Merge branch 'master' into article_3events_and_criteria

app/mcts_run_setup.py

@@ -1,3 +1,5 @@
+from copy import deepcopy
+
 import hyperparameters as hp
 
 from rostok.control_chrono.tendon_controller import TendonControllerParameters
@@ -14,6 +16,9 @@
 from rostok.trajectory_optimizer.control_optimizer import (
     CalculatorWithOptimizationDirect, TendonOptimizerCombinationForce)
 from rostok.utils.numeric_utils import Offset
+from rostok.trajectory_optimizer.control_optimizer import (CalculatorWithGraphOptimization,
+                                                           CalculatorWithOptimizationDirect)
+import rostok.control_chrono.external_force as f_ext
 
 
 def config_independent_torque(grasp_object_blueprint):
@@ -69,7 +74,11 @@ def config_independent_torque(grasp_object_blueprint):
 def config_with_tendon(grasp_object_blueprint):
     # configurate the simulation manager
 
-    simulation_manager = GraspScenario(hp.TIME_STEP_SIMULATION, hp.TIME_SIMULATION)
+    obj_forces = []
+    obj_forces.append(f_ext.NullGravity(0))
+    obj_forces.append(f_ext.RandomForces(1e6, 100, 0))
+    obj_forces = f_ext.ExternalForces(obj_forces)
+    simulation_manager = GraspScenario(hp.TIME_STEP_SIMULATION, hp.TIME_SIMULATION, obj_external_forces=obj_forces)
     simulation_manager.grasp_object_callback = grasp_object_blueprint #lambda: creator.create_environment_body(
         #grasp_object_blueprint)
     event_contact = EventContact()

rostok/block_builder_api/easy_body_shapes.py

@@ -1,4 +1,4 @@
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from pathlib import Path
 from typing import Union
 
@@ -34,6 +34,13 @@ class Ellipsoid:
 class FromMesh:
     path: Path
 
+@dataclass
+class ConvexHull:
+    points: list[tuple[float, float, float]] = field(default_factory=list)
+
+    def __hash__(self) -> int:    
+        return hash(("ConvexHull", self.points))
+
 
 # All types of shape
-ShapeTypes = Union[Box, Cylinder, Sphere, Ellipsoid, FromMesh]
+ShapeTypes = Union[Box, Cylinder, Sphere, Ellipsoid, FromMesh, ConvexHull]

rostok/block_builder_chrono/block_comprehension.py

@@ -0,0 +1,9 @@
+from rostok.block_builder_chrono.block_builder_chrono_api import \
+    ChronoBlockCreatorInterface
+
+
+def calc_volume_body(blueprint):
+    """Calculate the volume of the body."""
+    body = ChronoBlockCreatorInterface.init_block_from_blueprint(blueprint)
+    volume = body.body.GetMass() / body.body.GetDensity()
+    return volume

rostok/control_chrono/control_utils.py

@@ -1,17 +1,17 @@
 from dataclasses import dataclass, field
 
-from rostok.control_chrono.external_force import ForceControllerTemplate
+from rostok.control_chrono.external_force import ForceChronoWrapper
 
 
 @dataclass
 class ForceTorqueContainer:
-    controller_list: list[ForceControllerTemplate] = field(default_factory=list)
+    controller_list: list[ForceChronoWrapper] = field(default_factory=list)
 
     def update_all(self, time: float, data=None):
         for i in self.controller_list:
             i.update(time, data)
 
-    def add(self, controller: ForceControllerTemplate):
+    def add(self, controller: ForceChronoWrapper):
         if controller.is_bound:
             self.controller_list.append(controller)
         else: