def __init__(self, num_modules: int, pitch_only=False):
super().__init__()
self.material = agx.Material("snake_material_{}".format(
self.getUuid().__str__))
self.modules = []
for i in range(0, num_modules):
module = SnakeModule(self.material)
module.setPosition(module_len * i, 0, 0)
module.setRotation(agx.EulerAngles(math.pi / 2, 0, 0))
if not pitch_only:
if i % 2 != 0:
module.setRotation(agx.EulerAngles(0, 0, 0))
if i > 0:
merged_body = agx.MergedBody()
merged_body.add(
agx.MergedBodyEmptyEdgeInteraction(
self.modules[i - 1].upper, module.bottom))
snakeapp.add(merged_body)
self.modules.append(module)
self.add(module)
def build_scene():
snakeapp.register_additional_scenes('build_scene2')
angle = 0
for y in [-1, 0, 1]:
angle += 10
obstacle = Obstacle(0.5, angle)
obstacle.setLocalPosition(0, y, 0)
snakeapp.add(obstacle)
snake = Snake(5)
snake.setLocalPosition(-0.5, y, 0.05)
snake.setLocalRotation(agx.EulerAngles(math.pi / 2, 0, 0))
snakeapp.add(snake)
snake_obstacle_cm = snakeapp.sim().getMaterialManager() \
.getOrCreateContactMaterial(snake.material, obstacle.material) # type: agx.ContactMaterial
snake_obstacle_cm.setFrictionCoefficient(2) # a lower makes contacts more slippery
snake_obstacle_cm.setUseContactAreaApproach(True)
snake_obstacle_cm.setYoungsModulus(3E9)
fm = agx.IterativeProjectedConeFriction(agx.FrictionModel.DIRECT)
snake_obstacle_cm.setFrictionModel(fm)
for i in range(0, snake.num_servos):
sm = ExampleSineMotion(snake, i)
if i % 2 == 0:
sm.amplitude = math.radians(-90)
else:
sm.amplitude = math.radians(30)
snakeapp.add_event_listener(sm)
def __init__(self, material: agx.Material = None):
super().__init__()
visual_geometry = agxCollide.Geometry(intermediate_shape.deepCopy(),
agx.AffineMatrix4x4.rotate(math.pi / 2, 0, 1, 0) *
agx.AffineMatrix4x4.rotate(math.pi, 1, 0, 0))
visual_geometry.setEnableCollisions(False)
snakeapp.create_visual(visual_geometry, agxRender.Color.Orange())
collision_geometry = agxCollide.Geometry(agxCollide.Box(intermediate_bounds),
agx.AffineMatrix4x4.translate(intermediate_len / 2, 0, 0))
self.body = agx.RigidBody()
self.body.add(visual_geometry)
self.body.add(collision_geometry)
self.add(self.body)
sensor_geometry = agxCollide.Geometry(agxCollide.Box(sensor_bounds),
agx.AffineMatrix4x4.translate(intermediate_len / 2, -0.035, 0))
self.sensor = agx.RigidBody(sensor_geometry)
self.add(self.sensor)
if material is not None:
collision_geometry.setMaterial(material)
sensor_geometry.setMaterial(material)
self.merged_body = agx.MergedBody()
self.merged_body.add(agx.MergedBodyEmptyEdgeInteraction(self.body, self.sensor))
snakeapp.add(self.merged_body)
def setup_scene(i: int):
snake = Snake(NUM_SNAKE_MODULES, pitch_only=False,
with_camera=True) # type: Snake
snake.setPosition(agx.Vec3(0, 0, 0.1))
snakeapp.add(snake)
plane_body = agx.RigidBody(
agxCollide.Geometry(agxCollide.Box(2, 2, 0.1),
agx.AffineMatrix4x4.translate(0, 0, -0.1 / 2)))
plane_body.setMotionControl(agx.RigidBody.STATIC)
snakeapp.create_visual(plane_body, diffuse_color=agxRender.Color.Green())
snakeapp.add(plane_body)
snake_controller = SnakeControl(snake)
if i == FLAPPING:
snake_controller.init_flapping(math.pi / 9.0, math.pi / 9.0, 16.0,
-math.pi * 5.0 / 180.0)
elif i == TURNING:
snake_controller.init_turning(math.pi / 9.0, math.pi * 2.0 / 3.0, 8.0,
0.0, math.pi * 20.0 / 180.0)
elif i == SIDEWINDING:
snake_controller.init_sidewinding(math.pi / 9.0, math.pi * 2.0 / 3.0,
16.0)
elif i == ROLLING:
snake_controller.init_rolling(math.pi / 6.0, math.pi / 6.0, 16.0)
elif i == ROTATING:
snake_controller.init_rotating(math.pi / 6.0, math.pi / 6.0, 16.0)
snakeapp.add_event_listener(snake_controller)
snakeapp.init_camera(eye=agx.Vec3(-1, -1, 0.5),
center=plane_body.getPosition())
def build_scene():
snakeapp.register_additional_scenes('build_scene2')
slope = create_slope()
snakeapp.add(slope)
snake = Snake(5)
snake.setPosition(0, 0, 0.1)
snake.setRotation(agx.EulerAngles(0, -math.radians(slope_angle), 0.2))
snakeapp.add(snake)
def build_scene2():
slope = create_slope()
snakeapp.add(slope)
snake = Snake(5)
snake.setPosition(0, 0, 0.1)
snake.setRotation(agx.EulerAngles(0, -math.radians(slope_angle), 0.2))
snakeapp.add(snake)
snake_obstacle_cm = snakeapp.sim().getMaterialManager() \
.getOrCreateContactMaterial(snake.material, slope.getGeometries()[0].getMaterial()) # type: agx.ContactMaterial
snake_obstacle_cm.setFrictionCoefficient(10)
snake_obstacle_cm.setYoungsModulus(3E4)
def __init__(self, material: agx.Material = None):
super().__init__()
self.len = 0
self.intermediate = IntermediatePart(material)
self.intermediate.setPosition(agx.Vec3(-module_len / 2 - intermediate_len, 0, 0))
self.bottom = BottomPart()
self.add(self.intermediate)
self.add(self.bottom)
merged_body = self.intermediate.merged_body
merged_body.add(agx.MergedBodyEmptyEdgeInteraction(self.intermediate.body, self.bottom))
snakeapp.add(merged_body)
def __init__(self, material: agx.Material = None):
super().__init__()
self.len = (module_len * 0.5) + intermediate_len
self.upper = UpperPart()
self.intermediate = IntermediatePart(material)
self.intermediate.setRotation(agx.EulerAngles(math.pi, 0, math.pi))
self.intermediate.setPosition(agx.Vec3(module_len / 2 + intermediate_len, 0, 0))
self.add(self.upper)
self.add(self.intermediate)
merged_body = self.intermediate.merged_body
merged_body.add(agx.MergedBodyEmptyEdgeInteraction(self.upper, self.intermediate.body))
snakeapp.add(merged_body)
def build_scene():
snakeapp.create_sky()
snake = Snake(6)
snake.setRotation(agx.EulerAngles(math.pi / 2, 0, 0))
snake.setPosition(agx.Vec3(0, .5, 0.3))
snakeapp.add(snake)
terrain = Terrain()
terrain_snake_cm = snakeapp.sim().getMaterialManager() \
.getOrCreateContactMaterial(terrain.material, snake.material) # type: agx.ContactMaterial
terrain_snake_cm.setFrictionCoefficient(3)
terrain_snake_cm.setUseContactAreaApproach(True)
terrain_snake_cm.setYoungsModulus(3E3)
fm = agx.IterativeProjectedConeFriction(agx.FrictionModel.DIRECT)
terrain_snake_cm.setFrictionModel(fm)
for i in range(0, snake.num_servos):
snakeapp.add_event_listener(ExampleSineMotion(snake, i))
snakeapp.init_camera(eye=agx.Vec3(-2, -2, 1), center=agx.Vec3(0, 0, 0.5))
import agxSDK
class ReadSensor(agxSDK.StepEventListener):
def __init__(self):
super().__init__(agxSDK.StepEventListener.POST_STEP)
def post(self, time):
pass
# for i in range(0, snake.num_sensors):
# print("Sensor{} force={}".format(i, snakeapp.get_sum_force_magnitude(snake.sensors[i])))
# print("")
snakeapp.add_event_listener(ReadSensor())
def build_scene(): # application entry point. Do not change method signature
snake1 = Snake(num_modules=5, pitch_only=True)
snake1.setLocalPosition(0, -0.1, 0)
snakeapp.add(snake1)
snake2 = Snake(num_modules=5, pitch_only=False)
snake2.setLocalPosition(0, 0.1, 0)
snakeapp.add(snake2)
snake3 = Snake2(num_modules=5, pitch_only=False, with_camera=True)
snake3.setLocalPosition(0, 0.4, 0)
snakeapp.add(snake3)
plane = agxCollide.Geometry(agxCollide.Box(2, 2, 0.1), agx.AffineMatrix4x4.translate(0, 0, -0.1 / 2))
snakeapp.create_visual(plane, diffuse_color=agxRender.Color.Green())
snakeapp.add(plane)
def __init__(self):
hf = agxCollide.HeightField.createFromFile("assets/textures/dirtRoad128.png", 6, 6, -0.5, 0.5)
terrain = agxModel.Terrain(hf)
snakeapp.add(terrain)
self.material = agx.Material("GroundMaterial")
terrain_data = terrain.getDataInterface() # type: agxModel.TerrainDataInterface
terrain_data.setMaxCompressionMultiplier(32)
particle_adhesion = 0
deformity = 100
angle_of_repose = math.pi * 0.2
material_index = 0
terrain_data.add(self.material, material_index, particle_adhesion, deformity, angle_of_repose)
range_for_youngs_modulus = agx.RangeReal(10000, 20000)
terrain_renderer = agxOSG.TerrainRenderer(terrain, range_for_youngs_modulus, snakeapp.root())
snakeapp.add(terrain_renderer)
terrain_visual = terrain_renderer.getTerrainNode()
agxOSG.setDiffuseColor(terrain_visual, Color(0.7, 0.7, 0.8, 1))
agxOSG.setSpecularColor(terrain_visual, Color(0.4, 0.4, 0.4, 1))
agxOSG.setShininess(terrain_visual, 128)
def build_scene(): # application entry point. Do not change method signature
snakeapp.register_additional_scenes('build_scene_2')
snake = Snake(NUM_SNAKE_MODULES, pitch_only=False)#, with_camera=True) # type: snake_module.Snake
snake.setPosition(agx.Vec3(0, 0, 0.1))
snakeapp.add(snake)
plane = agxCollide.Geometry(agxCollide.Box(2, 2, 0.1), agx.AffineMatrix4x4.translate(0, 0, -0.1/2))
snakeapp.create_visual(plane, diffuse_color=agxRender.Color.Green())
snakeapp.add(plane)
ball = agxCollide.Geometry(agxCollide.Sphere(0.035), agx.AffineMatrix4x4.translate(0, 0, 0))
snakeapp.create_visual(ball, diffuse_color=agxRender.Color.YellowGreen())
ball.setPosition(agx.Vec3(-0.5, 0, 0.1))
snakeapp.add(ball)
snakeapp.add_event_listener(MyKeyEvent(ball))
snakeapp.init_camera(eye=agx.Vec3(-1, -1, 0.5))
snake_controller = SnakeBallControl(snake, ball)
snake_controller.init_turning(math.pi / 9.0, math.pi * 2.0 / 3.0, 8.0, 0.0, math.pi * 0.0 / 180.0)
snakeapp.add_event_listener(snake_controller)
