| """Roll a STEP-derived convex rocker on a floor and time its return upright.""" |
|
|
| import argparse |
| import hashlib |
| import json |
| import math |
| import subprocess |
| import sys |
| from pathlib import Path |
|
|
|
|
| ROOT = Path(__file__).resolve().parent |
|
|
|
|
| def measure(step: Path, setup: dict) -> dict: |
| import cadquery as cq |
| from OCP.BRepGProp import BRepGProp |
| from OCP.GProp import GProp_GProps |
|
|
| shape = cq.importers.importStep(str(step)).val() |
| if shape.ShapeType() != "Solid" or not shape.isValid() or len(shape.Solids()) != 1: |
| raise ValueError(f"Expected one valid solid: {step}") |
| props = GProp_GProps() |
| BRepGProp.VolumeProperties_s(shape.wrapped, props) |
| if props.Mass() <= 0: |
| raise ValueError("Rocker volume must be positive") |
| density = setup["material_density_kg_m3"] |
| inertia = props.MatrixOfInertia() |
| bounds = shape.BoundingBox() |
| outer = (cq.Workplane("XY").moveTo(-50, 0) |
| .threePointArc((0, -50), (50, 0)).lineTo(-50, 0) |
| .close().extrude(20).translate((0, 0, -10)).val()) |
| if len(outer.Solids()) == 1: |
| outer = outer.Solids()[0] |
| allowed = cq.Solid.makeBox(42, 40, 17, cq.Vector(-21, -41, -8.5)) |
| vertices, _ = shape.tessellate(0.25) |
| return { |
| "step_sha256": hashlib.sha256(step.read_bytes()).hexdigest(), |
| "volume_mm3": props.Mass(), |
| "mass_kg": props.Mass() * density * 1e-9, |
| "center_of_mass_mm": list(props.CentreOfMass().Coord()), |
| "inertia_tensor_kg_m2": [ |
| [inertia.Value(i, j) * density * 1e-15 for j in (1, 2, 3)] |
| for i in (1, 2, 3) |
| ], |
| "bounds_mm": [bounds.xmin, bounds.xmax, bounds.ymin, bounds.ymax, |
| bounds.zmin, bounds.zmax], |
| "external_added_mm3": shape.cut(outer).Volume(), |
| "exterior_removed_mm3": outer.cut(shape).cut(allowed).Volume(), |
| "collision_vertices_mm": [[v.x, v.y, v.z] for v in vertices], |
| } |
|
|
|
|
| def dynamics(properties: dict, setup: dict) -> dict: |
| import pychrono as ch |
|
|
| system = ch.ChSystemNSC() |
| system.SetCollisionSystemType(ch.ChCollisionSystem.Type_BULLET) |
| system.SetGravitationalAcceleration(ch.ChVector3d(0, -setup["gravity_m_s2"], 0)) |
| material = ch.ChContactMaterialNSC() |
| material.SetFriction(setup["contact_friction"]) |
| material.SetRestitution(0) |
| floor = ch.ChBodyEasyBox(1, 0.1, 0.3, 1000, False, True, material) |
| floor.SetPos(ch.ChVector3d(0, -0.05, 0)) |
| floor.SetFixed(True) |
| system.Add(floor) |
|
|
| rocker = ch.ChBody() |
| rocker.SetMass(properties["mass_kg"]) |
| inertia = ch.ChMatrix33d() |
| inertia.SetMatr(properties["inertia_tensor_kg_m2"]) |
| rocker.SetInertia(inertia) |
| center = [value / 1000 for value in properties["center_of_mass_mm"]] |
| angle = math.radians(setup["initial_angle_deg"]) |
| rocker.SetRot(ch.QuatFromAngleAxis(angle, ch.VECT_Z)) |
| rocker.SetPos(ch.ChVector3d( |
| center[0] * math.cos(angle) - center[1] * math.sin(angle), |
| 0.05 + center[0] * math.sin(angle) + center[1] * math.cos(angle), |
| center[2], |
| )) |
| points = ch.vector_ChVector3d() |
| for x, y, z in properties["collision_vertices_mm"]: |
| points.push_back(ch.ChVector3d(x / 1000 - center[0], |
| y / 1000 - center[1], |
| z / 1000 - center[2])) |
| rocker.AddCollisionShape(ch.ChCollisionShapeConvexHull(material, points)) |
| rocker.EnableCollision(True) |
| system.Add(rocker) |
|
|
| dt = setup["time_step_s"] |
| steps = round(setup["duration_s"] / dt) |
| if dt <= 0 or steps <= 0 or abs(steps * dt - setup["duration_s"]) > 1e-12: |
| raise ValueError("Invalid simulation duration or time step") |
| returned = None |
| contact_steps = 0 |
| final_angle = None |
| for i in range(1, steps + 1): |
| system.DoStepDynamics(dt) |
