simplified version of smart interaction explorer

.gitignore

@@ -2,4 +2,4 @@
 /__pycache__
 /examples/__pycache__
 *.pyc
-
+/rostok.egg-info

README.md

@@ -10,7 +10,7 @@
   * Установить Pychono из архива `conda install pychrono-7.0.0-py39_2112.tar.bz2`
 * Установка движка способ 2
   * `conda install -c projectchrono pychrono`
-* Установить пакет в режими разработки `pip3 install -e .`  
+* Установить пакет `rostok` и остальные локальные пакеты в режими разработки `pip3 install -e .`  
 # Прокидываем дисплей через Docker
 
 * Установить Х сервер для Windows https://sourceforge.net/projects/vcxsrv/

environment.yml

@@ -5,13 +5,16 @@ channels:
   - defaults
 dependencies:
   - python=3.9.12
-  - irrlicht=1.8.5
+  - irrlicht
   - numpy
   - yapf
   - mypy
   - pylint
+  - pip
   - pip:
     - networkx==2.8.6
     - matplotlib==3.6.0
     - scipy
     - mcts==1.0.4
+    - open3d
+    - lxml

examples/intexp_crutch_render.py

@@ -0,0 +1,49 @@
+import open3d as o3d
+import pychrono as chrono
+import pychrono.irrlicht as irr
+from numpy import asarray
+from rostok.intexp.chrono_api import ChTesteeObject, ChCrutch
+
+''' Floor added for clarity '''
+floor = chrono.ChBodyEasyBox(1,0.005,1, 1000, True, True, chrono.ChMaterialSurfaceSMC())
+floor.SetPos(chrono.ChVectorD(0,-0.1,0))
+floor.SetBodyFixed(True)
+floor.SetName('Floor')
+floor.GetVisualShape(0).SetColor(chrono.ChColor(80/255, 80/255, 80/255))
+
+''' Testee object placed in Crutch '''
+obj_db = ChTesteeObject() # Create Chrono Testee Object
+# Create 3D mesh and setup parameters from files
+obj_db.create_chrono_body_from_file('./examples/models/custom/pipe.obj',
+                                    './examples/models/custom/pipe.xml')
+obj_db.set_chrono_body_ref_frame_in_point(chrono.ChFrameD(chrono.ChVectorD(0, 0.2, 0),
+                                                          chrono.ChQuaternionD(1, 0, 0, 0)))
+
+holder = ChCrutch(depth_k = 0.05)
+holder.build_chrono_body(obj_db)
+
+obj_db.set_chrono_body_ref_frame_in_point(holder.place_for_object)
+
+system = chrono.ChSystemSMC()
+system.Set_G_acc(chrono.ChVectorD(0,-9.8,0))
+system.Add(obj_db.chrono_body) # Chrono Testee Object added to simulation
+system.Add(floor)
+system.Add(holder.chrono_body)
+vis = irr.ChVisualSystemIrrlicht()
+vis.AttachSystem(system)
+vis.SetWindowSize(1028,768)
+vis.SetWindowTitle('ZXC')
+vis.SetSymbolScale(3)
+vis.Initialize()
+vis.AddLight(chrono.ChVectorD(0,10,0), 15)
+vis.AddSkyBox()
+vis.AddCamera(chrono.ChVectorD(1,0.5,1))
+vis.EnableCollisionShapeDrawing(True)
+vis.EnableBodyFrameDrawing(True)
+
+while vis.Run():
+    system.Update()
+    system.DoStepDynamics(1e-3)
+    vis.BeginScene()
+    vis.Render()
+    vis.EndScene()

examples/intexp_external_forces_on_testee_object.py

@@ -0,0 +1,71 @@
+import pychrono as chrono
+import pychrono.irrlicht as irr
+from rostok import intexp
+
+""" Testee object is dumbbell """
+obj_db = intexp.chrono_api.ChTesteeObject() # Create Chrono Testee Object
+# create 3D mesh and parameters (grasping poses read from file)
+obj_db.create_chrono_body_from_file('./examples/models/custom/body1.obj',
+                                    './examples/models/custom/body1.xml')
+obj_db.set_chrono_body_ref_frame_in_point(chrono.ChFrameD(chrono.ChVectorD(0,0.2,0),
+                                                          chrono.ChQuaternionD(1,0,0,0)))
+
+""" Impact on Testee Object """
+impact = chrono.ChForce()   # Create Impact
+obj_db.chrono_body.AddForce(impact) # Attach to ChBody
+
+IMPACTS_M = [1, 1, 1, 2, 2, 2] # Exam with 6 constant forces and different directions
+IMPACTS_DIR = [chrono.ChVectorD(1,0,0),
+               chrono.ChVectorD(0,1,0),
+               chrono.ChVectorD(0,0,1),
+               chrono.ChVectorD(-1,0,0),
+               chrono.ChVectorD(0,-1,0),
+               chrono.ChVectorD(0,0,-1)]
+IMPACTS_APPLICATION_POINT = [chrono.ChVectorD(0, 0, 0),
+                             chrono.ChVectorD(0, 0, 0),
+                             chrono.ChVectorD(0, 0, 0),
+                             chrono.ChVectorD(0, 0, 0),
+                             chrono.ChVectorD(0, 0, 0),
+                             chrono.ChVectorD(0, 0, 0)]
+
+# Switch timer of impact every 2 sec
+tracking_timer = intexp.chrono_api.ImpactTimerParameters(test_bound=len(IMPACTS_DIR),
+                                                         clock_bound=0.5, step = 1e-3)
+
+
+''' Floor added for clarity '''
+floor = chrono.ChBodyEasyBox(1,0.005,1, 1000, True, True, chrono.ChMaterialSurfaceSMC())
+floor.SetPos(chrono.ChVectorD(0,-0.005,0))
+floor.SetBodyFixed(True)
+floor.SetName('Floor')
+floor.GetVisualShape(0).SetColor(chrono.ChColor(80/255, 80/255, 80/255))
+
+''' Simulation Solver '''
+system = chrono.ChSystemSMC()
+system.Set_G_acc(chrono.ChVectorD(0,0,0))
+system.Add(obj_db.chrono_body) # Chrono Testee Object added to simulation
+system.Add(floor)
+
+''' PyChrono Visualisation '''
+vis = irr.ChVisualSystemIrrlicht()
+vis.AttachSystem(system)
+vis.SetWindowSize(1028,768)
+vis.SetWindowTitle('Impacts')
+vis.SetSymbolScale(3)
+vis.Initialize()
+vis.AddLight(chrono.ChVectorD(0,10,0), 15)
+vis.AddSkyBox()
+vis.AddCamera(chrono.ChVectorD(1,0.5,1))
+vis.EnableCollisionShapeDrawing(True)
+vis.EnableBodyFrameDrawing(True)
+
+while vis.Run():
+    system.Update()
+    system.DoStepDynamics(1e-3)
+    vis.BeginScene()
+    vis.Render()
+    vis.EndScene()
+    # Update timer and go through the list of impacts
+    intexp.chrono_api.update_impact(obj_db, impact, tracking_timer,
+                                    IMPACTS_APPLICATION_POINT, IMPACTS_DIR, IMPACTS_M)
+

