the Irrlicht visualization (open the Irrlicht device, # bind a simple user interface, etc. etc.) myapplication = chronoirr.ChIrrApp( my_system, 'Test FEA: the Jeffcott rotor with IGA beams', chronoirr.dimension2du(1024, 768)) myapplication.AddTypicalLogo( chrono.GetChronoDataFile('logo_pychrono_alpha.png')) myapplication.AddTypicalSky() myapplication.AddTypicalCamera(chronoirr.vector3df(0, 1, 4), chronoirr.vector3df(beam_L / 2, 0, 0)) myapplication.AddTypicalLights() # This is needed if you want to see things in Irrlicht 3D view. myapplication.AssetBindAll() myapplication.AssetUpdateAll() # --------------------------------------------------------------------- # # Run the simulation # # Set to a more precise HHT timestepper if needed
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(chrono.ChContactMethod_SMC) my_hmmwv.SetInitPosition( chrono.ChCoordsysD(chrono.ChVectorD(-5, -2, 0.6), chrono.ChQuaternionD(1, 0, 0, 0))) my_hmmwv.SetPowertrainType(veh.PowertrainModelType_SHAFTS) my_hmmwv.SetDriveType(veh.DrivelineType_AWD) my_hmmwv.SetTireType(veh.TireModelType_RIGID) my_hmmwv.Initialize() my_hmmwv.SetChassisVisualizationType(veh.VisualizationType_NONE) my_hmmwv.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES) my_hmmwv.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES) my_hmmwv.SetWheelVisualizationType(veh.VisualizationType_NONE) my_hmmwv.SetTireVisualizationType(veh.VisualizationType_MESH) # Create the (custom) driver driver = MyDriver(my_hmmwv.GetVehicle(), 0.5) driver.Initialize() # Create the SCM deformable terrain patch terrain = veh.SCMDeformableTerrain(my_hmmwv.GetSystem()) terrain.SetSoilParameters( 2e6, # Bekker Kphi 0, # Bekker Kc 1.1, # Bekker n exponent 0, # Mohr cohesive limit (Pa) 30, # Mohr friction limit (degrees) 0.01, # Janosi shear coefficient (m) 2e8, # Elastic stiffness (Pa/m), before plastic yield 3e4 # Damping (Pa s/m), proportional to negative vertical speed (optional) ) # Optionally, enable moving patch feature (single patch around vehicle chassis) terrain.AddMovingPatch(my_hmmwv.GetChassisBody(), chrono.ChVectorD(0, 0, 0), chrono.ChVectorD(5, 3, 1)) # Set plot type for SCM (false color plotting) terrain.SetPlotType(veh.SCMDeformableTerrain.PLOT_SINKAGE, 0, 0.1) # Initialize the SCM terrain, specifying the initial mesh grid terrain.Initialize(terrainLength, terrainWidth, delta) # Create the vehicle Irrlicht interface app = veh.ChWheeledVehicleIrrApp(my_hmmwv.GetVehicle(), 'HMMWV Deformable Soil 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, 1.75), 6.0, 0.5) app.SetTimestep(step_size) app.AssetBindAll() app.AssetUpdateAll() # Simulation loop while (app.GetDevice().run()): time = my_hmmwv.GetSystem().GetChTime() # End simulation if (time >= 4): break # 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) return 0
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
print("...done!") # Print exported items for my_item in exported_items: print(my_item.GetName()) # Add items to the physical system for my_item in exported_items: my_system.Add(my_item) # --------------------------------------------------------------------- # # Create an Irrlicht application to visualize the system # print(chrono.GetChronoDataFile("skybox/")) myapplication = chronoirr.ChIrrApp( my_system, 'Test: using data exported by Chrono::Solidworks', chronoirr.dimension2du(1024, 768)) myapplication.AddTypicalSky() myapplication.AddTypicalLogo(chrono.GetChronoDataPath() + 'logo_pychrono_alpha.png') myapplication.AddTypicalCamera(chronoirr.vector3df(0.3, 0.3, 0.4)) myapplication.AddTypicalLights() # ==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 in # Irrlicht, just use application.AssetBind(myitem); on a per-item basis.