complex_mech fix

aimclub · Jan 10, 2024 · 26b9050 · 26b9050
1 parent b1845ce
commit 26b9050
Showing 1 changed file with 19 additions and 15 deletions.
diff --git a/examples/complex_mech.py b/examples/complex_mech.py
@@ -1,11 +1,17 @@
-from rostok.graph_grammar.node import GraphGrammar, Node
 from rostok.block_builder_api import block_blueprints
-from rostok.simulation_chrono import basic_simulation
 from rostok.block_builder_api.block_blueprints import easy_body_shapes
-from rostok.block_builder_api.block_parameters import FrameTransform, JointInputType, Material
+from rostok.block_builder_api.block_parameters import (FrameTransform,
+                                                       JointInputType)
 from rostok.graph_grammar.graph_utils import plot_graph
+from rostok.graph_grammar.node import GraphGrammar, Node 
+from rostok.simulation_chrono.simulation import SingleRobotPreview, ChronoSystems, ChronoVisManager, EnvCreator
+from rostok.utils.dataset_materials.material_dataclass_manipulating import (
+    DefaultChronoMaterialNSC, DefaultChronoMaterialSMC)
 
-robot_material = Material()
+
+
+
+robot_material = DefaultChronoMaterialNSC()
 WHEEL_WIDTH = 0.07
 WHEEL_R = 0.13
 
@@ -169,15 +175,9 @@
 mech_graph.add_node(59, Node=transform_front)
 mech_graph.add_node(60, Node=accum)
 mech_graph.add_edges_from([(1, 59), (59, 60)])
-from rostok.graph_grammar.node import GraphGrammar, Node
-from rostok.block_builder_api import block_blueprints
-from rostok.simulation_chrono import basic_simulation
-from rostok.block_builder_api.block_blueprints import easy_body_shapes
-from rostok.block_builder_api.block_parameters import FrameTransform, JointInputType, Material
-from rostok.block_builder_api.block_parameters import JointInputType
-from rostok.graph_grammar.graph_utils import plot_graph
 
-robot_material = Material()
+
+robot_material = DefaultChronoMaterialNSC()
 WHEEL_WIDTH = 0.07
 WHEEL_R = 0.13
 
@@ -342,7 +342,11 @@
 mech_graph.add_node(60, Node=accum)
 mech_graph.add_edges_from([(1, 59), (59, 60)])
 
-plot_graph(mech_graph)
-sim_preview = basic_simulation.SystemPreviewChrono()
+#plot_graph(mech_graph)
+
+chrono_system = ChronoSystems.chrono_NSC_system()
+vis_manager = ChronoVisManager()
+env_creator = EnvCreator()
+sim_preview = SingleRobotPreview(chrono_system, env_creator, vis_manager)
 sim_preview.add_design(mech_graph)
-sim_preview.simulate(10000)
+sim_preview.simulate(10000000)