Skip to main content

Brick.AGX python interface development

Project description

BRICK AGX

The brickagx package implements all Brick bundles such as Physics, Robotics, DriveTrain and Simulation using AGX Dynamics Real-time multi-body simulation. The package contains python bindings and native libraries needed to load and run .brick files.

See BRICK documentation for more info on BRICK.

Prerequisites

  • Python 3.9 on Windows or OSX
  • Python 3.8 on Ubuntu 20.04
  • Python 3.10 on Ubuntu 22.04
  • AGX Dynamics 2.37.3.3 and an AGX Dynamics License

At BRICK documentation you can find out which older version of BRICK matches which version of AGX.

Install

To get the version corresponding to your AGX on Windows do:

setup_env.bat
pip install %AGX_DATA_DIR%/agx-pypi
pip install -U brickagx

To get the version corresponding to your AGX on OSX and Linux do:

source setup_env.sh
pip3 install $AGX_DATA_DIR/agx-pypi
pip3 install -U brickagx

License

Apache License 2.0

Usage Examples

Given the python file and brick file below, run with:

python3 inverted_pendulum.py

To just simulate the brick file without controllers, do:

brickview inverted_pendulum.brick

or python3 -m rebrick.brickview inverted_pendulum.brick

Store contents below in a new file named inverted_pendulum.brick:

Rod is Physics3D.Bodies.RigidBody:
    inertia.mass: 10
    geometry is Physics3D.Charges.Box:
        size: Math.Vec3.fromXYZ(0.1, 0.1, 1)
    arrow is Physics3D.Charges.Box:
        local_transform:
            position.z: 0.5
            rotation: Math.Quat.angleAxis(Math.PI / 4, Math.Vec3.Y_AXIS())
        size: Math.Vec3.fromXYZ(0.071, 0.1, 0.071)
    mate_connector is Physics3D.Charges.MateConnector:
        position.z: -geometry.size.z * 0.7
        main_axis: Math.Vec3.Y_AXIS()
        normal: Math.Vec3.Z_AXIS()

Cart is Physics3D.Bodies.RigidBody:
    inertia.mass: 10
    geometry is Physics3D.Charges.Box:
        size: Math.Vec3.fromXYZ(0.1, 0.1, 0.1)
    connector is Physics3D.Charges.MateConnector:
        main_axis: Math.Vec3.X_AXIS()
        normal: Math.Vec3.Z_AXIS()
    rotated_connector is Physics3D.Charges.MateConnector:
        main_axis: Math.Vec3.Y_AXIS()
        normal: Math.Vec3.Z_AXIS()

PendulumScene is Physics3D.System:
    world_connector is Physics3D.Charges.MateConnector:
        main_axis: Math.Vec3.X_AXIS()
        normal: Math.Vec3.Z_AXIS()

    cart is Cart
    rod is Rod

    prismatic is Physics3D.Interactions.Prismatic:
        charges: [world_connector, cart.connector]

    cart_motor is Physics3D.Interactions.LinearVelocityMotor:
        desired_speed: 0
        charges: prismatic.charges

    hinge is Physics3D.Interactions.Hinge:
        initial_angle: 0
        charges: [cart.rotated_connector, rod.mate_connector]

    motor_input is Physics3D.Signals.LinearVelocityMotorVelocityInput:
        motor: cart_motor

    hinge_angle_output is Physics3D.Signals.HingeAngleOutput:
        hinge: hinge
    hinge_angular_velocity_output is Physics3D.Signals.HingeAngularVelocityOutput:
        hinge: hinge

    cart_position_output is Physics3D.Signals.RigidBodyPositionOutput:
        rigid_body: cart
    cart_velocity_output is Physics3D.Signals.RigidBodyVelocityOutput:
        rigid_body: cart

Store contents below in a new file named inverted_pendulum.py:

import os
import signal
import agxOSG
import agxSDK
from brickbundles import bundle_path

# Import useful utilities to access the current simulation, graphics root and application
from agxPythonModules.utils.environment import init_app, simulation, root

from rebrick import Math, Physics, Physics3D, Signals
from rebrick import InputSignalListener, OutputSignalListener, load_brick_file

def file_dir():
    return os.path.dirname(os.path.abspath(__file__))

def pendulum():
    return f"{file_dir()}/inverted_pendulum.brick"

# pylint: disable=C0103

class PDController:
    def __init__(self, kp, kd, goal):
        self.kp = kp
        self.kd = kd
        self.goal = goal

    def observe(self, x, xdot):
        error = self.goal - x
        return self.kp * error - self.kd * xdot


class CartController(agxSDK.StepEventListener):
    motor_input: Physics3D.Signals_LinearVelocityMotorVelocityInput
    cart: PDController
    pole: PDController

    def __init__(self, motor_input: Physics3D.Signals_LinearVelocityMotorVelocityInput):
        super().__init__()
        self.motor_input = motor_input
        self.cart = PDController(kp=10, kd=5, goal=0)
        self.pole = PDController(kp=20, kd=5, goal=0)

    def pre(self, time):
        if time == 0.0:
            hinge_angle = 0
            hinge_angular_velocity = 0
            cart_position = Math.Vec3.fromXYZ(0,0,0)
            cart_velocity = Math.Vec3.fromXYZ(0,0,0)
        else:
            signal_values = {signal.source().getName():signal.value().value() for signal in Signals.getOutputSignals()}
            hinge_angle = signal_values["PendulumScene.hinge_angle_output"]
            hinge_angular_velocity = signal_values["PendulumScene.hinge_angular_velocity_output"]
            cart_position = signal_values["PendulumScene.cart_position_output"]
            cart_velocity = signal_values["PendulumScene.cart_velocity_output"]

        u_cart = self.cart.observe(cart_position.x(), cart_velocity.x())
        u_pole = self.pole.observe(hinge_angle, hinge_angular_velocity)

        Signals.sendInputSignal(Physics.Signals_RealInputSignal.create(-u_cart - u_pole, self.motor_input))


def buildScene():

    result = load_brick_file(simulation(), pendulum(), bundle_path(), "")
    assembly = result.assembly()
    brick_scene = result.brick_object()
    # Add a signal listener so that signals are picked up from inputs
    input_signal_listener = InputSignalListener(assembly)
    output_signal_listener = OutputSignalListener(assembly, brick_scene)
    simulation().add(input_signal_listener, InputSignalListener.RECOMMENDED_PRIO)
    simulation().add(output_signal_listener, OutputSignalListener.RECOMMENDED_PRIO)
    simulation().add(assembly.get())
    agxOSG.createVisual(assembly.get(), root())

    motor_input: Physics3D.Signals_LinearVelocityMotorVelocityInput = brick_scene.getDynamic("motor_input").asObject()
    controller = CartController(motor_input)
    simulation().add(controller)


def handler(_, __):
    os._exit(0)

signal.signal(signal.SIGINT, handler)

init = init_app(name=__name__,
                scenes=[(buildScene, '1')],
                autoStepping=True,  # Default: False
                onInitialized=lambda app: print('App successfully initialized.'),
                onShutdown=lambda app: print('App successfully shut down.'))

Project details


Release history Release notifications | RSS feed

Download files

Download the file for your platform. If you're not sure which to choose, learn more about installing packages.

Source Distributions

No source distribution files available for this release.See tutorial on generating distribution archives.

Built Distributions

brickagx-0.7.0-cp310-cp310-manylinux_2_35_x86_64.whl (19.0 MB view details)

Uploaded CPython 3.10 manylinux: glibc 2.35+ x86-64

brickagx-0.7.0-cp39-cp39-win_amd64.whl (8.6 MB view details)

Uploaded CPython 3.9 Windows x86-64

brickagx-0.7.0-cp39-cp39-macosx_12_0_arm64.whl (12.9 MB view details)

Uploaded CPython 3.9 macOS 12.0+ ARM64

brickagx-0.7.0-cp39-cp39-macosx_11_0_x86_64.whl (13.6 MB view details)

Uploaded CPython 3.9 macOS 11.0+ x86-64

brickagx-0.7.0-cp38-cp38-manylinux_2_31_x86_64.whl (19.2 MB view details)

Uploaded CPython 3.8 manylinux: glibc 2.31+ x86-64

File details

Details for the file brickagx-0.7.0-cp310-cp310-manylinux_2_35_x86_64.whl.

File metadata

File hashes

Hashes for brickagx-0.7.0-cp310-cp310-manylinux_2_35_x86_64.whl
Algorithm Hash digest
SHA256 4dea4fafe5c1512160dfa9b655460ae432024d976f5a0391ab89bfddaa774c9b
MD5 13423bbfcbcdd0f0829bbf6923445fdf
BLAKE2b-256 9ef1c3de0e3b51cdb8b199b8ee0df8c559f2595e6affd8e5629200a617aefa87

See more details on using hashes here.

Provenance

File details

Details for the file brickagx-0.7.0-cp39-cp39-win_amd64.whl.

File metadata

  • Download URL: brickagx-0.7.0-cp39-cp39-win_amd64.whl
  • Upload date:
  • Size: 8.6 MB
  • Tags: CPython 3.9, Windows x86-64
  • Uploaded using Trusted Publishing? No
  • Uploaded via: poetry/1.8.2 CPython/3.8.10 Linux/5.4.0-167-generic

File hashes

Hashes for brickagx-0.7.0-cp39-cp39-win_amd64.whl
Algorithm Hash digest
SHA256 0621d2b0bbedb36f78672891abd4235ca32c6260d20d66b82e04b0db8c40f6e7
MD5 f90b4544ae4a8cdb1b6647fa45a235e0
BLAKE2b-256 158d9780caf0ecca08d5be2e8e826cc4866561158c2c02196162a5389dc66a76

See more details on using hashes here.

Provenance

File details

Details for the file brickagx-0.7.0-cp39-cp39-macosx_12_0_arm64.whl.

File metadata

  • Download URL: brickagx-0.7.0-cp39-cp39-macosx_12_0_arm64.whl
  • Upload date:
  • Size: 12.9 MB
  • Tags: CPython 3.9, macOS 12.0+ ARM64
  • Uploaded using Trusted Publishing? No
  • Uploaded via: poetry/1.8.2 CPython/3.8.10 Linux/5.4.0-167-generic

File hashes

Hashes for brickagx-0.7.0-cp39-cp39-macosx_12_0_arm64.whl
Algorithm Hash digest
SHA256 ad5add3b95c1473853e8f891b174aa3e9206fa25bc884c3c80ecdb61881d80bd
MD5 04568bacaec4117feb052cbe524b32dd
BLAKE2b-256 69cfe0baffbc1c83342ae9b5729fd0baadf165957d81c088f50b1bdde8d8794d

See more details on using hashes here.

Provenance

File details

Details for the file brickagx-0.7.0-cp39-cp39-macosx_11_0_x86_64.whl.

File metadata

  • Download URL: brickagx-0.7.0-cp39-cp39-macosx_11_0_x86_64.whl
  • Upload date:
  • Size: 13.6 MB
  • Tags: CPython 3.9, macOS 11.0+ x86-64
  • Uploaded using Trusted Publishing? No
  • Uploaded via: poetry/1.8.2 CPython/3.8.10 Linux/5.4.0-167-generic

File hashes

Hashes for brickagx-0.7.0-cp39-cp39-macosx_11_0_x86_64.whl
Algorithm Hash digest
SHA256 a5fbdd0dd5b8b3af3c8e62d0ceaf3269d454bd3aa52ba78c1d5aae757634073e
MD5 f1d0d866a3a378ba0fedf773ebd68fd3
BLAKE2b-256 aa1d6db5114e78602511ce328b9c5c883d090e48fbb165043ab672028f2775cb

See more details on using hashes here.

Provenance

File details

Details for the file brickagx-0.7.0-cp38-cp38-manylinux_2_31_x86_64.whl.

File metadata

File hashes

Hashes for brickagx-0.7.0-cp38-cp38-manylinux_2_31_x86_64.whl
Algorithm Hash digest
SHA256 e9b00126dd7ec1fc395abab5f2beabd286213095eff97795f25ff9f11ca0807f
MD5 4a2587cd30ef3d6a7052c39bedb3a97e
BLAKE2b-256 7d007a4d996c64accda7f459f751b35b231f1cf805560563296d295597563ea7

See more details on using hashes here.

Provenance

Supported by

AWS AWS Cloud computing and Security Sponsor Datadog Datadog Monitoring Fastly Fastly CDN Google Google Download Analytics Microsoft Microsoft PSF Sponsor Pingdom Pingdom Monitoring Sentry Sentry Error logging StatusPage StatusPage Status page