def load_chrono_terrain_from_json(system: 'WAChronoSystem', filename: str):
"""Load a ChTerrain from a json specification file
Args:
filename (str): the relative path to a terrain json file
system (WAChronoSystem): the chrono system used to handle the terrain
Returns:
ChTerrain: The loaded terrain
"""
j = _load_json(filename)
# Validate the json file
_check_field(j, 'Terrain', field_type=dict)
t = j['Terrain']
_check_field(t, 'Input File', field_type=str)
_check_field(t, 'Texture', field_type=str, optional=True)
terrain = veh.RigidTerrain(system._system, chrono.GetChronoDataFile(t['Input File'])) # noqa
# Add texture to the terrain, if desired
if 'Texture' in t:
texture_filename = chrono.GetChronoDataFile(t['Texture'])
vis_mat = chrono.ChVisualMaterial()
vis_mat.SetKdTexture(texture_filename)
vis_mat.SetSpecularColor(chrono.ChVectorF(0.0, 0.0, 0.0))
vis_mat.SetFresnelMin(0)
vis_mat.SetFresnelMax(0.1)
patch_asset = terrain.GetPatches()[0].GetGroundBody().GetAssets()[0]
patch_visual_asset = chrono.CastToChVisualization(patch_asset)
patch_visual_asset.material_list.append(vis_mat)
return terrain
def main():
# print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# ---------
# Load path
# ---------
path_file = "../data/paths/loop2.txt"
path = np.genfromtxt(path_file, delimiter=",")
ds = 5 # [m] distance of each intepolated points
sp = Spline2D(path[:, 0], path[:, 1])
s = np.arange(0, sp.s[-1], ds)
px, py = [], []
for i_s in s:
ix, iy = sp.calc_position(i_s)
px.append(ix)
py.append(iy)
px.append(px[0])
py.append(py[0])
initLoc = chrono.ChVectorD(px[0], py[0], 0.5)
# --------------------------
# Create the various modules
# --------------------------
# Create the vehicle system
vehicle = veh.WheeledVehicle(vehicle_file, chrono.ChMaterialSurface.NSC)
vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot))
# vehicle.GetChassis().SetFixed(True)
vehicle.SetStepsize(step_size)
vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE)
# Create the ground
terrain = veh.RigidTerrain(vehicle.GetSystem(), rigidterrain_file)
# Create and initialize the powertrain system
powertrain = veh.SimplePowertrain(simplepowertrain_file)
vehicle.InitializePowertrain(powertrain)
# Create and initialize the tires
for axle in vehicle.GetAxles():
tireL = veh.RigidTire(rigidtire_file)
vehicle.InitializeTire(tireL, axle.m_wheels[0],
veh.VisualizationType_MESH)
tireR = veh.RigidTire(rigidtire_file)
vehicle.InitializeTire(tireR, axle.m_wheels[1],
veh.VisualizationType_MESH)
# -------------
# Create driver
# -------------
driver = Driver(vehicle)
# Set the time response for steering and throttle inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0
# time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0
# time to go from 0 to +1
braking_time = 0.3
# time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
# ------------------
# Draw path
# ------------------
if irrlicht:
road = vehicle.GetSystem().NewBody()
road.SetBodyFixed(True)
vehicle.GetSystem().AddBody(road)
num_points = len(px)
lines = chrono.ChLinePath()
for i in range(num_points - 1):
lines.AddSubLine(
chrono.ChLineSegment(
chrono.ChVectorD(px[i], py[i], 0.1),
chrono.ChVectorD(px[i + 1], py[i + 1], 0.1)))
path_asset = chrono.ChLineShape()
path_asset.SetLineGeometry(lines)
path_asset.SetColor(chrono.ChColor(0.0, 0.8, 0.0))
path_asset.SetNumRenderPoints(max(2 * num_points, 400))
road.AddAsset(path_asset)
# --------------------
# Create controller(s)
# --------------------
controller = MPCController(vehicle, driver, path)
# -----------------------
# Initialize irrlicht app
# -----------------------
if irrlicht:
app = veh.ChVehicleIrrApp(vehicle)
app.SetHUDLocation(500, 20)
app.SetSkyBox()
app.AddTypicalLogo()
app.AddTypicalLights(
chronoirr.vector3df(-150.0, -150.0, 200.0),
chronoirr.vector3df(-150.0, 150.0, 200.0),
100,
100,
)
app.AddTypicalLights(
chronoirr.vector3df(150.0, -150.0, 200.0),
chronoirr.vector3df(150.0, 150.0, 200.0),
100,
100,
)
app.EnableGrid(False)
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# -----------------
# Initialize output
# -----------------
if output:
try:
os.mkdir(out_dir)
except:
print("Error creating directory ")
# Generate JSON information with available output channels
out_json = vehicle.ExportComponentList()
print(out_json)
vehicle.ExportComponentList(out_dir + "/component_list.json")
# ---------------
# Simulation loop
# ---------------
# Number of simulation steps between miscellaneous events
render_steps = int(math.ceil(render_step_size / step_size))
# Initialize simulation frame counter and simulation time
step_number = 0
time = 0
if irrlicht:
while app.GetDevice().run():
# Render scene
if step_number % render_steps == 0:
app.BeginScene(True, True,
chronoirr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Collect output data from modules (for inter-module communication)
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
time = vehicle.GetSystem().GetChTime()
driver.Synchronize(time)
vehicle.Synchronize(time, driver_inputs, terrain)
terrain.Synchronize(time)
app.Synchronize("", driver_inputs)
# Advance simulation for one timestep for all modules
step = step_size
# Update controllers
controller.Advance(step)
driver.Advance(step)
vehicle.Advance(step)
terrain.Advance(step)
app.Advance(step)
# Increment frame number
step_number += 1
else:
while True:
# Collect output data from modules (for inter-module communication)
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
time = vehicle.GetSystem().GetChTime()
driver.Synchronize(time)
vehicle.Synchronize(time, driver_inputs, terrain)
terrain.Synchronize(time)
# Advance simulation for one timestep for all modules
step = step_size
# Update controllers
steering_controller.Advance(step)
throttle_controller.Advance(step)
driver.Advance(step)
vehicle.Advance(step)
terrain.Advance(step)
vis.Advance(step)
# Increment frame number
step_number += 1
def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# --------------------------
# Create the various modules
# --------------------------
# Create the vehicle system
vehicle = veh.WheeledVehicle(vehicle_file, chrono.ChContactMethod_NSC)
vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot))
#vehicle.GetChassis().SetFixed(True)
vehicle.SetChassisVisualizationType(veh.VisualizationType_MESH)
vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetWheelVisualizationType(veh.VisualizationType_MESH)
# Create and initialize the vehicle tires
for axle in vehicle.GetAxles():
tireL = veh.TMeasyTire(vehicle_tire_file)
vehicle.InitializeTire(tireL, axle.m_wheels[0],
veh.VisualizationType_MESH)
tireR = veh.TMeasyTire(vehicle_tire_file)
vehicle.InitializeTire(tireR, axle.m_wheels[1],
veh.VisualizationType_MESH)
# Create and initialize the powertrain system
powertrain = veh.SimpleMapPowertrain(vehicle_powertrain_file)
vehicle.InitializePowertrain(powertrain)
# Create and initialize the trailer
trailer = veh.WheeledTrailer(vehicle.GetSystem(), trailer_file)
trailer.Initialize(vehicle.GetChassis())
trailer.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
trailer.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
trailer.SetWheelVisualizationType(veh.VisualizationType_NONE)
# Create abd initialize the trailer tires
for axle in trailer.GetAxles():
tireL = veh.TMeasyTire(trailer_tire_file)
trailer.InitializeTire(tireL, axle.m_wheels[0],
veh.VisualizationType_PRIMITIVES)
tireR = veh.TMeasyTire(trailer_tire_file)
trailer.InitializeTire(tireR, axle.m_wheels[1],
veh.VisualizationType_PRIMITIVES)
# Create the ground
terrain = veh.RigidTerrain(vehicle.GetSystem(), rigidterrain_file)
app = veh.ChVehicleIrrApp(vehicle, 'Sedan+Trailer (JSON specification)',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(30, -30, 100),
irr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0
# time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0
# time to go from 0 to +1
braking_time = 0.3
# time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
driver.Initialize()
# ---------------
# Simulation loop
# ---------------
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
# Render scene
app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Collect output data from modules (for inter-module communication)
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
time = vehicle.GetSystem().GetChTime()
driver.Synchronize(time)
vehicle.Synchronize(time, driver_inputs, terrain)
trailer.Synchronize(time, driver_inputs.m_braking, terrain)
terrain.Synchronize(time)
app.Synchronize(driver.GetInputModeAsString(), driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
vehicle.Advance(step_size)
trailer.Advance(step_size)
terrain.Advance(step_size)
app.Advance(step_size)
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
def reset(self):
n = 2 * np.random.randint(0, 4)
b1 = 0
b2 = 0
r1 = n
r2 = n
r3 = n
r4 = n
r5 = n
t1 = 0
t2 = 0
t3 = 0
c = 0
self.assets = AssetList(b1, b2, r1, r2, r3, r4, r5, t1, t2, t3, c)
# Create systems
self.system = chrono.ChSystemNSC()
self.system.Set_G_acc(chrono.ChVectorD(0, 0, -9.81))
self.system.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN)
self.system.SetSolverMaxIterations(150)
self.system.SetMaxPenetrationRecoverySpeed(4.0)
# Create the terrain
rigid_terrain = True
self.terrain = veh.RigidTerrain(self.system)
if rigid_terrain:
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch = self.terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1),
self.terrain_length * 1.5,
self.terrain_width * 1.5)
else:
self.bitmap_file = os.path.dirname(
os.path.realpath(__file__)) + "/../utils/height_map.bmp"
self.bitmap_file_backup = os.path.dirname(
os.path.realpath(__file__)) + "/../utils/height_map_backup.bmp"
shape = (252, 252)
generate_random_bitmap(shape=shape,
resolutions=[(2, 2)],
mappings=[(-1.5, 1.5)],
file_name=self.bitmap_file)
try:
patch = self.terrain.AddPatch(
chrono.CSYSNORM, # position
self.bitmap_file, # heightmap file (.bmp)
"test", # mesh name
self.terrain_length * 1.5, # sizeX
self.terrain_width * 1.5, # sizeY
self.min_terrain_height, # hMin
self.max_terrain_height) # hMax
except Exception:
print('Corrupt Bitmap File')
patch = self.terrain.AddPatch(
chrono.CSYSNORM, # position
self.bitmap_file_backup, # heightmap file (.bmp)
"test", # mesh name
self.terrain_length * 1.5, # sizeX
self.terrain_width * 1.5, # sizeY
self.min_terrain_height, # hMin
self.max_terrain_height) # hMax
patch.SetTexture(veh.GetDataFile("terrain/textures/grass.jpg"), 200,
200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
self.terrain.Initialize()
ground_body = patch.GetGroundBody()
ground_asset = ground_body.GetAssets()[0]
visual_asset = chrono.CastToChVisualization(ground_asset)
visual_asset.SetStatic(True)
vis_mat = chrono.ChVisualMaterial()
vis_mat.SetKdTexture(veh.GetDataFile("terrain/textures/grass.jpg"))
visual_asset.material_list.append(vis_mat)
theta = random.random() * 2 * np.pi
x, y = self.terrain_length * 0.5 * np.cos(
theta), self.terrain_width * 0.5 * np.sin(theta)
z = self.terrain.GetHeight(chrono.ChVectorD(x, y, 0)) + 0.25
ang = np.pi + theta
self.initLoc = chrono.ChVectorD(x, y, z)
self.initRot = chrono.Q_from_AngZ(ang)
self.vehicle = veh.Gator(self.system)
self.vehicle.SetContactMethod(chrono.ChContactMethod_NSC)
self.vehicle.SetChassisCollisionType(veh.ChassisCollisionType_NONE)
self.vehicle.SetChassisFixed(False)
self.m_inputs = veh.Inputs()
self.vehicle.SetInitPosition(
chrono.ChCoordsysD(self.initLoc, self.initRot))
self.vehicle.SetTireType(veh.TireModelType_TMEASY)
self.vehicle.SetTireStepSize(self.timestep)
self.vehicle.Initialize()
if self.play_mode:
self.vehicle.SetChassisVisualizationType(
veh.VisualizationType_MESH)
self.vehicle.SetWheelVisualizationType(veh.VisualizationType_MESH)
self.vehicle.SetTireVisualizationType(veh.VisualizationType_MESH)
else:
self.vehicle.SetChassisVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetWheelVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetTireVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSuspensionVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSteeringVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.chassis_body = self.vehicle.GetChassisBody()
# self.chassis_body.GetCollisionModel().ClearModel()
# size = chrono.ChVectorD(3,2,0.2)
# self.chassis_body.GetCollisionModel().AddBox(0.5 * size.x, 0.5 * size.y, 0.5 * size.z)
# self.chassis_body.GetCollisionModel().BuildModel()
self.chassis_collision_box = chrono.ChVectorD(3, 2, 0.2)
# Driver
self.driver = veh.ChDriver(self.vehicle.GetVehicle())
# create goal
# pi/4 ang displ
delta_theta = (random.random() - 0.5) * 1.0 * np.pi
gx, gy = self.terrain_length * 0.5 * np.cos(
theta + np.pi +
delta_theta), self.terrain_width * 0.5 * np.sin(theta + np.pi +
delta_theta)
self.goal = chrono.ChVectorD(
gx, gy,
self.terrain.GetHeight(chrono.ChVectorD(gx, gy, 0)) + 1.0)
i = 0
while (self.goal - self.initLoc).Length() < 15:
gx = random.random() * self.terrain_length - self.terrain_length / 2
gy = random.random() * self.terrain_width - self.terrain_width / 2
self.goal = chrono.ChVectorD(gx, gy, self.max_terrain_height + 1)
if i > 100:
print('Break')
break
i += 1
# self.goal = chrono.ChVectorD(75, 0, 0)
# Origin in Madison WI
self.origin = chrono.ChVectorD(43.073268, -89.400636, 260.0)
self.goal_coord = chrono.ChVectorD(self.goal)
sens.Cartesian2GPS(self.goal_coord, self.origin)
self.goal_sphere = chrono.ChBodyEasySphere(.55, 1000, True, False)
self.goal_sphere.SetBodyFixed(True)
sphere_asset = self.goal_sphere.GetAssets()[0]
visual_asset = chrono.CastToChVisualization(sphere_asset)
vis_mat = chrono.ChVisualMaterial()
vis_mat.SetAmbientColor(chrono.ChVectorF(0, 0, 0))
vis_mat.SetDiffuseColor(chrono.ChVectorF(.2, .2, .9))
vis_mat.SetSpecularColor(chrono.ChVectorF(.9, .9, .9))
visual_asset.material_list.append(vis_mat)
visual_asset.SetStatic(True)
self.goal_sphere.SetPos(self.goal)
if self.play_mode:
self.system.Add(self.goal_sphere)
# create obstacles
# start = t.time()
self.assets.Clear()
self.assets.RandomlyPositionAssets(self.system,
self.initLoc,
self.goal,
self.terrain,
self.terrain_length * 1.5,
self.terrain_width * 1.5,
should_scale=False)
# Set the time response for steering and throttle inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 0.75
# time to go from 0 to +1 (or from 0 to -1)
throttle_time = .5
# time to go from 0 to +1
braking_time = 0.3
# time to go from 0 to +1
self.SteeringDelta = (self.timestep / steering_time)
self.ThrottleDelta = (self.timestep / throttle_time)
self.BrakingDelta = (self.timestep / braking_time)
self.manager = sens.ChSensorManager(self.system)
self.manager.scene.AddPointLight(chrono.ChVectorF(100, 100, 100),
chrono.ChVectorF(1, 1, 1), 5000.0)
self.manager.scene.AddPointLight(chrono.ChVectorF(-100, -100, 100),
chrono.ChVectorF(1, 1, 1), 5000.0)
# Let's not, for the moment, give a different scenario during test
"""
if self.play_mode:
self.manager.scene.GetBackground().has_texture = True;
self.manager.scene.GetBackground().env_tex = "sensor/textures/qwantani_8k.hdr"
self.manager.scene.GetBackground().has_changed = True;
"""
# -----------------------------------------------------
# Create a self.camera and add it to the sensor manager
# -----------------------------------------------------
#chrono.ChFrameD(chrono.ChVectorD(1.5, 0, .875), chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0))),
self.camera = sens.ChCameraSensor(
self.chassis_body, # body camera is attached to
20, # scanning rate in Hz
chrono.ChFrameD(
chrono.ChVectorD(.65, 0, .75),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0))),
# offset pose
self.camera_width, # number of horizontal samples
self.camera_height, # number of vertical channels
chrono.CH_C_PI / 2, # horizontal field of view
6 # supersampling factor
)
self.camera.SetName("Camera Sensor")
self.camera.PushFilter(sens.ChFilterRGBA8Access())
if self.play_mode:
self.camera.PushFilter(
sens.ChFilterVisualize(self.camera_width, self.camera_height,
"RGB Camera"))
self.manager.AddSensor(self.camera)
# -----------------------------------------------------
# Create a self.gps and add it to the sensor manager
# -----------------------------------------------------
gps_noise_none = sens.ChGPSNoiseNone()
self.gps = sens.ChGPSSensor(
self.chassis_body, 15,
chrono.ChFrameD(
chrono.ChVectorD(0, 0, 0),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0))),
self.origin, gps_noise_none)
self.gps.SetName("GPS Sensor")
self.gps.PushFilter(sens.ChFilterGPSAccess())
self.manager.AddSensor(self.gps)
# have to reconstruct scene because sensor loads in meshes separately (ask Asher)
# start = t.time()
if self.assets.GetNum() > 0:
# self.assets.TransformAgain()
# start = t.time()
for asset in self.assets.assets:
if len(asset.frames) > 0:
self.manager.AddInstancedStaticSceneMeshes(
asset.frames, asset.mesh.shape)
# self.manager.ReconstructScenes()
# self.manager.AddInstancedStaticSceneMeshes(self.assets.frames, self.assets.shapes)
# self.manager.Update()
# print('Reconstruction :: ', t.time() - start)
self.old_dist = (self.goal - self.initLoc).Length()
self.step_number = 0
self.c_f = 0
self.isdone = False
self.render_setup = False
self.dist0 = (self.goal - self.chassis_body.GetPos()).Length()
if self.play_mode:
self.render()
# print(self.get_ob()[1])
return self.get_ob()
my_truck.SetChassisCollisionType(chassis_collision_type)
my_truck.SetChassisFixed(False)
my_truck.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))
my_truck.SetTireType(tire_model)
my_truck.SetTireStepSize(tire_step_size)
my_truck.SetShaftBasedDrivetrain(True)
my_truck.Initialize()
my_truck.SetChassisVisualizationType(chassis_vis_type)
my_truck.SetSuspensionVisualizationType(suspension_vis_type)
my_truck.SetSteeringVisualizationType(steering_vis_type)
my_truck.SetWheelVisualizationType(wheel_vis_type)
my_truck.SetTireVisualizationType(tire_vis_type)
# Create the terrain
terrain = veh.RigidTerrain(my_truck.GetSystem())
patch = terrain.AddPatch(
chrono.ChCoordsysD(chrono.ChVectorD(0, 0, terrainHeight - 5),
chrono.QUNIT),
chrono.ChVectorD(terrainLength, terrainWidth, 10))
patch.SetContactFrictionCoefficient(0.9)
patch.SetContactRestitutionCoefficient(0.01)
patch.SetContactMaterialProperties(2e7, 0.3)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
terrain.Initialize()
# Create the vehicle Irrlicht interface
app = veh.ChWheeledVehicleIrrApp(my_truck.GetVehicle())
app.SetSkyBox()
my_bus.SetChassisFixed(False)
my_bus.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))
my_bus.SetTireType(tire_model)
my_bus.SetTireStepSize(tire_step_size)
my_bus.Initialize()
tire_vis_type = veh.VisualizationType_MESH # : VisualizationType::PRIMITIVES
my_bus.SetChassisVisualizationType(chassis_vis_type)
my_bus.SetSuspensionVisualizationType(suspension_vis_type)
my_bus.SetSteeringVisualizationType(steering_vis_type)
my_bus.SetWheelVisualizationType(wheel_vis_type)
my_bus.SetTireVisualizationType(tire_vis_type)
# Create the terrain
terrain = veh.RigidTerrain(my_bus.GetSystem())
if (contact_method == chrono.ChContactMethod_NSC):
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
elif (contact_method == chrono.ChContactMethod_SMC):
patch_mat = chrono.ChMaterialSurfaceSMC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch_mat.SetYoungModulus(2e7)
patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1), terrainLength,
terrainWidth)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
terrain.Initialize()
suspR = veh.CastToChLeafspringAxle(uaz.GetVehicle().GetSuspension(1))
springRL = suspR.GetSpring(veh.LEFT)
shockRL = suspR.GetShock(veh.RIGHT)
print("Spring rest length rear: " + str(springRL.GetRestLength()) + "\n")
print("Shock rest length rear: " + str(shockRL.GetRestLength()) + "\n")
print("Vehicle mass: " + str(uaz.GetVehicle().GetVehicleMass()) +
"\n")
print("Vehicle mass (with tires): " + str(uaz.GetTotalMass()) + "\n")
# ------------------
# Create the terrain
# ------------------
terrain = veh.RigidTerrain(uaz.GetSystem())
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1), 600, 600)
patch.SetColor(chrono.ChColor(0.8, 0.8, 1.0))
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 1200, 1200)
terrain.Initialize()
# -------------------------------------
# Create the vehicle Irrlicht interface
# Create the driver system
# -------------------------------------
app = veh.ChWheeledVehicleIrrApp(uaz.GetVehicle(), 'UAZBUS',
my_hmmwv.SetTireStepSize(step_size)
my_hmmwv.Initialize()
my_hmmwv.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
my_hmmwv.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
my_hmmwv.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
my_hmmwv.SetWheelVisualizationType(veh.VisualizationType_NONE)
my_hmmwv.SetTireVisualizationType(veh.VisualizationType_PRIMITIVES)
# Create the terrain
minfo = veh.MaterialInfo()
minfo.mu = 0.8
minfo.cr = 0.01
minfo.Y = 2e7
patch_mat = minfo.CreateMaterial(my_hmmwv.GetSystem().GetContactMethod())
terrain = veh.RigidTerrain(my_hmmwv.GetSystem())
patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0), chrono.ChVectorD(0, 0, 1), 200, 200)
patch.SetColor(chrono.ChColor(1, 1, 1))
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
terrain.Initialize()
# Left circle path
path = veh.CirclePath(chrono.ChVectorD(-75, 0, 0.6), 20, 40, True, 10)
npoints = path.getNumPoints()
path_asset = chrono.ChLineShape()
path_asset.SetLineGeometry(chrono.ChLineBezier(path))
path_asset.SetName("test path")
path_asset.SetNumRenderPoints(max(2 * npoints, 400))
patch.GetGroundBody().AddAsset(path_asset)
def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# --------------------------
# Create the various modules
# --------------------------
# Create the vehicle system
vehicle = veh.WheeledVehicle(vehicle_file, chrono.ChMaterialSurface.NSC)
vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot))
#vehicle.GetChassis().SetFixed(True)
vehicle.SetStepsize(step_size)
vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE)
# Create the ground
terrain = veh.RigidTerrain(vehicle.GetSystem(), rigidterrain_file)
# Create and initialize the powertrain system
powertrain = veh.SimplePowertrain(simplepowertrain_file)
vehicle.InitializePowertrain(powertrain)
# Create and initialize the tires
for axle in vehicle.GetAxles():
tireL = veh.RigidTire(rigidtire_file)
vehicle.InitializeTire(tireL, axle.m_wheels[0],
veh.VisualizationType_MESH)
tireR = veh.RigidTire(rigidtire_file)
vehicle.InitializeTire(tireR, axle.m_wheels[1],
veh.VisualizationType_MESH)
# -------------
# Create driver
# -------------
driver = Driver(vehicle)
# Set the time response for steering and throttle inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0
# time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0
# time to go from 0 to +1
braking_time = 0.3
# time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
# ------------------
# Load and draw path
# ------------------
# path_file = 'paths/straight.txt'
# path_file = 'paths/curve.txt'
path_file = 'paths/NATO_double_lane_change.txt'
# path_file = 'paths/ISO_double_lane_change.txt'
path = chrono.ChBezierCurve.read(veh.GetDataFile(path_file))
if irrlicht:
road = vehicle.GetSystem().NewBody()
road.SetBodyFixed(True)
vehicle.GetSystem().AddBody(road)
num_points = path.getNumPoints()
path_asset = chrono.ChLineShape()
path_asset.SetLineGeometry(chrono.ChLineBezier(path))
path_asset.SetColor(chrono.ChColor(0.0, 0.8, 0.0))
path_asset.SetNumRenderPoints(max(2 * num_points, 400))
road.AddAsset(path_asset)
# --------------------
# Create controller(s)
# --------------------
steering_controller = PIDSteeringController(vehicle, driver, path)
steering_controller.SetGains(Kp=0.4, Ki=0, Kd=0.25)
steering_controller.SetLookAheadDistance(dist=5.0)
throttle_controller = PIDThrottleController(vehicle, driver)
throttle_controller.SetGains(Kp=0.4, Ki=0, Kd=0)
throttle_controller.SetTargetSpeed(target_speed)
# -----------------------
# Initialize irrlicht app
# -----------------------
if irrlicht:
app = veh.ChVehicleIrrApp(vehicle)
app.SetHUDLocation(500, 20)
app.SetSkyBox()
app.AddTypicalLogo()
app.AddTypicalLights(chronoirr.vector3df(-150., -150., 200.),
chronoirr.vector3df(-150., 150., 200.), 100, 100)
app.AddTypicalLights(chronoirr.vector3df(150., -150., 200.),
chronoirr.vector3df(150., 150., 200.), 100, 100)
app.EnableGrid(False)
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# -----------------
# Initialize output
# -----------------
if output:
try:
os.mkdir(out_dir)
except:
print("Error creating directory ")
# Generate JSON information with available output channels
out_json = vehicle.ExportComponentList()
print(out_json)
vehicle.ExportComponentList(out_dir + "/component_list.json")
# ---------------
# Simulation loop
# ---------------
# Number of simulation steps between miscellaneous events
render_steps = int(math.ceil(render_step_size / step_size))
# Initialize simulation frame counter and simulation time
step_number = 0
time = 0
if irrlicht:
while (app.GetDevice().run()):
# Render scene
if step_number % render_steps == 0:
app.BeginScene(True, True,
chronoirr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Collect output data from modules (for inter-module communication)
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
time = vehicle.GetSystem().GetChTime()
driver.Synchronize(time)
vehicle.Synchronize(time, driver_inputs, terrain)
terrain.Synchronize(time)
app.Synchronize("", driver_inputs)
# Advance simulation for one timestep for all modules
step = step_size
# Update controllers
steering_controller.Advance(step)
throttle_controller.Advance(step)
driver.Advance(step)
vehicle.Advance(step)
terrain.Advance(step)
app.Advance(step)
# Increment frame number
step_number += 1
else:
while (True):
vehicle.GetSystem().DoStepDynamics(step_size)
# Collect output data from modules (for inter-module communication)
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
time = vehicle.GetSystem().GetChTime()
driver.Synchronize(time)
vehicle.Synchronize(time, driver_inputs, terrain)
terrain.Synchronize(time)
# Advance simulation for one timestep for all modules
step = step_size
# Update controllers
steering_controller.Advance(step)
throttle_controller.Advance(step)
driver.Advance(step)
vehicle.Advance(step)
terrain.Advance(step)
# Increment frame number
step_number += 1
def reset(self):
del self.manager
material = chrono.ChMaterialSurfaceNSC()
self.vehicle = veh.HMMWV_Reduced()
self.vehicle.SetContactMethod(chrono.ChContactMethod_NSC)
self.vehicle.SetChassisCollisionType(
veh.ChassisCollisionType_PRIMITIVES)
self.vehicle.SetChassisFixed(False)
self.vehicle.SetInitPosition(
chrono.ChCoordsysD(self.initLoc, self.initRot))
self.vehicle.SetPowertrainType(veh.PowertrainModelType_SHAFTS)
self.vehicle.SetDriveType(veh.DrivelineType_AWD)
#self.vehicle.SetSteeringType(veh.SteeringType_PITMAN_ARM)
self.vehicle.SetTireType(veh.TireModelType_TMEASY)
self.vehicle.SetTireStepSize(self.timestep)
self.vehicle.Initialize()
#self.vehicle.SetStepsize(self.timestep)
if self.play_mode == True:
self.vehicle.SetChassisVisualizationType(
veh.VisualizationType_MESH)
self.vehicle.SetWheelVisualizationType(veh.VisualizationType_MESH)
self.vehicle.SetTireVisualizationType(veh.VisualizationType_MESH)
else:
self.vehicle.SetChassisVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetWheelVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSuspensionVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSteeringVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.chassis_body = self.vehicle.GetChassisBody()
self.chassis_body.GetCollisionModel().ClearModel()
size = chrono.ChVectorD(3, 2, 0.2)
self.chassis_body.GetCollisionModel().AddBox(material, 0.5 * size.x,
0.5 * size.y,
0.5 * size.z)
self.chassis_body.GetCollisionModel().BuildModel()
# Driver
self.driver = veh.ChDriver(self.vehicle.GetVehicle())
# Rigid terrain
self.system = self.vehicle.GetSystem()
self.terrain = veh.RigidTerrain(self.system)
patch = self.terrain.AddPatch(
material, chrono.ChVectorD(0, 0, self.terrainHeight - .5),
chrono.VECT_Z, self.terrainLength, self.terrainWidth, 10)
material.SetFriction(0.9)
material.SetRestitution(0.01)
#patch.SetContactMaterialProperties(2e7, 0.3)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200,
200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
self.terrain.Initialize()
ground_body = patch.GetGroundBody()
ground_asset = ground_body.GetAssets()[0]
visual_asset = chrono.CastToChVisualization(ground_asset)
vis_mat = chrono.ChVisualMaterial()
vis_mat.SetKdTexture(chrono.GetChronoDataFile("concrete.jpg"))
visual_asset.material_list.append(vis_mat)
# create obstacles
self.boxes = []
for i in range(3):
box = chrono.ChBodyEasyBox(2, 2, 10, 1000, True, True)
box.SetPos(
chrono.ChVectorD(25 + 25 * i,
(np.random.rand(1)[0] - 0.5) * 10, .05))
box.SetBodyFixed(True)
box_asset = box.GetAssets()[0]
visual_asset = chrono.CastToChVisualization(box_asset)
vis_mat = chrono.ChVisualMaterial()
vis_mat.SetAmbientColor(chrono.ChVectorF(0, 0, 0))
vis_mat.SetDiffuseColor(chrono.ChVectorF(.2, .2, .9))
vis_mat.SetSpecularColor(chrono.ChVectorF(.9, .9, .9))
visual_asset.material_list.append(vis_mat)
visual_asset.SetStatic(True)
self.boxes.append(box)
self.system.Add(box)
# Set the time response for steering and throttle inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0
# time to go from 0 to +1 (or from 0 to -1)
throttle_time = .5
# time to go from 0 to +1
braking_time = 0.3
# time to go from 0 to +1
self.SteeringDelta = (self.timestep / steering_time)
self.ThrottleDelta = (self.timestep / throttle_time)
self.BrakingDelta = (self.timestep / braking_time)
self.manager = sens.ChSensorManager(self.system)
self.manager.scene.AddPointLight(chrono.ChVectorF(100, 100, 100),
chrono.ChVectorF(1, 1, 1), 4000.0)
self.manager.scene.AddPointLight(chrono.ChVectorF(-100, -100, 100),
chrono.ChVectorF(1, 1, 1), 4000.0)
# ------------------------------------------------
# Create a self.camera and add it to the sensor manager
# ------------------------------------------------
self.camera = sens.ChCameraSensor(
self.chassis_body, # body camera is attached to
50, # scanning rate in Hz
chrono.ChFrameD(chrono.ChVectorD(1.5, 0, .875)),
# offset pose
self.camera_width, # number of horizontal samples
self.camera_height, # number of vertical channels
chrono.CH_C_PI / 3, # horizontal field of view
#(self.camera_height / self.camera_width) * chrono.CH_C_PI / 3. # vertical field of view
)
self.camera.SetName("Camera Sensor")
self.camera.PushFilter(sens.ChFilterRGBA8Access())
self.manager.AddSensor(self.camera)
# -----------------------------------------------------------------
# Create a filter graph for post-processing the data from the lidar
# -----------------------------------------------------------------
self.d_old = np.linalg.norm(self.Xtarg + self.Ytarg)
self.step_number = 0
self.c_f = 0
self.isdone = False
self.render_setup = False
if self.play_mode:
self.render()
return self.get_ob()
def main():
# ----------------------
# Set path to data files
# ----------------------
# Path to Chrono data files (textures, etc.)
chrono.SetChronoDataPath(CHRONO_DATA_DIR)
# Path to the data files for this vehicle (JSON specification files)
veh.SetDataPath("./data/")
# --------------------------
# Create the various modules
# --------------------------
# Create and initialize the vehicle system
vehicle = veh.WheeledVehicle(veh.GetDataFile(vehicle_file), NSC_SMC)
vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot))
vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE)
# Create the terrain
terrain = veh.RigidTerrain(vehicle.GetSystem(),
veh.GetDataFile(rigidterrain_file))
AddFixedObstacles(vehicle.GetSystem())
AddMovingObstacles(vehicle.GetSystem())
# Create and initialize the powertrain system
powertrain = veh.SimplePowertrain(veh.GetDataFile(simplepowertrain_file))
vehicle.InitializePowertrain(powertrain)
# Create and initialize the tires
for axle in vehicle.GetAxles():
tireL = veh.RigidTire(veh.GetDataFile(rigidtire_file))
tireR = veh.RigidTire(veh.GetDataFile(rigidtire_file))
vehicle.InitializeTire(tireL, axle.m_wheels[0],
veh.VisualizationType_MESH)
vehicle.InitializeTire(tireR, axle.m_wheels[1],
veh.VisualizationType_MESH)
# Create the Irrlicht vehicle application
app = veh.ChVehicleIrrApp(vehicle, "Vehicle Demo")
app.SetSkyBox()
app.AddTypicalLights(chronoirr.vector3df(30, -30, 100),
chronoirr.vector3df(30, 50, 100), 250, 130)
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Create the driver system (interactive)
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0
# time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0
# time to go from 0 to +1
braking_time = 0.3
# time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
# -----------------
# Initialize output
# -----------------
try:
os.mkdir(out_dir)
except:
print("Error creating directory ")
if (povray_output):
try:
os.mkdir(pov_dir)
except:
print("Error creating POV directory ")
terrain.ExportMeshPovray(out_dir)
# ---------------
# Simulation loop
# ---------------
"""driveshaft_speed
powertrain_torque
throttle_input
steering_input
braking_input"""
# Number of simulation steps between two 3D view render frames
render_steps = m.ceil(render_step_size / step_size)
#Initialize simulation frame counter and simulation time
step_number = 0
frame_number = 0
time = 0
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
# Render scene
if (step_number % render_steps == 0):
app.BeginScene(True, True, chronoirr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
#char filename[100];
#sprintf(filename, "%s/data_%03d.dat", pov_dir.c_str(), frame_number + 1);
#utils::WriteShapesPovray(vehicle.GetSystem(), filename);
frame_number += 1
# Get driver inputs
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
time = vehicle.GetSystem().GetChTime()
driver.Synchronize(time)
vehicle.Synchronize(time, driver_inputs, terrain)
terrain.Synchronize(time)
app.Synchronize(driver.GetInputModeAsString(), driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
vehicle.Advance(step_size)
terrain.Advance(step_size)
app.Advance(step_size)
# Increment frame number
step_number += 1
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0
def main() :
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# --------------------------
# Create the various modules
# --------------------------
# Create the vehicle system
vehicle = veh.WheeledVehicle(vehicle_file ,chrono.ChMaterialSurface.NSC)
vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot))
#vehicle.GetChassis().SetFixed(True)
vehicle.SetStepsize(step_size)
vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE)
# Create the ground
terrain = veh.RigidTerrain(vehicle.GetSystem(), rigidterrain_file)
# Create and initialize the powertrain system
powertrain = veh.SimplePowertrain(simplepowertrain_file)
powertrain.Initialize(vehicle.GetChassisBody(), vehicle.GetDriveshaft())
#// Create and initialize the tires
num_axles = vehicle.GetNumberAxles()
num_wheels = 2 * num_axles
tires = [ veh.RigidTire(rigidtire_file) for i in range(num_wheels)]
for i, t in enumerate(tires):
#t = std::make_shared<vehicle::RigidTire>(vehicle::GetDataFile(rigidtire_file));
s = [veh.LEFT, veh.RIGHT]
t.Initialize(vehicle.GetWheelBody(veh.WheelID(i)), s[i % 2])
t.SetVisualizationType(veh.VisualizationType_MESH)
app = veh.ChVehicleIrrApp (vehicle, powertrain)
app.SetSkyBox()
app.AddTypicalLights(chronoirr.vector3df(30, -30, 100), chronoirr.vector3df(30, 50, 100), 250, 130)
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
"""
bool do_shadows = false; // shadow map is experimental
irr::scene::ILightSceneNode* mlight = 0;
if (do_shadows) {
mlight = application.AddLightWithShadow(
irr::core::vector3df(10.f, 30.f, 60.f),
irr::core::vector3df(0.f, 0.f, 0.f),
150, 60, 80, 15, 512, irr::video::SColorf(1, 1, 1), false, false);
} else {
application.AddTypicalLights(
irr::core::vector3df(30.f, -30.f, 100.f),
irr::core::vector3df(30.f, 50.f, 100.f),
250, 130);
}
if (do_shadows)
application.AddShadowAll();
"""
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0; # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0; # time to go from 0 to +1
braking_time = 0.3; # time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
# Set file with driver input time series
driver.SetInputDataFile(driver_file)
"""
#else
ChDataDriver driver(vehicle, vehicle::GetDataFile(driver_file));
#endif
"""
driver.Initialize()
# -----------------
# Initialize output
# -----------------
try:
os.mkdir(out_dir)
except:
print("Error creating directory " )
"""if (povray_output):
try:
os.mkdir(pov_dir)
except:
print("Error creating POV directory ")
terrain.ExportMeshPovray(out_dir)"""
# Generate JSON information with available output channels
out_json = vehicle.ExportComponentList()
print(out_json)
vehicle.ExportComponentList(out_dir + "/component_list.json")
# ---------------
# Simulation loop
# ---------------
# Inter-module communication data
tire_forces = veh.TerrainForces(num_wheels)
wheel_states = veh.WheelStates(num_wheels)
# Initialize simulation frame counter and simulation time
step_number = 0
time = 0
#ifdef USE_IRRLICHT
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()) :
# Render scene
app.BeginScene(True, True, chronoirr.SColor(255, 140, 161, 192))
app.DrawAll()
# Collect output data from modules (for inter-module communication)
throttle_input = driver.GetThrottle()
steering_input = driver.GetSteering()
braking_input = driver.GetBraking()
powertrain_torque = powertrain.GetOutputTorque()
driveshaft_speed = vehicle.GetDriveshaftSpeed()
for i in range (num_wheels) :
tire_forces[i] = tires[i].GetTireForce()
wheel_states[i] = vehicle.GetWheelState(veh.WheelID(i))
# Update modules (process inputs from other modules)
time = vehicle.GetSystem().GetChTime()
driver.Synchronize(time)
powertrain.Synchronize(time, throttle_input, driveshaft_speed)
vehicle.Synchronize(time, steering_input, braking_input, powertrain_torque, tire_forces)
terrain.Synchronize(time)
for i in range (num_wheels):
tires[i].Synchronize(time, wheel_states[i], terrain)
app.Synchronize(driver.GetInputModeAsString(), steering_input, throttle_input, braking_input)
# Advance simulation for one timestep for all modules
step = realtime_timer.SuggestSimulationStep(step_size)
driver.Advance(step)
powertrain.Advance(step)
vehicle.Advance(step)
terrain.Advance(step)
for i in range(num_wheels) :
tires[i].Advance(step)
app.Advance(step)
# Increment frame number
step_number += 1
app.EndScene()
def main():
print("Copyright (c) 2017 projectchrono.org" + "\n\n")
# Create systems
# Create the HMMWV vehicle, set parameters, and initialize
my_hmmwv = veh.HMMWV_Full()
my_hmmwv.SetContactMethod(contact_method)
my_hmmwv.SetChassisCollisionType(chassis_collision_type)
my_hmmwv.SetChassisFixed(False)
my_hmmwv.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))
my_hmmwv.SetPowertrainType(powertrain_model)
my_hmmwv.SetDriveType(drive_type)
my_hmmwv.SetSteeringType(steering_type)
my_hmmwv.SetTireType(tire_model)
my_hmmwv.SetTireStepSize(tire_step_size)
my_hmmwv.Initialize()
my_hmmwv.SetChassisVisualizationType(chassis_vis_type)
my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type)
my_hmmwv.SetSteeringVisualizationType(steering_vis_type)
my_hmmwv.SetWheelVisualizationType(wheel_vis_type)
my_hmmwv.SetTireVisualizationType(tire_vis_type)
# Create the terrain
terrain = veh.RigidTerrain(my_hmmwv.GetSystem())
if (contact_method == chrono.ChContactMethod_NSC):
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
elif (contact_method == chrono.ChContactMethod_SMC):
patch_mat = chrono.ChMaterialSurfaceSMC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch_mat.SetYoungModulus(2e7)
patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1), terrainLength,
terrainWidth)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
terrain.Initialize()
# Create the vehicle Irrlicht interface
app = veh.ChWheeledVehicleIrrApp(my_hmmwv.GetVehicle(), 'HMMWV',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(30, -30, 100),
irr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Initialize output
try:
os.mkdir(out_dir)
except:
print("Error creating directory ")
# Set up vehicle output
my_hmmwv.GetVehicle().SetChassisOutput(True)
my_hmmwv.GetVehicle().SetSuspensionOutput(0, True)
my_hmmwv.GetVehicle().SetSteeringOutput(0, True)
my_hmmwv.GetVehicle().SetOutput(veh.ChVehicleOutput.ASCII, out_dir,
"output", 0.1)
# Generate JSON information with available output channels
my_hmmwv.GetVehicle().ExportComponentList(out_dir + "/component_list.json")
# Create the interactive driver system
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
steering_time = 1.0 # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0 # time to go from 0 to +1
braking_time = 0.3 # time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
driver.Initialize()
# Simulation loop
# Number of simulation steps between miscellaneous events
render_steps = m.ceil(render_step_size / step_size)
debug_steps = m.ceil(debug_step_size / step_size)
# Initialize simulation frame counter and simulation time
step_number = 0
render_frame = 0
if (contact_vis):
app.SetSymbolscale(1e-4)
# app.SetContactsDrawMode(irr.eCh_ContactsDrawMode::CONTACT_FORCES);
# ---------------------------------------------
# Create a sensor manager and add a point light
# ---------------------------------------------
manager = sens.ChSensorManager(my_hmmwv.GetSystem())
manager.scene.AddPointLight(chrono.ChVectorF(0, 0, 100),
chrono.ChVectorF(2, 2, 2), 5000)
manager.SetKeyframeSizeFromTimeStep(.001, 1 / 5)
# ------------------------------------------------
# Create a camera and add it to the sensor manager
# ------------------------------------------------
fov = 1.408
lag = 0
update_rate = 5
exposure_time = 1 / update_rate
offset_pose = chrono.ChFrameD(chrono.ChVectorD(-5, 0, 2))
cam = sens.ChCameraSensor(
my_hmmwv.GetChassisBody(), # body camera is attached to
update_rate, # update rate in Hz
offset_pose, # offset pose
image_width, # image width
image_height, # image height
fov # camera's horizontal field of view
)
cam.SetName("Camera Sensor")
# cam.SetLag(0);
# cam.SetCollectionWindow(0);
# Visualizes the image
if vis:
cam.PushFilter(
sens.ChFilterVisualize(image_width, image_height, "HMMWV Camera"))
# Save the current image to a png file at the specified path
if save:
cam.PushFilter(sens.ChFilterSave(out_dir + "cam/"))
# Add a camera to a sensor manager
manager.AddSensor(cam)
# ----------------------------------------------
# Create an IMU sensor and add it to the manager
# ----------------------------------------------
offset_pose = chrono.ChFrameD(
chrono.ChVectorD(-8, 0, 1),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0)))
imu = sens.ChIMUSensor(
my_hmmwv.GetChassisBody(), # body imu is attached to
imu_update_rate, # update rate in Hz
offset_pose, # offset pose
imu_noise_none # noise model
)
imu.SetName("IMU Sensor")
imu.SetLag(imu_lag)
imu.SetCollectionWindow(imu_collection_time)
# Provides the host access to the imu data
imu.PushFilter(sens.ChFilterIMUAccess())
# Add the imu to the sensor manager
manager.AddSensor(imu)
# ----------------------------------------------
# Create an GPS sensor and add it to the manager
# ----------------------------------------------
offset_pose = chrono.ChFrameD(
chrono.ChVectorD(-8, 0, 1),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0)))
gps = sens.ChGPSSensor(
my_hmmwv.GetChassisBody(), # body imu is attached to
gps_update_rate, # update rate in Hz
offset_pose, # offset pose
gps_reference,
gps_noise_none # noise model
)
gps.SetName("GPS Sensor")
gps.SetLag(gps_lag)
gps.SetCollectionWindow(gps_collection_time)
# Provides the host access to the gps data
gps.PushFilter(sens.ChFilterGPSAccess())
# Add the gps to the sensor manager
manager.AddSensor(gps)
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
time = my_hmmwv.GetSystem().GetChTime()
#End simulation
if (time >= t_end):
break
if (step_number % render_steps == 0):
app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
#Debug logging
if (debug_output and step_number % debug_steps == 0):
print("\n\n============ System Information ============\n")
print("Time = " << time << "\n\n")
#my_hmmwv.DebugLog(OUT_SPRINGS | OUT_SHOCKS | OUT_CONSTRAINTS)
marker_driver = my_hmmwv.GetChassis().GetMarkers()[0].GetAbsCoord(
).pos
marker_com = my_hmmwv.GetChassis().GetMarkers()[1].GetAbsCoord(
).pos
print("Markers\n")
print(" Driver loc: ", marker_driver.x, " ", marker_driver.y,
" ", marker_driver.z)
print(" Chassis COM loc: ", marker_com.x, " ", marker_com.y, " ",
marker_com.z)
# Get driver inputs
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
driver.Synchronize(time)
terrain.Synchronize(time)
my_hmmwv.Synchronize(time, driver_inputs, terrain)
app.Synchronize(driver.GetInputModeAsString(), driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
terrain.Advance(step_size)
my_hmmwv.Advance(step_size)
app.Advance(step_size)
# Update sensor manager
# Will render/save/filter automatically
manager.Update()
# Increment frame number
step_number += 1
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0
def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# Create the M113 vehicle
# ------------------------
vehicle = veh.M113_Vehicle(False, veh.TrackShoeType_SINGLE_PIN,
veh.BrakeType_SIMPLE,
chrono.ChContactMethod_SMC,
veh.CollisionType_NONE)
vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot))
vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSprocketVisualizationType(veh.VisualizationType_MESH)
vehicle.SetIdlerVisualizationType(veh.VisualizationType_MESH)
vehicle.SetRoadWheelAssemblyVisualizationType(veh.VisualizationType_MESH)
vehicle.SetRoadWheelVisualizationType(veh.VisualizationType_MESH)
vehicle.SetTrackShoeVisualizationType(veh.VisualizationType_MESH)
# Create the powertrain system
# ----------------------------
powertrain = veh.M113_SimpleCVTPowertrain("Powertrain")
vehicle.InitializePowertrain(powertrain)
# Create the terrain
# ------------------
terrain = veh.RigidTerrain(vehicle.GetSystem())
if (contact_method == chrono.ChContactMethod_NSC):
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
elif (contact_method == chrono.ChContactMethod_SMC):
patch_mat = chrono.ChMaterialSurfaceSMC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch_mat.SetYoungModulus(2e7)
patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1), terrainLength,
terrainWidth)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
patch.SetColor(chrono.ChColor(0.5, 0.8, 0.5))
terrain.Initialize()
# Create the vehicle Irrlicht interface
# -------------------------------------
app = veh.ChTrackedVehicleIrrApp(vehicle, 'M113',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(30, -30, 100),
irr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Create the interactive driver system
# ------------------------------------
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
steering_time = 0.5 # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0 # time to go from 0 to +1
braking_time = 0.3 # time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
driver.Initialize()
# Simulation loop
# ---------------
# Inter-module communication data
shoe_forces_left = veh.TerrainForces(vehicle.GetNumTrackShoes(veh.LEFT))
shoe_forces_right = veh.TerrainForces(vehicle.GetNumTrackShoes(veh.RIGHT))
# Number of simulation steps between miscellaneous events
render_steps = m.ceil(render_step_size / step_size)
# Initialize simulation frame counter and simulation time
step_number = 0
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
time = vehicle.GetSystem().GetChTime()
app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Get driver inputs
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
driver.Synchronize(time)
terrain.Synchronize(time)
vehicle.Synchronize(time, driver_inputs, shoe_forces_left,
shoe_forces_right)
app.Synchronize("", driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
terrain.Advance(step_size)
vehicle.Advance(step_size)
app.Advance(step_size)
# Increment frame number
step_number += 1
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0
def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# Create systems
# Create the FEDA vehicle, set parameters, and initialize
my_feda = veh.FEDA()
my_feda.SetContactMethod(contact_method)
my_feda.SetChassisCollisionType(chassis_collision_type)
my_feda.SetChassisFixed(False)
my_feda.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))
my_feda.SetPowertrainType(powertrain_model)
my_feda.SetTireType(tire_model)
my_feda.SetTireStepSize(tire_step_size)
my_feda.Initialize()
my_feda.SetChassisVisualizationType(chassis_vis_type)
my_feda.SetSuspensionVisualizationType(suspension_vis_type)
my_feda.SetSteeringVisualizationType(steering_vis_type)
my_feda.SetWheelVisualizationType(wheel_vis_type)
my_feda.SetTireVisualizationType(tire_vis_type)
# Create the terrain
terrain = veh.RigidTerrain(my_feda.GetSystem())
if (contact_method == chrono.ChContactMethod_NSC):
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
elif (contact_method == chrono.ChContactMethod_SMC):
patch_mat = chrono.ChMaterialSurfaceSMC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch_mat.SetYoungModulus(2e7)
patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1), terrainLength,
terrainWidth)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
terrain.Initialize()
# Create the vehicle Irrlicht interface
app = veh.ChWheeledVehicleIrrApp(my_feda.GetVehicle(), 'HMMWV',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(30, -30, 100),
irr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Create the interactive driver system
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
steering_time = 1.0 # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0 # time to go from 0 to +1
braking_time = 0.3 # time to go from 0 to +1
driver.SetSteeringDelta(10 * step_size / steering_time)
driver.SetThrottleDelta(10 * step_size / throttle_time)
driver.SetBrakingDelta(10 * step_size / braking_time)
driver.Initialize()
# Simulation loop
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
time = my_feda.GetSystem().GetChTime()
app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Get driver inputs
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
driver.Synchronize(time)
terrain.Synchronize(time)
my_feda.Synchronize(time, driver_inputs, terrain)
app.Synchronize(driver.GetInputModeAsString(), driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
terrain.Advance(step_size)
my_feda.Advance(step_size)
app.Advance(step_size)
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0
def reset(self):
self.generate_track()
self.vehicle = veh.Sedan()
self.vehicle.SetContactMethod(chrono.ChMaterialSurface.NSC)
self.vehicle.SetChassisCollisionType(veh.ChassisCollisionType_NONE)
self.vehicle.SetChassisFixed(False)
self.vehicle.SetInitPosition(
chrono.ChCoordsysD(self.initLoc, self.initRot))
self.vehicle.SetTireType(veh.TireModelType_RIGID)
self.vehicle.SetTireStepSize(self.timestep)
self.vehicle.Initialize()
self.vehicle.SetChassisVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetWheelVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSuspensionVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSteeringVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetTireVisualizationType(veh.VisualizationType_PRIMITIVES)
self.system = self.vehicle.GetSystem()
self.chassis_body = self.vehicle.GetChassisBody()
# Create contact model
self.chassis_body.GetCollisionModel().ClearModel()
size = chrono.ChVectorD(3, 2, 0.2)
self.chassis_body.GetCollisionModel().AddBox(0.5 * size.x,
0.5 * size.y,
0.5 * size.z)
self.chassis_body.GetCollisionModel().BuildModel()
# Driver
self.driver = Driver(self.vehicle.GetVehicle())
# Throttle controller
#self.throttle_controller = PIDThrottleController()
#self.throttle_controller.SetGains(Kp=0.4, Ki=0, Kd=0)
#self.throttle_controller.SetTargetSpeed(speed=self.target_speed)
# Rigid terrain
self.terrain = veh.RigidTerrain(self.system)
patch = self.terrain.AddPatch(
chrono.ChCoordsysD(chrono.ChVectorD(0, 0, self.terrainHeight - 5),
chrono.QUNIT),
chrono.ChVectorD(self.terrainLength, self.terrainWidth, 10))
patch.SetContactFrictionCoefficient(0.9)
patch.SetContactRestitutionCoefficient(0.01)
patch.SetContactMaterialProperties(2e7, 0.3)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200,
200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
self.terrain.Initialize()
ground_body = patch.GetGroundBody()
ground_asset = ground_body.GetAssets()[0]
visual_asset = chrono.CastToChVisualization(ground_asset)
vis_mat = chrono.ChVisualMaterial()
vis_mat.SetKdTexture(chrono.GetChronoDataFile("concrete.jpg"))
visual_asset.material_list.append(vis_mat)
# create barriers
self.barriers = []
self.DrawBarriers(self.track.left.points)
self.DrawBarriers(self.track.right.points)
# Set the time response for steering and throttle inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 0.5
# time to go from 0 to +1 (or from 0 to -1)
throttle_time = 0.5
# time to go from 0 to +1
braking_time = 0.3
# time to go from 0 to +1
self.driver.SetSteeringDelta(self.timestep / steering_time)
self.driver.SetThrottleDelta(self.timestep / throttle_time)
self.driver.SetBrakingDelta(self.timestep / braking_time)
self.manager = sens.ChSensorManager(self.system)
self.manager.scene.AddPointLight(chrono.ChVectorF(100, 100, 100),
chrono.ChVectorF(1, 1, 1), 500.0)
self.manager.scene.AddPointLight(chrono.ChVectorF(-100, -100, 100),
chrono.ChVectorF(1, 1, 1), 500.0)
# -----------------------------------------------------
# Create a self.camera and add it to the sensor manager
# -----------------------------------------------------
self.camera = sens.ChCameraSensor(
self.chassis_body, # body camera is attached to
50, # scanning rate in Hz
chrono.ChFrameD(
chrono.ChVectorD(1.5, 0, .875),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0))),
# offset pose
self.camera_width, # number of horizontal samples
self.camera_height, # number of vertical channels
chrono.CH_C_PI / 2, # horizontal field of view
(self.camera_height / self.camera_width) * chrono.CH_C_PI /
3. # vertical field of view
)
self.camera.SetName("Camera Sensor")
self.camera.FilterList().append(sens.ChFilterRGBA8Access())
self.manager.AddSensor(self.camera)
self.old_dist = self.track.center.calcDistance(
self.chassis_body.GetPos())
self.step_number = 0
self.c_f = 0
self.isdone = False
self.render_setup = False
if self.play_mode:
self.render()
return self.get_ob()
def main():
# Create systems
# Create the HMMWV vehicle, set parameters, and initialize
my_hmmwv = veh.HMMWV_Full()
my_hmmwv.SetContactMethod(contact_method)
my_hmmwv.SetChassisCollisionType(chassis_collision_type)
my_hmmwv.SetChassisFixed(False)
my_hmmwv.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))
my_hmmwv.SetPowertrainType(powertrain_model)
my_hmmwv.SetDriveType(drive_type)
my_hmmwv.SetSteeringType(steering_type)
my_hmmwv.SetTireType(tire_model)
my_hmmwv.SetTireStepSize(tire_step_size)
my_hmmwv.SetVehicleStepSize(step_size)
my_hmmwv.Initialize()
#VisualizationType tire_vis_type =
# (tire_model == TireModelType::RIGID_MESH) ? VisualizationType::MESH : VisualizationType::NONE;
tire_vis_type = veh.VisualizationType_MESH # if tire_model == veh.TireModelType_RIGID_MESH else tire_vis_type = veh.VisualizationType_NONE
my_hmmwv.SetChassisVisualizationType(chassis_vis_type)
my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type)
my_hmmwv.SetSteeringVisualizationType(steering_vis_type)
my_hmmwv.SetWheelVisualizationType(wheel_vis_type)
my_hmmwv.SetTireVisualizationType(tire_vis_type)
# Create the terrain
terrain = veh.RigidTerrain(my_hmmwv.GetSystem())
#patch = veh.Patch()
"""
switch (terrain_model) {
case RigidTerrain::BOX:
patch = terrain.AddPatch(ChCoordsys<>(ChVector<>(0, 0, terrainHeight - 5), QUNIT),
ChVector<>(terrainLength, terrainWidth, 10));
patch->SetTexture(vehicle::GetDataFile("terrain/textures/tile4.jpg"), 200, 200);
break;
case RigidTerrain::HEIGHT_MAP:
patch = terrain.AddPatch(CSYSNORM, vehicle::GetDataFile("terrain/height_maps/test64.bmp"), "test64", 128,
128, 0, 4);
patch->SetTexture(vehicle::GetDataFile("terrain/textures/grass.jpg"), 16, 16);
break;
case RigidTerrain::MESH:
patch = terrain.AddPatch(CSYSNORM, vehicle::GetDataFile("terrain/meshes/test.obj"), "test_mesh");
patch->SetTexture(vehicle::GetDataFile("terrain/textures/grass.jpg"), 100, 100);
break;
}
"""
patch = terrain.AddPatch(
chrono.ChCoordsysD(chrono.ChVectorD(0, 0, terrainHeight - 5),
chrono.QUNIT),
chrono.ChVectorD(terrainLength, terrainWidth, 10))
patch.SetContactFrictionCoefficient(0.9)
patch.SetContactRestitutionCoefficient(0.01)
patch.SetContactMaterialProperties(2e7, 0.3)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
terrain.Initialize()
# Create the vehicle Irrlicht interface
# please note that wchar_t conversion requres some workaround
app = veh.ChWheeledVehicleIrrApp(
my_hmmwv.GetVehicle(), my_hmmwv.GetPowertrain()) #, "HMMWV Demo")
app.SetSkyBox()
app.AddTypicalLights(chronoirr.vector3df(30, -30, 100),
chronoirr.vector3df(30, 50, 100), 250, 130)
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Initialize output
try:
os.mkdir(out_dir)
except:
print("Error creating directory ")
if (povray_output):
try:
os.mkdir(pov_dir)
except:
print("Error creating POV directory ")
terrain.ExportMeshPovray(out_dir)
# Initialize output file for driver inputs
#driver_file = out_dir + "/driver_inputs.txt"
# no RECORD so far
#utils::CSV_writer driver_csv(" ");
# Set up vehicle output
my_hmmwv.GetVehicle().SetChassisOutput(True)
my_hmmwv.GetVehicle().SetSuspensionOutput(0, True)
my_hmmwv.GetVehicle().SetSteeringOutput(0, True)
my_hmmwv.GetVehicle().SetOutput(veh.ChVehicleOutput.ASCII, out_dir,
"output", 0.1)
# Generate JSON information with available output channels
my_hmmwv.GetVehicle().ExportComponentList(out_dir + "/component_list.json")
# Create the driver system
# Create the interactive driver system
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
steering_time = 1.0 # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0 # time to go from 0 to +1
