simplified version of smart interaction explorer

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_external_forces_on_testee_object.py

@@ -0,0 +1,67 @@
+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
+obj_db.createChronoBodyMeshFromFile('./examples/models/custom/body1.obj',
+                                    './examples/models/custom/body1.xml') # create 3D mesh and parameters (grasping poses read from file)
+obj_db.setChronoBodyMeshRefFrameInPoint(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_mesh.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)]
+
+tracking_timer = intexp.chrono_api.ImpactTimerParameters(test_bound=len(IMPACTS_DIR),
+                                                         clock_bound=2.0, step = 1e-3) # Switch timer of impact every 2 sec
+
+
+''' Floor added for clarity '''
+floor = chrono.ChBodyEasyBox(1,0.005,1, 1000, True, True, chrono.ChMaterialSurfaceNSC())
+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.ChSystemNSC()
+system.Set_G_acc(chrono.ChVectorD(0,0,0))
+system.Add(obj_db.chrono_body_mesh) # 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()
+    vis.BeginScene()
+    vis.Render()
+    vis.EndScene()
+    system.DoStepDynamics(1e-3)
+
+    intexp.chrono_api.updateImpact(obj_db, impact, tracking_timer,
+                                   IMPACTS_APPLICATION_POINT, IMPACTS_DIR, IMPACTS_M) # Update timer and go through the list of impacts

examples/intexp_load_and_show_testee_object.py

@@ -0,0 +1,61 @@
+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
+error = obj_db.createChronoBodyMeshFromFile('./examples/models/custom/body1.obj',
+                                            './examples/models/custom/body1.xml') # create 3D mesh and parameters (grasping poses read from file)
+print('Uploded mesh with code error:', error)
+# Uncomment the line below for generate new poses
+# obj_db.rewriteGraspingPosesList(intexp.poses_generator.genRandomPosesAroundLine(20, 0.04, 0.06, 0.015, 0.18))
+obj_db.rewriteGraspingPosesList(intexp.poses_generator.genCylindricalSurfaceFromPoses(20, 0.07, 0.015, 0.18))
+obj_db.showObjectWithGraspingPoses()
+desired_poses = obj_db.getChronoGraspingPosesList() # 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.setChronoBodyMeshOnPose(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.ChMaterialSurfaceNSC())
+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.ChSystemNSC()
+system.Set_G_acc(chrono.ChVectorD(0,0,0))
+system.Add(obj_db.chrono_body_mesh) # 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
+i = 1
+
+while vis.Run():
+    system.Update()
+    vis.BeginScene()
+    vis.Render()
+    vis.EndScene()
+    system.DoStepDynamics(1e-3)
+
+    if counter > 0.5: #Demonstration all poses every 0.5 seconds
+        obj_db.setChronoBodyMeshOnPose(desired_poses[i], hand_power_grasp_frame)
+        counter = 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
+