Please see my comments in this font below. Thank you, Dan --------------------------------------------- Bernard A. and Frances M. Weideman Professor NVIDIA CUDA Fellow Department of Mechanical Engineering Department of Computer Science University of Wisconsin - Madison 4150ME, 1513 University Avenue Madison, WI 53706-1572 608 772 0914 http://sbel.wisc.edu/ http://projectchrono.org/ ---------------------------------------------
From: Nnamdi Chikere <nchik...@nd.edu> Sent: Thursday, July 24, 2025 10:31 AM To: Dan Negrut <neg...@wisc.edu> Cc: ProjectChrono <projectchrono@googlegroups.com> Subject: Re: [chrono] Help with Granular Simulation on Windows using PyChrono Hello Professor, Thank you so much for your reply. For the first stage, I am trying to optimize the parameters for control of the robot’s locomotion on complex environments including sand and rocks using CPGs. The end goal is to later use RL to implement adaptive control with changing terrains. We are starting to work in this area as well, from a slightly different perspective. Harry, a great student in the lab, will share his findings in about a week, to steer you in the right direction. Are you working with a quadruped or something similar? For the rock sizes, I was looking to implement three rock sizes ranging between 2cm and 6cm filled in a box on which the robot will operate. Is it like (a) the entire terrain is made up of rocks 2cm to 6 cm; or (b) you have some deformable terrain that once in a while has some rocks 2 cm to 6 cm scattered around? This is important, since (a) will likely take more time to run than (b). I am also trying to implement a flexible limb that will be attached to the motors and deform when in contact with some force or the ground, is it possible to implement this to a specified link? In principle, this should be doable but we haven’t tried it yet. The needed modeling elements are in Chrono, it’s just a matter of putting a model like this together and seeing how it does. Easier said than done, but we might be able to provide some feedback when you cross that bridge. I am working with Python and windows, and would appreciate some help as regards this In about one week we’ll share a way to install a newer version of PyChrono, a beta version, that has support for what’s called in Chrono “the CRM terrain” model. Might be helpful for you. Needs an NVIDIA GPU to run. Best regards, Nnamdi On Thu, Jul 24, 2025 at 2:10 AM Dan Negrut <neg...@wisc.edu<mailto:neg...@wisc.edu>> wrote: If you describe what you need to do with your robot, we might be able to steer you in the right direction. How big are the rocks you mentioned? What sort of end-goal do you have? Design of robot, control of robot, RL, optimal design, etc. Dan --------------------------------------------- Bernard A. and Frances M. Weideman Professor NVIDIA CUDA Fellow Department of Mechanical Engineering Department of Computer Science University of Wisconsin - Madison 4150ME, 1513 University Avenue<https://urldefense.com/v3/__https:/www.google.com/maps/search/1513*University*Avenue**A0D*0A*Madison,*WI*53706-1572?entry=gmail&source=g__;KysrJSUrKys!!Mak6IKo!Od8BEUkPpm5WoEens9KtQIg47iogD1i2m9LDYGHeEv2M8GiWuVl9N0Stk5HjyF-DIbSFX75lMxV4hhD5$> Madison, WI 53706-1572<https://urldefense.com/v3/__https:/www.google.com/maps/search/1513*University*Avenue**A0D*0A*Madison,*WI*53706-1572?entry=gmail&source=g__;KysrJSUrKys!!Mak6IKo!Od8BEUkPpm5WoEens9KtQIg47iogD1i2m9LDYGHeEv2M8GiWuVl9N0Stk5HjyF-DIbSFX75lMxV4hhD5$> 608 772 0914 http://sbel.wisc.edu/ http://projectchrono.org/<https://urldefense.com/v3/__http:/projectchrono.org/__;!!Mak6IKo!Od8BEUkPpm5WoEens9KtQIg47iogD1i2m9LDYGHeEv2M8GiWuVl9N0Stk5HjyF-DIbSFX75lM0FtMmwz$> --------------------------------------------- From: 'Nnamdi Chikere' via ProjectChrono <projectchrono@googlegroups.com<mailto:projectchrono@googlegroups.com>> Sent: Tuesday, July 22, 2025 6:16 PM To: ProjectChrono <projectchrono@googlegroups.com<mailto:projectchrono@googlegroups.com>> Subject: [chrono] Help with Granular Simulation on Windows using PyChrono Hello. I am working on a simulation where a robot moves on different terrains, and I want to simulate the robot moving on sand and rocks. I have been able to implement the soil terrain using the SCM parameters in PyChrono. Is it possible to implement granular media, such as rocks, in PyChrono? I attempted to install the DEME package, but encountered several errors. I am working with PyChrono 9.0 and Python 3.9. Thank you. -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to projectchrono+unsubscr...@googlegroups.com<mailto:projectchrono+unsubscr...@googlegroups.com>. To view this discussion visit https://groups.google.com/d/msgid/projectchrono/d38be8a1-f6e0-4661-83ba-d51b500ccea5n%40googlegroups.com<https://urldefense.com/v3/__https:/groups.google.com/d/msgid/projectchrono/d38be8a1-f6e0-4661-83ba-d51b500ccea5n*40googlegroups.com?utm_medium=email&utm_source=footer__;JQ!!Mak6IKo!IHl25Nn94rVvk-8cbLYWCsyZEpu7zcoKd_JY1u7_ZFpAebs2_ga8vymx9iyQT1Ywjzy8INBVzHAHobmHZEkRFozUi6s$>. -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to projectchrono+unsubscr...@googlegroups.com. To view this discussion visit https://groups.google.com/d/msgid/projectchrono/DM8PR06MB770305737817586FF38C4D8FB15EA%40DM8PR06MB7703.namprd06.prod.outlook.com.
