forces

app/handle_one_graph.py

@@ -13,7 +13,7 @@ from rostok.library.rule_sets.simple_designs import (
 from rostok.simulation_chrono.basic_simulation import SimulationResult
 
 # create blueprint for object to grasp
-grasp_object_blueprint = get_object_sphere(0.05)
+grasp_object_blueprint = get_object_sphere(0.014)
 # grasp_object_blueprint = get_object_ellipsoid(0.14, 0.14, 0.22, 0, mass = 0.188)
 # grasp_object_blueprint = get_object_box(0.155, 0.127, 0.088*2, 0, mass = 0.176)
 # grasp_object_blueprint = get_object_box(0.146, 0.147,0.25, 0, mass=0.164)
@@ -42,15 +42,16 @@ graph = get_two_link_three_finger()
 graph = get_three_same_link_one_finger()
 # graph = get_two_link_three_finger_rotated()
 # graph = get_three_link_three_finger()
-control = [15, 15, 15]
+control = [32, 15, 15]
 
 data = control_optimizer.optim_parameters2data_control(control, graph)
 control_optimizer.data.create_pulley_data_file = True
-vis = True
+vis = False
 
 #simulation_output: SimulationResult = simulation_manager.run_simulation(graph, data, [[-45.0, 0.0],[-45,0],[-45,0]], vis, True)
 simulation_output: SimulationResult = simulation_manager.run_simulation(
-    graph, data, [[-25.0, 0, 0, 0], [-45, 0, 0], [-45, 0, 0]], vis, True)
+    graph, data, [[30.0, 55, 60, 0], [-45, 0, 0], [-45, 0, 0]], vis, True)
+    #graph, data, [[-25.0, 0, 0, 0], [-45, 0, 0], [-45, 0, 0]], vis, True)
 if not vis:
     fig = plt.figure(figsize=(12, 5))
     time_vector = simulation_output.time_vector
@@ -62,7 +63,8 @@ if not vis:
     force_data = simulation_output.environment_final_ds.get_data("forces")[0]
     force_data = [np.linalg.norm(x[0][1]) for x in force_data if len(x)!=0]
     
-    force_data = [x for x in force_data if x<20]
+    #force_data = [x for x in force_data if x<20]
+    force_data = force_data[200::]
     print(np.mean(force_data))
     #plt.plot(time_vector, velocity_data)
     plt.plot(force_data)

app/hyperparameters.py

@@ -25,7 +25,7 @@ TENDON_CONST = -5
 TENDON_DISCRETE_FORCES = [10, 15, 20] #[10, 15, 20]
 
 TIME_STEP_SIMULATION = 0.0005
-GRASP_TIME = 1.5
+GRASP_TIME = 0.7
 FORCE_TEST_TIME = 3
 TIME_SIMULATION = 4.5
 

rostok/library/rule_sets/simple_designs.py

@@ -118,7 +118,7 @@ def get_three_link_one_finger(smc = False):
     graph = GraphGrammar()
     rules = ["Init",
         "AddFinger", "Terminal_Radial_Translate3",  "Phalanx", "Phalanx", "Remove_FG",
-        "Terminal_Link3", "Terminal_Link2", "Terminal_Link1","Terminal_Base_Joint_2", "Terminal_Joint_1", "Terminal_Joint_2",
+        "Terminal_Link3", "Terminal_Link2", "Terminal_Link1","Terminal_Base_Joint_2", "Terminal_Joint_1", "Terminal_Joint_1",
         "RemoveFinger_N",
         "RemoveFinger_R", 
         "RemoveFinger_RN", 
@@ -135,7 +135,7 @@ def get_three_same_link_one_finger(smc = False):
     graph = GraphGrammar()
     rules = ["Init",
         "AddFinger", "Terminal_Radial_Translate1", "Phalanx", "Phalanx", "Remove_FG",
-        "Terminal_Link1", "Terminal_Link1", "Terminal_Link1", "Terminal_Base_Joint_1", "Terminal_Joint_1", "Terminal_Joint_1",
+        "Terminal_Link1", "Terminal_Link1", "Terminal_Link1", "Terminal_Base_Joint_1", "Terminal_Joint_1", "Terminal_Joint_2",
         "RemoveFinger_N",
         "RemoveFinger_R", 
         "RemoveFinger_RN", 

rostok/simulation_chrono/simulation_SMC.py

@@ -116,7 +116,7 @@ class ChronoVisManager():
         self.vis.SetWindowTitle('Grab demo')
         self.vis.Initialize()
         self.vis.AddSkyBox()
-        self.vis.AddCamera(chrono.ChVectorD(0.15, 0.30, -0.40))
+        self.vis.AddCamera(chrono.ChVectorD(-0.15, 0.30, 0.40))
         self.vis.AddTypicalLights()
         #self.vis.EnableCollisionShapeDrawing(True)
 

rostok/simulation_chrono/simulation_scenario.py

@@ -107,17 +107,21 @@ class SMCGrasp(ParametrizedSimulation):
         # grasp_object = self.grasp_object_callback()
         grasp_object = creator.create_environment_body(self.grasp_object_callback)
         grasp_object.body.SetNameString("Grasp_object")
+
         #grasp_object.body.GetVisualShape(0).SetTexture("./YOBA.png")
         mass_object = grasp_object.body.GetMass()
         gravity = simulation.chrono_system.Get_G_acc().y
         # shake = YaxisShaker(1, 3, 0.5, float("inf"))
         grav_n_shake = ShakeAndNullGravity(mass_object*gravity, 3, 5, 3, 2, start_time=float("inf"))
         # the object  positioning based on the AABB
-        set_covering_ellipsoid_based_position(grasp_object,
-                                           reference_point=chrono.ChVectorD(0, 0.1, 0))
+        # set_covering_ellipsoid_based_position(grasp_object,
+        #                                    reference_point=chrono.ChVectorD(-0.0, 0.06, 0))
+        # set_covering_ellipsoid_based_position(grasp_object,
+        #                                    reference_point=chrono.ChVectorD(-0.05, 0.06, 0.00))
 
         simulation.env_creator.add_object(grasp_object,
                                           read_data=True,
+                                          is_fixed = True,
                                           force_torque_controller=grav_n_shake)
         # add design and determine the outer force
         if self.tendon: