def RandomlyPositionAssets(self, system, initLoc, finalLoc, terrain, terrain_length, terrain_width, should_scale=False):
diag_obs = 5
for i in range(diag_obs):
x = np.linspace(initLoc.x, finalLoc.x, diag_obs + 2)[1:-1]
y = np.linspace(initLoc.y, finalLoc.y, diag_obs + 2)[1:-1]
pos = chrono.ChVectorD(x[i], y[i], 0)
pos.z = terrain.GetHeight(pos)
rot = chrono.Q_from_AngZ(np.random.uniform(0, np.pi))
offset = chrono.ChVectorD(pos.y, -pos.x, 0)
offset = offset.GetNormalized() * (np.random.random() - 0.5) * 20
rand_asset = np.random.choice(self.assets).Copy()
rand_asset.pos = pos + offset
rand_asset.rot = rot
if should_scale:
rand_asset.scale = np.random.uniform(rand_asset.scale_range[0], rand_asset.scale_range[1])
self.assets.append(rand_asset)
for i, asset in enumerate(self.assets[:-diag_obs]):
success = True
for i in range(101):
if i == 100:
success = False
break
pos = self.GenerateRandomPosition(terrain, terrain_length, terrain_width)
scale = 1
if should_scale:
scale = np.random.uniform(asset.scale_range[0], asset.scale_range[1])
if (pos - initLoc).Length() < 15 or (pos - finalLoc).Length() < 15:
continue
closest_asset = min(self.assets, key=lambda x: (x.pos - pos).Length())
overlap = 0
if (closest_asset.pos - pos).Length() < scale + closest_asset.scale + overlap:
continue
break
if not success:
continue
rot = chrono.Q_from_AngZ(np.random.uniform(0, np.pi))
asset.pos = pos
asset.rot = rot
asset.scale = scale
for asset in self.assets:
system.Add(asset.body)
asset.CreateCollisionModel()
def __init__(self, x_half, y_half, z, t0):
# making 4 turns to get to the end point
q = chrono.Q_from_AngZ(randint(0, 3) * (-np.pi / 2))
flip = pow(-1, randint(0, 1))
route = randint(0, 1)
points = chrono.vector_ChVectorD()
if route == 0:
beginPos = [-x_half, -y_half * flip]
endPos = [x_half, y_half * flip]
deltaX = (endPos[0] - beginPos[0]) / 3
deltaY = (endPos[1] - beginPos[1]) / 2
for i in range(6):
point = chrono.ChVectorD(
beginPos[0] + deltaX * m.floor((i + 1) / 2),
beginPos[1] + deltaY * m.floor(i / 2), z)
point = q.Rotate(point)
points.append(point)
if route == 1:
xs = np.asarray([-1, 0, 1 / 3, 1 / 3, 0, -1])
ys = np.asarray([1, 4 / 5, 1 / 2, -1 / 2, -4 / 5, -1]) * flip
for x, y in zip(xs, ys):
point = chrono.ChVectorD(x * x_half, y * y_half, z)
point = q.Rotate(point)
points.append(point)
super(BezierPath, self).__init__(points)
self.current_t = np.random.rand(1)[0] * 0.5
def add_asset(self, asset: 'Any'):
if isinstance(asset, chrono.ChBody):
self._system._system.AddBody(asset)
return
if isinstance(asset, WABody):
if not hasattr(asset, 'size') or not hasattr(asset, 'position'):
raise AttributeError(
"Body must have 'size', and 'position' fields")
position = asset.position
yaw = 0 if not hasattr(asset, 'yaw') else asset.yaw
size = asset.size
body_type = 'box'
if hasattr(asset, 'body_type'):
body_type = asset.body_type
if body_type == 'sphere':
body = chrono.ChBodyEasySphere(size.length, 1000, True, False)
body.SetBodyFixed(True)
elif body_type == 'box':
body = chrono.ChBodyEasyBox(
size.x, size.y, size.z, 1000, True, False)
body.SetBodyFixed(True)
else:
raise ValueError(
f"'{asset.body_type}' not a supported body type.")
body.SetPos(WAVector_to_ChVector(position))
body.SetRot(chrono.Q_from_AngZ(-yaw + WA_PI / 2))
if hasattr(asset, 'color'):
color = asset.color
body.AddAsset(chrono.ChColorAsset(
chrono.ChColor(color.x, color.y, color.z)))
texture = chrono.ChVisualMaterial()
texture.SetDiffuseColor(
chrono.ChVectorF(color.x, color.y, color.z))
chrono.CastToChVisualization(
body.GetAssets()[0]).material_list.append(texture)
if hasattr(asset, 'texture'):
texture = chrono.ChVisualMaterial()
texture.SetKdTexture(get_wa_data_file(asset.texture))
chrono.CastToChVisualization(
body.GetAssets()[0]).material_list.append(texture)
self._system._system.AddBody(body)
asset.chrono_body = body
super().add_asset(asset)
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()
def getPosRot(self, t):
pos = self.eval(t)
posD = self.par_evalD(t)
alpha = m.atan2(posD.y, posD.x)
rot = chrono.Q_from_AngZ(alpha)
return pos, rot
link_gearBC.Initialize(mbody_gearB, mbody_truss, chrono.CSYSNORM)
link_gearBC.Set_local_shaft1(
chrono.ChFrameD(chrono.VNULL, chrono.Q_from_AngX(-m.pi / 2)))
link_gearBC.Set_local_shaft2(
chrono.ChFrameD(chrono.ChVectorD(0, 0, -4), chrono.QUNIT))
link_gearBC.Set_tau(radB / radC)
link_gearBC.Set_epicyclic(
True) # <-- this means: use a wheel with internal teeth!
mphysicalSystem.AddLink(link_gearBC)
# ...the bevel gear at the side,
radD = 5
mbody_gearD = chrono.ChBodyEasyCylinder(radD, 0.8, 1000, True, False, mat)
mphysicalSystem.Add(mbody_gearD)
mbody_gearD.SetPos(chrono.ChVectorD(-10, 0, -9))
mbody_gearD.SetRot(chrono.Q_from_AngZ(m.pi / 2))
mbody_gearD.AddAsset(cylinder_texture)
# ...it is fixed to the truss using a revolute joint with horizontal axis (must rotate
# the default ChLink creation coordys 90 degrees on the Y vertical, since the revolute
# axis is the Z axis)
link_revoluteD = chrono.ChLinkLockRevolute()
link_revoluteD.Initialize(
mbody_gearD, mbody_truss,
chrono.ChCoordsysD(chrono.ChVectorD(-10, 0, -9),
chrono.Q_from_AngY(m.pi / 2)))
mphysicalSystem.AddLink(link_revoluteD)
# ... Let's make a 1:1 gear between wheel A and wheel D as a bevel gear: Chrono does not require
# special info for this case -the position of the two shafts and the transmission ratio are enough-
link_gearAD = chrono.ChLinkGear()
v3 = chrono.ChVectorD(0.5, 0.2, 0) v4 = chrono.ChVectorD(0.6, 0.3, 0) v5 = chrono.ChVectorD(0.5, 0.5, 0.1) v6 = chrono.ChVectorD(0, 0.5, 0.1) splinepoints = chrono.vector_ChVectorD([v1, v2, v3, v4, v5, v6]) mspline = chrono.ChLineBspline(3, splinepoints) mspline.SetClosed(True) f_line = chrono.ChFunctionPosition_line() f_line.SetLine(mspline) f_line.SetSpaceFunction(chrono.ChFunction_Ramp(0, 0.2)) # Create a spline rotation interpolation q1 = chrono.ChQuaternionD(1, 0, 0, 0) q2 = chrono.ChQuaternionD(0, 0, 1, 0) q3 = chrono.Q_from_AngZ(1.2) q4 = chrono.Q_from_AngZ(2.2) q5 = chrono.Q_from_AngZ(-1.2) q6 = chrono.ChQuaternionD(0, 1, 0, 0) spinerots = chrono.vector_ChQuaternionD([q1, q2, q3, q4, q5, q6]) f_rotspline = chrono.ChFunctionRotation_spline(1, [q1, q2, q3, q4, q5, q6]) f_rotspline.SetClosed(True) f_rotspline.SetSpaceFunction(chrono.ChFunction_Ramp(0, 0.2)) impose_2 = chrono.ChLinkMotionImposed() system.Add(impose_2) impose_2.Initialize(mmoved_2, mfloor, chrono.ChFrameD(mmoved_2.GetPos())) impose_2.SetPositionFunction(f_line) impose_2.SetRotationFunction(f_rotspline) # Visualize the position spline