braking_time = 0.3 # time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
# If in playback mode, attach the data file to the driver system and
# force it to playback the driver inputs.
if (driver_mode == "PLAYBACK"):
#driver.SetInputDataFile(driver_file)
driver.SetInputMode(veh.ChIrrGuiDriver.DATAFILE)
driver.Initialize()
# Simulation loop
"""
if (debug_output) :
GetLog() << "\n\n============ System Configuration ============\n"
my_hmmwv.LogHardpointLocations()"""
# Number of simulation steps between miscellaneous events
render_steps = m.ceil(render_step_size / step_size)
debug_steps = m.ceil(debug_step_size / step_size)
# Initialize simulation frame counter and simulation time
realtime_timer = chrono.ChRealtimeStepTimer()
step_number = 0
render_frame = 0
time = 0
if (contact_vis):
app.SetSymbolscale(1e-4)
#app.SetContactsDrawMode(chronoirr.eCh_ContactsDrawMode::CONTACT_FORCES);
while (app.GetDevice().run()):
time = my_hmmwv.GetSystem().GetChTime()
#End simulation
if (time >= t_end):
break
app.BeginScene(True, True, chronoirr.SColor(255, 140, 161, 192))
app.DrawAll()
app.AddTypicalLogo(chrono.GetChronoDataPath() +
'logo_pychrono_alpha.png')
# Output POV-Ray data
if (povray_output and step_number % render_steps == 0):
#char filename[100];
print('filename', "%s/data_%03d.dat", pov_dir.c_str(),
render_frame + 1)
#utils::WriteShapesPovray(my_hmmwv.GetSystem(), filename);
#render_frame++;
#Debug logging
if (debug_output and step_number % debug_steps == 0):
print("\n\n============ System Information ============\n")
print("Time = " << time << "\n\n")
#my_hmmwv.DebugLog(OUT_SPRINGS | OUT_SHOCKS | OUT_CONSTRAINTS)
marker_driver = my_hmmwv.GetChassis().GetMarkers()[0].GetAbsCoord(
).pos
marker_com = my_hmmwv.GetChassis().GetMarkers()[1].GetAbsCoord(
).pos
print("Markers\n")
print(" Driver loc: ", marker_driver.x, " ", marker_driver.y,
" ", marker_driver.z)
print(" Chassis COM loc: ", marker_com.x, " ", marker_com.y, " ",
marker_com.z)
# Collect output data from modules (for inter-module communication)
throttle_input = driver.GetThrottle()
steering_input = driver.GetSteering()
braking_input = driver.GetBraking()
# Driver output
"""
if (driver_mode == RECORD) {
driver_csv << time << steering_input << throttle_input << braking_input << std::endl;
}"""
# Update modules (process inputs from other modules)
driver.Synchronize(time)
terrain.Synchronize(time)
my_hmmwv.Synchronize(time, steering_input, braking_input,
throttle_input, terrain)
app.Synchronize(driver.GetInputModeAsString(), steering_input,
throttle_input, braking_input)
# Advance simulation for one timestep for all modules
step = realtime_timer.SuggestSimulationStep(step_size)
driver.Advance(step)
terrain.Advance(step)
my_hmmwv.Advance(step)
app.Advance(step)
# Increment frame number
step_number += 1
app.EndScene()
"""
if (driver_mode == RECORD) {
driver_csv.write_to_file(driver_file);
}"""
return 0
def reset(self):
x_half_length = 90
y_half_length = 40
self.path = BezierPath(x_half_length, y_half_length, 0.5,
self.interval)
pos, rot = self.path.getPosRot(self.path.current_t - self.interval)
self.initLoc = chrono.ChVectorD(pos)
self.initRot = chrono.ChQuaternionD(rot)
self.vehicle = veh.HMMWV_Reduced()
self.vehicle.SetContactMethod(chrono.ChContactMethod_NSC)
self.surf_material = chrono.ChMaterialSurfaceNSC()
self.vehicle.SetChassisCollisionType(
veh.ChassisCollisionType_PRIMITIVES)
self.vehicle.SetChassisFixed(False)
self.vehicle.SetInitPosition(
chrono.ChCoordsysD(self.initLoc, self.initRot))
self.vehicle.SetPowertrainType(veh.PowertrainModelType_SHAFTS)
self.vehicle.SetDriveType(veh.DrivelineType_AWD)
# self.vehicle.SetSteeringType(veh.SteeringType_PITMAN_ARM)
self.vehicle.SetTireType(veh.TireModelType_TMEASY)
self.vehicle.SetTireStepSize(self.timestep)
self.vehicle.Initialize()
if self.play_mode == True:
# self.vehicle.SetChassisVisualizationType(veh.VisualizationType_MESH)
self.vehicle.SetChassisVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetWheelVisualizationType(veh.VisualizationType_MESH)
self.vehicle.SetTireVisualizationType(veh.VisualizationType_MESH)
else:
self.vehicle.SetChassisVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetWheelVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSuspensionVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSteeringVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.chassis_body = self.vehicle.GetChassisBody()
self.chassis_body.GetCollisionModel().ClearModel()
size = chrono.ChVectorD(3, 2, 0.2)
self.chassis_body.GetCollisionModel().AddBox(self.surf_material,
0.5 * size.x,
0.5 * size.y,
0.5 * size.z)
self.chassis_body.GetCollisionModel().BuildModel()
self.m_inputs = veh.Inputs()
self.system = self.vehicle.GetVehicle().GetSystem()
self.manager = sens.ChSensorManager(self.system)
self.manager.scene.AddPointLight(chrono.ChVectorF(100, 100, 100),
chrono.ChVectorF(1, 1, 1), 5000.0)
self.manager.scene.AddPointLight(chrono.ChVectorF(-100, -100, 100),
chrono.ChVectorF(1, 1, 1), 5000.0)
# Driver
#self.driver = veh.ChDriver(self.vehicle.GetVehicle())
self.terrain = veh.RigidTerrain(self.system)
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch = self.terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1),
self.terrainLength * 1.5,
self.terrainWidth * 1.5)
patch.SetTexture(veh.GetDataFile("terrain/textures/grass.jpg"), 200,
200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
self.terrain.Initialize()
self.groundBody = patch.GetGroundBody()
ground_asset = self.groundBody.GetAssets()[0]
visual_asset = chrono.CastToChVisualization(ground_asset)
vis_mat = chrono.ChVisualMaterial()
vis_mat.SetKdTexture(veh.GetDataFile("terrain/textures/grass.jpg"))
visual_asset.material_list.append(vis_mat)
self.leaders.addLeaders(self.system, self.path)
self.leader_box = self.leaders.getBBox()
self.lead_pos = (self.chassis_body.GetPos() -
self.leaders[0].GetPos()).Length()
# Add obstacles:
self.obstacles = []
self.placeObstacle(8)
# for leader in self.leaders:
# ------------------------------------------------
# Create a self.camera and add it to the sensor manager
# ------------------------------------------------
self.camera = sens.ChCameraSensor(
self.chassis_body, # body camera is attached to
10, # scanning rate in Hz
chrono.ChFrameD(chrono.ChVectorD(1.5, 0, .875)),
# offset pose
self.camera_width, # number of horizontal samples
self.camera_height, # number of vertical channels
chrono.CH_C_PI / 2, # horizontal field of view
6)
self.camera.SetName("Camera Sensor")
self.camera.PushFilter(sens.ChFilterRGBA8Access())
self.manager.AddSensor(self.camera)
# -----------------------------------------------------
# Create a self.gps and add it to the sensor manager
# -----------------------------------------------------
gps_noise_none = sens.ChGPSNoiseNone()
self.AgentGPS = sens.ChGPSSensor(
self.chassis_body, 10,
chrono.ChFrameD(
chrono.ChVectorD(0, 0, 0),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0))),
self.origin, gps_noise_none)
self.AgentGPS.SetName("AgentGPS Sensor")
self.AgentGPS.PushFilter(sens.ChFilterGPSAccess())
self.manager.AddSensor(self.AgentGPS)
### Target GPS
self.TargetGPS = sens.ChGPSSensor(
self.leaders[0], 10,
chrono.ChFrameD(
chrono.ChVectorD(0, 0, 0),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0))),
self.origin, gps_noise_none)
self.TargetGPS.SetName("TargetGPS Sensor")
self.TargetGPS.PushFilter(sens.ChFilterGPSAccess())
self.manager.AddSensor(self.TargetGPS)
self.step_number = 0
self.num_frames = 0
self.num_updates = 0
self.c_f = 0
self.old_ac = [0, 0]
self.isdone = False
self.render_setup = False
if self.play_mode:
self.render()
return self.get_ob()
def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
step_size = 0.005
sys = chrono.ChSystemNSC()
sys.Set_G_acc(chrono.ChVectorD(0, 0, -9.81))
sys.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN)
sys.SetSolverMaxIterations(150)
sys.SetMaxPenetrationRecoverySpeed(4.0)
# Create the terrain
terrain = veh.RigidTerrain(sys)
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1), 200, 100)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
terrain.Initialize()
# Create and initialize the first vehicle
hmmwv_1 = veh.HMMWV_Reduced(sys)
hmmwv_1.SetInitPosition(
chrono.ChCoordsysD(chrono.ChVectorD(0, -1.5, 1.0),
chrono.ChQuaternionD(1, 0, 0, 0)))
hmmwv_1.SetPowertrainType(veh.PowertrainModelType_SIMPLE)
hmmwv_1.SetDriveType(veh.DrivelineType_RWD)
hmmwv_1.SetTireType(veh.TireModelType_RIGID)
hmmwv_1.Initialize()
hmmwv_1.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
hmmwv_1.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
hmmwv_1.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
hmmwv_1.SetWheelVisualizationType(veh.VisualizationType_NONE)
hmmwv_1.SetTireVisualizationType(veh.VisualizationType_PRIMITIVES)
driver_data_1 = veh.vector_Entry([
veh.DataDriverEntry(0.0, 0.0, 0.0, 0.0),
veh.DataDriverEntry(0.5, 0.0, 0.0, 0.0),
veh.DataDriverEntry(0.7, 0.3, 0.7, 0.0),
veh.DataDriverEntry(1.0, 0.3, 0.7, 0.0),
veh.DataDriverEntry(3.0, 0.5, 0.1, 0.0)
])
driver_1 = veh.ChDataDriver(hmmwv_1.GetVehicle(), driver_data_1)
driver_1.Initialize()
# Create and initialize the second vehicle
hmmwv_2 = veh.HMMWV_Reduced(sys)
hmmwv_2.SetInitPosition(
chrono.ChCoordsysD(chrono.ChVectorD(7, 1.5, 1.0),
chrono.ChQuaternionD(1, 0, 0, 0)))
hmmwv_2.SetPowertrainType(veh.PowertrainModelType_SIMPLE)
hmmwv_2.SetDriveType(veh.DrivelineType_RWD)
hmmwv_2.SetTireType(veh.TireModelType_RIGID)
hmmwv_2.Initialize()
hmmwv_2.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
hmmwv_2.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
hmmwv_2.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
hmmwv_2.SetWheelVisualizationType(veh.VisualizationType_NONE)
hmmwv_2.SetTireVisualizationType(veh.VisualizationType_PRIMITIVES)
driver_data_2 = veh.vector_Entry([
veh.DataDriverEntry(0.0, 0.0, 0.0, 0.0),
veh.DataDriverEntry(0.5, 0.0, 0.0, 0.0),
veh.DataDriverEntry(0.7, -0.3, 0.7, 0.0),
veh.DataDriverEntry(1.0, -0.3, 0.7, 0.0),
veh.DataDriverEntry(3.0, -0.5, 0.1, 0.0)
])
driver_2 = veh.ChDataDriver(hmmwv_2.GetVehicle(), driver_data_2)
driver_2.Initialize()
# Create the vehicle Irrlicht interface
app = veh.ChWheeledVehicleIrrApp(hmmwv_1.GetVehicle(), 'Two Car Demo',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(30, -30, 100),
irr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(chrono.ChVectorD(0.0, 0.0, 0.75), 6.0, 0.5)
app.SetChaseCameraState(veh.ChChaseCamera.Track)
app.SetChaseCameraPosition(chrono.ChVectorD(-15, 0, 2.0))
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Simulation loop
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
time = hmmwv_1.GetSystem().GetChTime()
app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Get driver inputs
driver_inputs_1 = driver_1.GetInputs()
driver_inputs_2 = driver_2.GetInputs()
# Update modules (process inputs from other modules)
driver_1.Synchronize(time)
driver_2.Synchronize(time)
hmmwv_1.Synchronize(time, driver_inputs_1, terrain)
hmmwv_2.Synchronize(time, driver_inputs_2, terrain)
terrain.Synchronize(time)
app.Synchronize("", driver_inputs_1)
# Advance simulation for one timestep for all modules
driver_1.Advance(step_size)
driver_2.Advance(step_size)
hmmwv_1.Advance(step_size)
hmmwv_2.Advance(step_size)
terrain.Advance(step_size)
app.Advance(step_size)
# Advance state of entire system (containing both vehicles)
sys.DoStepDynamics(step_size)
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0
gator.SetSteeringVisualizationType(steering_vis_type)
gator.SetWheelVisualizationType(wheel_vis_type)
gator.SetTireVisualizationType(tire_vis_type)
print("Vehicle mass: " + str(gator.GetVehicle().GetVehicleMass()))
print("Vehicle mass (with tires): " + str(gator.GetTotalMass()))
print("Driveline type: " + gator.GetVehicle().GetDriveline().GetTemplateName())
print("Brake type: " + gator.GetVehicle().GetBrake(1, veh.LEFT).GetTemplateName())
print("Tire type: " + gator.GetVehicle().GetTire(1, veh.LEFT).GetTemplateName())
print("\n")
# ------------------
# Create the terrain
# ------------------
terrain = veh.RigidTerrain(gator.GetSystem())
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch = terrain.AddPatch(patch_mat,
chrono.ChVectorD(0, 0, 0), chrono.ChVectorD(0, 0, 1),
600, 600)
patch.SetColor(chrono.ChColor(0.8, 0.8, 1.0))
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 1200, 1200)
terrain.Initialize()
# -------------------------------------
# Create the vehicle Irrlicht interface
# Create the driver system
# -------------------------------------
def __init__(self, step_size, sys, irrlicht=False, terrain_type='json', height=-0.5, width=300, length=300):
# Chrono parameters
self.step_size = step_size
self.irrlicht = irrlicht
self.step_number = 0
# Rigid terrain dimensions
self.height = height
self.length = length # size in X direction
self.width = width # size in Y direction
self.sys = sys
if terrain_type == 'json':
import os
# JSON files for terrain
self.rigidterrain_file = veh.GetDataPath() + os.path.join('terrain', 'RigidPlane.json')
checkFile(self.rigidterrain_file)
# Create the ground
self.terrain = veh.RigidTerrain(self.sys, self.rigidterrain_file)
elif terrain_type == 'concrete':
# Create the terrain
self.terrain = veh.RigidTerrain(self.sys)
patch = self.terrain.AddPatch(chrono.ChCoordsysD(chrono.ChVectorD(0, 0, self.height - 5), chrono.QUNIT),
chrono.ChVectorD(self.width, self.length, 10))
patch.SetContactFrictionCoefficient(0.9)
patch.SetContactRestitutionCoefficient(0.01)
patch.SetContactMaterialProperties(2e7, 0.3)
patch.SetTexture(chrono.GetChronoDataFile("concrete.jpg"), self.length, self.width)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
self.terrain.Initialize()
try:
ground_body = patch.GetGroundBody()
ground_asset = ground_body.GetAssets()[0]
visual_asset = chrono.CastToChVisualization(ground_asset)
vis_mat = chrono.ChVisualMaterial()
vis_mat.SetKdTexture(chrono.GetChronoDataFile("concrete.jpg"))
vis_mat.SetFresnelMax(0);
visual_asset.material_list.append(vis_mat)
except:
print("Not Visual Material")
elif terrain_type == 'hallway':
y_max = 5.65
x_max = 23
offset = chrono.ChVectorD(-x_max/2, -y_max/2, .21)
offsetF = chrono.ChVectorF(offset.x, offset.y, offset.z)
self.terrain = veh.RigidTerrain(self.sys)
coord_sys = chrono.ChCoordsysD(offset, chrono.ChQuaternionD(1,0,0,0))
patch = self.terrain.AddPatch(coord_sys, chrono.GetChronoDataFile("sensor/textures/hallway.obj"), "mesh", 0.01, False)
vis_mesh = chrono.ChTriangleMeshConnected()
vis_mesh.LoadWavefrontMesh(chrono.GetChronoDataFile("sensor/textures/hallway.obj"), True, True)
trimesh_shape = chrono.ChTriangleMeshShape()
trimesh_shape.SetMesh(vis_mesh)
trimesh_shape.SetName("mesh_name")
trimesh_shape.SetStatic(True)
patch.GetGroundBody().AddAsset(trimesh_shape)
patch.SetContactFrictionCoefficient(0.9)
patch.SetContactRestitutionCoefficient(0.01)
patch.SetContactMaterialProperties(2e7, 0.3)
self.terrain.Initialize()
def main() :
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# --------------------------
# Create the various modules
# --------------------------
# Create the vehicle system
vehicle = veh.WheeledVehicle(vehicle_file ,chrono.ChMaterialSurface.NSC)
vehicle.Initialize(chrono.ChCoordsysD(initLoc, initRot))
#vehicle.GetChassis().SetFixed(True)
vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE)
# Create the ground
terrain = veh.RigidTerrain(vehicle.GetSystem(), rigidterrain_file)
# Create and initialize the powertrain system
powertrain = veh.SimplePowertrain(simplepowertrain_file)
vehicle.InitializePowertrain(powertrain)
# Create and initialize the tires
for axle in vehicle.GetAxles() :
tireL = veh.RigidTire(rigidtire_file)
vehicle.InitializeTire(tireL, axle.m_wheels[0], veh.VisualizationType_MESH)
tireR = veh.RigidTire(rigidtire_file)
vehicle.InitializeTire(tireR, axle.m_wheels[1], veh.VisualizationType_MESH)
app = veh.ChVehicleIrrApp(vehicle)
app.SetSkyBox()
app.AddTypicalLights(chronoirr.vector3df(30, -30, 100), chronoirr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataPath() + 'logo_pychrono_alpha.png')
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0; # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0; # time to go from 0 to +1
braking_time = 0.3; # time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
driver.Initialize()
# -----------------
# Initialize output
# -----------------
try:
os.mkdir(out_dir)
except:
print("Error creating directory " )
# Generate JSON information with available output channels
out_json = vehicle.ExportComponentList()
print(out_json)
vehicle.ExportComponentList(out_dir + "/component_list.json")
# ---------------
# Simulation loop
# ---------------
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()) :
# Render scene
app.BeginScene(True, True, chronoirr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Collect output data from modules (for inter-module communication)
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
time = vehicle.GetSystem().GetChTime()
driver.Synchronize(time)
vehicle.Synchronize(time, driver_inputs, terrain)
terrain.Synchronize(time)
app.Synchronize(driver.GetInputModeAsString(), driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
vehicle.Advance(step_size)
terrain.Advance(step_size)
app.Advance(step_size)
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
my_rccar.SetSteeringVisualizationType(steering_vis_type)
my_rccar.SetWheelVisualizationType(wheel_vis_type)
my_rccar.SetTireVisualizationType(tire_vis_type)
chassis_asset = my_rccar.GetChassisBody().GetAssets()[0]
visual_asset = chrono.CastToChVisualization(chassis_asset)
vis_mat = chrono.ChVisualMaterial()
vis_mat.SetAmbientColor(chrono.ChVectorF(0, 0, 0))
vis_mat.SetDiffuseColor(chrono.ChVectorF(.5, .5, .5))
vis_mat.SetSpecularColor(chrono.ChVectorF(1, 1, 1))
vis_mat.SetFresnelMin(0)
vis_mat.SetFresnelMax(1)
visual_asset.material_list.append(vis_mat)
# Create the terrain
terrain = veh.RigidTerrain(my_rccar.GetSystem())
if (contact_method == chrono.ChContactMethod_NSC):
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
elif (contact_method == chrono.ChContactMethod_SMC):
patch_mat = chrono.ChMaterialSurfaceSMC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch_mat.SetYoungModulus(2e7)
patch = terrain.AddPatch(patch_mat,
chrono.ChVectorD(0, 0, 0), chrono.ChVectorD(0, 0, 1),
terrainLength, terrainWidth)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
terrain.Initialize()
def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# Create the HMMWV vehicle, set parameters, and initialize
my_hmmwv = veh.HMMWV_Full()
my_hmmwv.SetContactMethod(contact_method)
my_hmmwv.SetChassisFixed(False)
my_hmmwv.SetInitPosition(
chrono.ChCoordsysD(initLoc, chrono.ChQuaternionD(1, 0, 0, 0)))
my_hmmwv.SetPowertrainType(powertrain_model)
my_hmmwv.SetDriveType(drive_type)
my_hmmwv.SetSteeringType(steering_type)
my_hmmwv.SetTireType(tire_model)
my_hmmwv.SetTireStepSize(tire_step_size)
my_hmmwv.Initialize()
my_hmmwv.SetChassisVisualizationType(chassis_vis_type)
my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type)
my_hmmwv.SetSteeringVisualizationType(steering_vis_type)
my_hmmwv.SetWheelVisualizationType(wheel_vis_type)
my_hmmwv.SetTireVisualizationType(tire_vis_type)
# Create the terrain
terrain = veh.RigidTerrain(my_hmmwv.GetSystem())
if (contact_method == chrono.ChContactMethod_NSC):
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
elif (contact_method == chrono.ChContactMethod_SMC):
patch_mat = chrono.ChMaterialSurfaceSMC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch_mat.SetYoungModulus(2e7)
patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1), 300, 50)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
terrain.Initialize()
# Create the path-follower, cruise-control driver
# Use a parameterized ISO double lane change (to left)
path = veh.DoubleLaneChangePath(initLoc, 13.5, 4.0, 11.0, 50.0, True)
driver = veh.ChPathFollowerDriver(my_hmmwv.GetVehicle(), path, "my_path",
target_speed)
driver.GetSteeringController().SetLookAheadDistance(5)
driver.GetSteeringController().SetGains(0.8, 0, 0)
driver.GetSpeedController().SetGains(0.4, 0, 0)
driver.Initialize()
# Create the vehicle Irrlicht interface
app = veh.ChWheeledVehicleIrrApp(my_hmmwv.GetVehicle(), 'HMMWV',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(-60, -30, 100),
irr.vector3df(60, 30, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(chrono.ChVectorD(0.0, 0.0, 1.75), 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Visualization of controller points (sentinel & target)
ballS = app.GetSceneManager().addSphereSceneNode(0.1)
ballT = app.GetSceneManager().addSphereSceneNode(0.1)
ballS.getMaterial(0).EmissiveColor = irr.SColor(0, 255, 0, 0)
ballT.getMaterial(0).EmissiveColor = irr.SColor(0, 0, 255, 0)
# Simulation loop
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
time = my_hmmwv.GetSystem().GetChTime()
# End simulation
if (time >= t_end):
