workshop_demo

The Chrono demos are containerized with Docker. Here are some instructions how to set up container on your machine so that you can successfully run the demo.

Building an image

Method 1 ---- Build from scratch

Open a terminal in your machine then run

git clone https://github.com/uwsbel/workshop_demo.git && cd workshop_demo

Once getting into folder, running the following to build docker image from Dockerfile:

docker build -t <img_name> .

Notice that you can put a tag name for the image you build by using flag -t. For example,

docker build -t uwsbel/demo .

builds an image named uwsbel/demo.

Method 2 ---- Pulling Our Docker Image

Pulling the Docker image by running:

docker pull uwsbel/demo

Running a container based on an image

After building the image using either method, create and get into a container using the command:

docker run -it --gpus all -v <dir_to_store_data>:/root/sbel/outputs -v <dir_to_json_inputs>:/root/sbel/json uwsbel/demo

Note:

• <dir_to_store_data> is the host machine directory where you want to store the output data from the demos.
• <dir_to_json_inputs> is the host machine directory of json inputs.
• /root/sbel/outputs is the output directory in the container.
• /root/sbel/json is the json input directory in the container.

<dir_to_store_data> and <dir_to_json_inputs> depends on your operating system and work directory.

Windows user will have something like:C:\Users\SBEL\demo_output\ and C:\Users\SBEL\workshop_demo\json.

Linux user will have something like: /home/harry/workshop_demo/outputs/ and /home/harry/workshop_demo/json/

Run the demo

Single wheel test under VV mode

./demo_FSI_SingleWheelTest_VV_mode 17.5 0.3 3

• 17.5 is the mass of the wheel
• 0.3 is slip ratio that would like to enforce
• 3 is just an ID for this slip

Sinle wheel test under real slope mode

./demo_FSI_SingleWheelTest_RealSlope_mode 17.5 15 0.8

• 17.5 is the mass of the wheel
• 15 is the slope angle of the terrain
• 0.8 is the wheel angular velocity

Full VIPER rover under real slope

./demo_ROBOT_Viper_RealSlope 73.0 15 0.8

• 73.0 is the mass of the rover
• 15 is the slope angle of the terrain
• 0.8 is the wheel angular velocity

Curiosity rover on uphill and downhill

./demo_ROBOT_Curiosity_Uphill 200.0 1.0 1

• 200.0 is the mass of the rover
• 1.0 is the height of the terrain
• 1 is just an ID for this simulation

Render the VIPER rover results using Blender

• Go to one of the full VIPER rover result folder, e.g /FSI_Viper_RealSlope_SlopeAngle_15
• Copy the script "blender_viper_render.py" and the obj file folder "obj_for_render" to the above result folder
• Render an image using below command (7 is the frame number of the output image)

blender --background --python ./blender_viper_render.py 7

Render the Curiosity rover results using Blender

• Go to one of the Curiosity rover result folder, e.g /FSI_Curiosity_Uphill_1
• Copy the script "blender_curiosity_render.py" and the obj file folder "obj_for_render" to the above result folder
• Render an image using below command (15 is the frame number of the output image)

blender --background --python ./blender_curiosity_render.py 15