Virtual experiment

Robot

class rostok.virtual_experiment.robot_new.RobotChrono(robot_graph: ~rostok.graph_grammar.node.GraphGrammar, system: ~pychrono.core.ChSystem, control_parameters, control_cls=<class 'rostok.control_chrono.controller.ConstController'>, start_frame: ~rostok.block_builder_api.block_parameters.FrameTransform = ([0, 0, 0], [1, 0, 0, 0]), starting_positions=[], is_fixed=True)

Robot object consists of built graph, sensor and robot control.

Attributes:

built_graph (built_graph_chrono): the built graph sensor (Sensor): sensor set for collect data from all blocks of the robot controller : robot controller

Sensors

class rostok.virtual_experiment.sensors.ContactReporter

OnReportContact(pA: ChVectorD, pB: ChVectorD, plane_coord: ChMatrix33D, distance: float, eff_radius: float, react_forces: ChVectorD, react_torques: ChVectorD, contactobjA: ChContactable, contactobjB: ChContactable)

Callback used to report contact points already added to the container

Args:

pA (ChVector): coordinates of contact point(s) in body A pB (ChVector): coordinates of contact point(s) in body B plane_coord (ChMatrix33): contact plane coordsystem distance (float): contact distance eff_radius (float)): effective radius of curvature at contact react_forces (ChVector): reaction forces in coordsystem ‘plane_coord’ react_torques (ChVector): reaction torques, if rolling friction contactobjA (ChContactable): model A contactobjB (ChContactable): model B

Returns:

bool: If returns false, the contact scanning will be stopped

class rostok.virtual_experiment.sensors.DataStorage(sensor: Sensor)

Class aggregates data from all steps of the simulation.

class rostok.virtual_experiment.sensors.Sensor(body_map_ordered, joint_map_ordered)

Control data obtained in the current step of the simulation

class rostok.virtual_experiment.sensors.SensorCalls(value)

BODY_TRAJECTORY: trajectories of all bodies from the body map, JOINT_TRAJECTORY : trajectories of all joints, FORCE: all forces acting on the bodies from the body map, AMOUNT_FORCE : amount of forces acting on the bodies from the body_map, FORCE_CENTER: position of the center of the forces acting on a body from the body map

class rostok.virtual_experiment.sensors.SensorObjectClassification(value)

An enumeration.