break
# Update sentinel and target location markers for the path-follower controller.
pS = driver.GetSteeringController().GetSentinelLocation()
pT = driver.GetSteeringController().GetTargetLocation()
ballS.setPosition(irr.vector3df(pS.x, pS.y, pS.z))
ballT.setPosition(irr.vector3df(pT.x, pT.y, pT.z))
# Draw scene
app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Get driver inputs
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
driver.Synchronize(time)
terrain.Synchronize(time)
my_hmmwv.Synchronize(time, driver_inputs, terrain)
app.Synchronize("", driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
terrain.Advance(step_size)
my_hmmwv.Advance(step_size)
app.Advance(step_size)
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0
def reset(self):
print("reset")
self.generator.generatePath(difficulty=50, seed=randint(1, 1000))
self.path = Path(self.generator)
self.path_tracker = PathTracker(self.path)
self.initLoc = self.path_tracker.GetInitLoc()
self.initRot = self.path_tracker.GetInitRot()
self.vehicle = veh.WheeledVehicle(self.vehicle_file,
chrono.ChMaterialSurface.NSC)
self.vehicle.Initialize(chrono.ChCoordsysD(self.initLoc, self.initRot))
self.vehicle.SetStepsize(self.timestep)
self.vehicle.SetChassisVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSuspensionVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSteeringVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE)
# Create and initialize the powertrain system
self.powertrain = veh.SimplePowertrain(self.simplepowertrain_file)
self.vehicle.InitializePowertrain(self.powertrain)
# Create the ground
self.terrain = veh.RigidTerrain(self.vehicle.GetSystem(),
self.rigidterrain_file)
for axle in self.vehicle.GetAxles():
tireL = veh.RigidTire(self.rigidtire_file)
self.vehicle.InitializeTire(tireL, axle.m_wheels[0],
veh.VisualizationType_MESH)
tireR = veh.RigidTire(self.rigidtire_file)
self.vehicle.InitializeTire(tireR, axle.m_wheels[1],
veh.VisualizationType_MESH)
# -------------
# Create driver
# -------------
self.driver = Driver(self.vehicle)
# Time interval between two render frames
render_step_size = 1.0 / 60 # FPS = 60
# Set the time response for steering and throttle inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0
# time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0
# time to go from 0 to +1
braking_time = 0.3
# time to go from 0 to +1
self.driver.SetSteeringDelta(render_step_size / steering_time)
self.driver.SetThrottleDelta(render_step_size / throttle_time)
self.driver.SetBrakingDelta(render_step_size / braking_time)
vec = chrono.ChVectorD(0, 0, 0)
self.path_tracker.calcClosestPoint(self.vehicle.GetVehiclePos(), vec)
self.last_dist = vec.Length()
self.last_throttle, self.last_braking, self.last_steering = 0, 0, 0
if self.render:
road = self.vehicle.GetSystem().NewBody()
road.SetBodyFixed(True)
self.vehicle.GetSystem().AddBody(road)
num_points = self.path.getNumPoints()
path_asset = chrono.ChLineShape()
path_asset.SetLineGeometry(
chrono.ChLineBezier(self.path_tracker.path))
path_asset.SetColor(chrono.ChColor(0.0, 0.8, 0.0))
path_asset.SetNumRenderPoints(max(2 * num_points, 400))
road.AddAsset(path_asset)
if self.render:
self.app = veh.ChVehicleIrrApp(self.vehicle)
self.app.SetHUDLocation(500, 20)
self.app.SetSkyBox()
self.app.AddTypicalLogo()
self.app.AddTypicalLights(chronoirr.vector3df(-150., -150., 200.),
chronoirr.vector3df(-150., 150., 200.),
100, 100)
self.app.AddTypicalLights(chronoirr.vector3df(150., -150., 200.),
chronoirr.vector3df(150., 150., 200.),
100, 100)
self.app.EnableGrid(False)
self.app.SetChaseCamera(self.trackPoint, 6.0, 0.5)
self.app.SetTimestep(self.timestep)
# ---------------------------------------------------------------------
#
# Create an Irrlicht application to visualize the system
#
# ==IMPORTANT!== Use this function for adding a ChIrrNodeAsset to all items
# in the system. These ChIrrNodeAsset assets are 'proxies' to the Irrlicht meshes.
# If you need a finer control on which item really needs a visualization proxy
# Irrlicht, just use application.AssetBind(myitem); on a per-item basis.
self.app.AssetBindAll()
# ==IMPORTANT!== Use this function for 'converting' into Irrlicht meshes the assets
# that you added to the bodies into 3D shapes, they can be visualized by Irrlicht!
self.app.AssetUpdateAll()
self.isdone = False
self.steps = 0
self.step(np.zeros(3))
self.tracknum = self.tracknum = 0 if self.tracknum >= 3 else self.tracknum + 1
# self.tracknum = self.tracknum + 1
return self.get_ob()
def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# Create systems
# Create the HMMWV vehicle, set parameters, and initialize
my_hmmwv = veh.HMMWV_Full()
my_hmmwv.SetContactMethod(contact_method)
my_hmmwv.SetChassisCollisionType(chassis_collision_type)
my_hmmwv.SetChassisFixed(False)
my_hmmwv.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))
my_hmmwv.SetPowertrainType(powertrain_model)
my_hmmwv.SetDriveType(drive_type)
my_hmmwv.SetSteeringType(steering_type)
my_hmmwv.SetTireType(tire_model)
my_hmmwv.SetTireStepSize(tire_step_size)
my_hmmwv.Initialize()
my_hmmwv.SetChassisVisualizationType(chassis_vis_type)
my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type)
my_hmmwv.SetSteeringVisualizationType(steering_vis_type)
my_hmmwv.SetWheelVisualizationType(wheel_vis_type)
my_hmmwv.SetTireVisualizationType(tire_vis_type)
# Create the terrain
terrain = veh.RigidTerrain(my_hmmwv.GetSystem())
patch = terrain.AddPatch(chrono.ChCoordsysD(chrono.ChVectorD(0, 0, terrainHeight - 5), chrono.QUNIT), chrono.ChVectorD(terrainLength, terrainWidth, 10))
patch.SetContactFrictionCoefficient(0.9)
patch.SetContactRestitutionCoefficient(0.01)
patch.SetContactMaterialProperties(2e7, 0.3)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
terrain.Initialize()
# Create the vehicle Irrlicht interface
# please note that wchar_t conversion requres some workaround
app = veh.ChWheeledVehicleIrrApp(my_hmmwv.GetVehicle())
app.SetSkyBox()
app.AddTypicalLights(chronoirr.vector3df(30, -30, 100), chronoirr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Initialize output
try:
os.mkdir(out_dir)
except:
print("Error creating directory " )
# Set up vehicle output
my_hmmwv.GetVehicle().SetChassisOutput(True);
my_hmmwv.GetVehicle().SetSuspensionOutput(0, True);
my_hmmwv.GetVehicle().SetSteeringOutput(0, True);
my_hmmwv.GetVehicle().SetOutput(veh.ChVehicleOutput.ASCII , out_dir, "output", 0.1);
# Generate JSON information with available output channels
my_hmmwv.GetVehicle().ExportComponentList(out_dir + "/component_list.json");
# Create the interactive driver system
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
steering_time = 1.0 # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0 # time to go from 0 to +1
braking_time = 0.3 # time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
driver.Initialize()
# Simulation loop
# Number of simulation steps between miscellaneous events
render_steps = m.ceil(render_step_size / step_size)
debug_steps = m.ceil(debug_step_size / step_size)
# Initialize simulation frame counter and simulation time
step_number = 0
render_frame = 0
if (contact_vis):
app.SetSymbolscale(1e-4);
#app.SetContactsDrawMode(chronoirr.eCh_ContactsDrawMode::CONTACT_FORCES);
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
time = my_hmmwv.GetSystem().GetChTime()
#End simulation
if (time >= t_end):
break
app.BeginScene(True, True, chronoirr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
#Debug logging
if (debug_output and step_number % debug_steps == 0) :
print("\n\n============ System Information ============\n")
print( "Time = " << time << "\n\n")
#my_hmmwv.DebugLog(OUT_SPRINGS | OUT_SHOCKS | OUT_CONSTRAINTS)
marker_driver = my_hmmwv.GetChassis().GetMarkers()[0].GetAbsCoord().pos
marker_com = my_hmmwv.GetChassis().GetMarkers()[1].GetAbsCoord().pos
print( "Markers\n")
print( " Driver loc: " , marker_driver.x , " " , marker_driver.y , " " , marker_driver.z)
print( " Chassis COM loc: " , marker_com.x, " ", marker_com.y, " ",marker_com.z)
# Get driver inputs
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
driver.Synchronize(time)
terrain.Synchronize(time)
my_hmmwv.Synchronize(time, driver_inputs, terrain)
app.Synchronize(driver.GetInputModeAsString(), driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
terrain.Advance(step_size)
my_hmmwv.Advance(step_size)
app.Advance(step_size)
# Increment frame number
step_number += 1
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0
def reset(self):
self.generate_track(starting_index=350, z=.40)
self.vehicle = veh.RCCar()
self.vehicle.SetContactMethod(chrono.ChMaterialSurface.NSC)
self.vehicle.SetChassisCollisionType(veh.ChassisCollisionType_NONE)
self.vehicle.SetChassisFixed(False)
self.vehicle.SetInitPosition(
chrono.ChCoordsysD(self.initLoc, self.initRot))
self.vehicle.SetTireType(veh.TireModelType_RIGID)
self.vehicle.SetTireStepSize(self.timestep)
self.vehicle.Initialize()
self.vehicle.SetChassisVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetWheelVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSuspensionVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetSteeringVisualizationType(
veh.VisualizationType_PRIMITIVES)
self.vehicle.SetTireVisualizationType(veh.VisualizationType_PRIMITIVES)
self.chassis_body = self.vehicle.GetChassisBody()
self.system = self.vehicle.GetVehicle().GetSystem()
# Driver
self.driver = Driver(self.vehicle.GetVehicle())
# Set the time response for steering and throttle inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = .65
# time to go from 0 to +1 (or from 0 to -1)
throttle_time = .5
# time to go from 0 to +1
braking_time = 0.3
# time to go from 0 to +1
self.driver.SetSteeringDelta(self.timestep / steering_time)
self.driver.SetThrottleDelta(self.timestep / throttle_time)
self.driver.SetBrakingDelta(self.timestep / braking_time)
# Longitudinal controller (throttle and braking)
self.long_controller = PIDLongitudinalController(
self.vehicle, self.driver)
self.long_controller.SetGains(Kp=0.4, Ki=0, Kd=0)
self.long_controller.SetTargetSpeed(speed=self.target_speed)
# Mesh hallway
y_max = 5.65
x_max = 23
offset = chrono.ChVectorD(-x_max / 2, -y_max / 2, .21)
offsetF = chrono.ChVectorF(offset.x, offset.y, offset.z)
self.terrain = veh.RigidTerrain(self.system)
coord_sys = chrono.ChCoordsysD(offset,
chrono.ChQuaternionD(1, 0, 0, 0))
patch = self.terrain.AddPatch(
coord_sys,
chrono.GetChronoDataFile("sensor/textures/hallway_contact.obj"),
"mesh", 0.01, False)
vis_mesh = chrono.ChTriangleMeshConnected()
vis_mesh.LoadWavefrontMesh(
chrono.GetChronoDataFile("sensor/textures/hallway.obj"), True,
True)
trimesh_shape = chrono.ChTriangleMeshShape()
trimesh_shape.SetMesh(vis_mesh)
trimesh_shape.SetName("mesh_name")
trimesh_shape.SetStatic(True)
patch.GetGroundBody().AddAsset(trimesh_shape)
patch.SetContactFrictionCoefficient(0.9)
patch.SetContactRestitutionCoefficient(0.01)
patch.SetContactMaterialProperties(2e7, 0.3)
self.terrain.Initialize()
f = 0
start_light = 0
end_light = 8
self.manager = sens.ChSensorManager(self.system)
for i in range(8):
f += 3
if i < start_light or i > end_light:
continue
self.manager.scene.AddPointLight(
chrono.ChVectorF(f, 1.25, 2.3) + offsetF,
chrono.ChVectorF(1, 1, 1), 5)
self.manager.scene.AddPointLight(
chrono.ChVectorF(f, 3.75, 2.3) + offsetF,
chrono.ChVectorF(1, 1, 1), 5)
# -----------------------------------------------------
# Create a self.camera and add it to the sensor manager
# -----------------------------------------------------
self.camera = sens.ChCameraSensor(
self.chassis_body, # body camera is attached to
50, # scanning rate in Hz
chrono.ChFrameD(
chrono.ChVectorD(-.075, 0, .15),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0))),
# offset pose
self.camera_width, # number of horizontal samples
self.camera_height, # number of vertical channels
chrono.CH_C_PI / 2, # horizontal field of view
(self.camera_height / self.camera_width) * chrono.CH_C_PI /
3. # vertical field of view
)
self.camera.SetName("Camera Sensor")
self.camera.FilterList().append(sens.ChFilterRGBA8Access())
self.manager.AddSensor(self.camera)
# create obstacles
self.cones = []
self.DrawCones(self.track.left.points, 'green', z=.31)
self.DrawCones(self.track.right.points, 'red', z=.31)
self.old_dist = self.track.center.calcDistance(
self.chassis_body.GetPos())
self.step_number = 0
self.isdone = False
self.render_setup = False
if self.play_mode:
self.render()
return self.get_ob()