| q = rocker.GetRot() |
| final_angle = math.degrees(2 * math.atan2(q.e3, q.e0)) |
| if not math.isfinite(final_angle): |
| raise ValueError("Nonfinite rocker angle") |
| if rocker.GetContactForce().Length() > 1e-8: |
| contact_steps += 1 |
| if returned is None and abs(final_angle) <= setup["upright_tolerance_deg"]: |
| returned = i * dt |
| return { |
| "initial_angle_deg": setup["initial_angle_deg"], |
| "time_to_upright_s": returned, |
| "final_angle_deg": final_angle, |
| "contact_steps": contact_steps, |
| "steps": steps, |
| } |
|
|
|
|
| def invoke(python: str, phase: str, payload: dict) -> dict: |
| run = subprocess.run( |
| [python, str(Path(__file__).resolve()), "--phase", phase], |
| input=json.dumps(payload), text=True, capture_output=True, check=False, |
| ) |
| if run.returncode: |
| raise RuntimeError(f"{phase} failed:\n{run.stderr[-1600:]}") |
| return json.loads(run.stdout) |
|
|
|
|
| def main() -> None: |
| parser = argparse.ArgumentParser() |
| parser.add_argument("--cad-python", default=sys.executable) |
| parser.add_argument("--physics-python", default=sys.executable) |
| parser.add_argument("--phase", choices=("measure", "dynamics")) |
| args = parser.parse_args() |
| if args.phase: |
| payload = json.load(sys.stdin) |
| result = (measure(Path(payload["step"]), payload["setup"]) |
| if args.phase == "measure" |
| else dynamics(payload["properties"], payload["setup"])) |
| print(json.dumps(result)) |
| return |
|
|
| setup = json.loads((ROOT / "setup.json").read_text()) |
| results = {} |
| for name in ("before", "after"): |
| properties = invoke(args.cad_python, "measure", { |
| "step": str(ROOT / f"{name}.step"), "setup": setup, |
| }) |
| results[name] = { |
| "step_properties": properties, |
| "simulation_result": { |
| "runs": [invoke(args.physics_python, "dynamics", { |
| "properties": properties, |
| "setup": {**setup, "initial_angle_deg": angle}, |
| }) for angle in setup["release_angles_deg"]], |
| }, |
| } |
| before = results["before"] |
| after = results["after"] |
| bp = before["step_properties"] |
| ap = after["step_properties"] |
| bruns = before["simulation_result"]["runs"] |
| aruns = after["simulation_result"]["runs"] |
| btimes = [run["time_to_upright_s"] for run in bruns] |
| atimes = [run["time_to_upright_s"] for run in aruns] |
| checks = { |
| "baseline_misses_deadline": all( |
| time is None or time > setup["maximum_return_time_s"] for time in btimes), |
| "returns_before_deadline": all( |
| time is not None and time <= setup["maximum_return_time_s"] for time in atimes), |
| "mass_fixed": abs(ap["mass_kg"] / bp["mass_kg"] - 1) |
| <= setup["maximum_relative_mass_change"], |
| "envelope_fixed": all(abs(a - b) <= setup["maximum_envelope_change_mm"] |
| for a, b in zip(ap["bounds_mm"], bp["bounds_mm"])), |
| "exterior_profile_fixed": ap["external_added_mm3"] |
| <= setup["maximum_external_added_mm3"] |
| and ap["exterior_removed_mm3"] <= setup["maximum_exterior_removed_mm3"], |
| "floor_contact_observed": all(run["contact_steps"] > 0 |
| for run in (*bruns, *aruns)), |
| } |
| after["comparison_to_before"] = { |
| "release_angles_deg": setup["release_angles_deg"], |
| "time_to_upright_before_s": btimes, |
| "time_to_upright_after_s": atimes, |
| "checks": checks, |
| "passed": all(checks.values()), |
| } |
| for name, result in results.items(): |
| (ROOT / f"{name}.results.json").write_text(json.dumps(result, indent=2) + "\n") |
| print(f"Time to upright: {btimes} -> {atimes} s") |
| print(f"Task passed: {after['comparison_to_before']['passed']}") |
| if not after["comparison_to_before"]["passed"]: |
| raise SystemExit(1) |
|
|
|
|
| if __name__ == "__main__": |
| main() |
|
|