examples/intexp_load_and_show_testee_object.py

@@ -0,0 +1,72 @@
+import pychrono as chrono
+import pychrono.irrlicht as irr
+
+from rostok import intexp
+
+GENERATE_NEW_POSES = True
+
+''' Testee object is dumbbell '''
+obj_db = intexp.chrono_api.ChTesteeObject() # Create Chrono Testee Object
+
+# Create 3D mesh and setup parameters from files
+obj_db.create_chrono_body_from_file('./examples/models/custom/pipe.obj',
+                                    './examples/models/custom/pipe.xml')
+
+# Uncomment the line below for generate new poses
+if GENERATE_NEW_POSES:
+    # new_gen_poses = intexp.poses_generator.gen_random_poses_around_line(20, 0.04, 0.06, 0.015, 0.18)
+    # new_gen_poses = intexp.poses_generator.gen_cylindrical_surface_from_poses(20, 0.07, 0.015, 0.18)
+    new_gen_poses = intexp.poses_generator.gen_cylindrical_surface_around_object_axis(obj_db, 20, 0.07, 0.02, 'z')
+    # new_gen_poses = intexp.poses_generator.gen_random_poses_around_object_axis(obj_db, 20, 0.07, 0.02, 'z')
+    obj_db.rewrite_grasping_poses_list(new_gen_poses)
+
+obj_db.demonstrate_object_and_grasping_poses()
+
+desired_poses = obj_db.get_chrono_grasping_poses_list() # List of all grasping poses
+hand_power_grasp_frame = chrono.ChFrameD(chrono.ChVectorD(0, 0, 0), chrono.Q_ROTATE_Z_TO_Y)  # Power grasp point in the ABS
+obj_db.set_chrono_body_on_pose(desired_poses[0], hand_power_grasp_frame) # Position object for grasp pose into point
+
+''' Floor added for clarity '''
+floor = chrono.ChBodyEasyBox(1,0.005,1, 1000, True, False, chrono.ChMaterialSurfaceSMC())
+floor.SetPos(chrono.ChVectorD(0,-0.005,0))
+floor.SetBodyFixed(True)
+floor.SetName('Floor')
+floor.GetVisualShape(0).SetColor(chrono.ChColor(80/255, 80/255, 80/255))
+
+''' Simulation Solver '''
+system = chrono.ChSystemSMC()
+system.Set_G_acc(chrono.ChVectorD(0,0,0))
+system.Add(obj_db.chrono_body) # Chrono Testee Object added to simulation
+system.Add(floor)
+
+''' PyChrono Visualisation '''
+vis = irr.ChVisualSystemIrrlicht()
+vis.AttachSystem(system)
+vis.SetWindowSize(1028,768)
+vis.SetWindowTitle('Grasping positions generation example')
+vis.SetSymbolScale(3)
+vis.Initialize()
+vis.AddLight(chrono.ChVectorD(0,10,0), 15)
+vis.AddSkyBox()
+vis.AddCamera(chrono.ChVectorD(1,0.5,1))
+vis.EnableCollisionShapeDrawing(True)
+vis.EnableBodyFrameDrawing(True)
+
+counter = 0.0
+i = 1
+
+while vis.Run():
+    system.Update()
+    system.DoStepDynamics(1e-3)
+    vis.BeginScene()
+    vis.Render()
+    vis.EndScene()
+
+    if counter > 0.1: #Demonstration all poses every 0.1 seconds
+        obj_db.set_chrono_body_on_pose(desired_poses[i], hand_power_grasp_frame)
+        counter = 0.0
+        i += 1
+        if i >= len(desired_poses):
+            i = 0
+    else:
+        counter += 1e-3

examples/models/custom/body1.mtl

@@ -0,0 +1,5 @@
+# WaveFront *.mtl file (generated by Autodesk ATF)
+
+newmtl Steel_-_Satin
+Kd 0.627451 0.627451 0.627451
+