I am passing torque as a sinusoidal curve and the cylinder is also expected
to execute simple harmonics oscillation which is sinusoidal. But there is a
mistake in my code and I am not able to identify it. I have attached a copy
of my code and my sine curve dataset
Note that time column which contains integers has to be scaled with 0.04
(For example if TIME = 4, (actual time is 0.04 x 4)
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import pychrono as chrono
import pychrono.irrlicht as irr
import math as m
import numpy as np
system = chrono.ChSystemNSC()
system.Set_G_acc(chrono.ChVectorD(0,0,0))
# Create ground body
ground = chrono.ChBody()
system.AddBody(ground)
ground.SetIdentifier(-1)
ground.SetBodyFixed(True)
ground.SetCollide(False)
pend = chrono.ChBody()
system.AddBody(pend)
pend.SetIdentifier(10)
pend.SetBodyFixed(False)
pend.SetCollide(True)
pend.SetMass(339)
pend.SetInertiaXX(chrono.ChVectorD(490,10,490))
col_1 = chrono.ChColorAsset()
col_1.SetColor(chrono.ChColor(0.9, 0, 0))
pend.AddAsset(col_1)
cyl_p = chrono.ChCylinderShape()
cyl_p.GetCylinderGeometry().p1 = chrono.ChVectorD(0,1,0)
cyl_p.GetCylinderGeometry().p2 = chrono.ChVectorD(0, -1, 0)
cyl_p.GetCylinderGeometry().rad = 0.4
pend.AddAsset(cyl_p)
application = irr.ChIrrApp(system, "Limits on LinkLockRevolute demo",
irr.dimension2du(800, 600))
application.AddTypicalLogo()
application.AddTypicalSky()
application.AddTypicalLights()
application.AddTypicalCamera(irr.vector3df(0, 2, -3))
application.AssetBindAll()
application.AssetUpdateAll()
application.SetTimestep(0.004)
application.SetTryRealtime(True)
f0 = chrono.ChFunction_Const(0)
f1 = chrono.ChFunction_Const(-1)
T = chrono.ChForce()
T.SetMode(chrono.ChForce.TORQUE)
T.SetF_x(f0)
T.SetF_y(f0)
T.SetF_z(f1)
import pandas as pd
data = pd.read_csv("torque_thetadataset.csv")
df = pd.DataFrame(data)
t = df['TIME'].tolist()
my = df['TORQUE'].tolist()
del_t = 0.04
w = 0
theta = 0
roll = []
t0 = []
system.SetChTime(0.04)
while (application.GetDevice().run()) :
tor = my[t.index(int(system.GetChTime()/0.04))]
pend.Empty_forces_accumulators()
pend.Accumulate_torque(chrono.ChVectorD(0,0,tor),False)
q = pend.GetRot()
roll.append(q.Q_to_Euler123().z)
t0.append(system.GetChTime())
application.BeginScene()
application.DrawAll()
application.DoStep()
application.EndScene()
if int(system.GetChTime()/0.04) > t[-1] :
application.GetDevice.CloseDevice()
TORQUE,TIME,Angular Frequency,Moment of inertia,Angular Accelaration,Angular Velocity,Angular Displacement
0.251173582,1,0.02512,490,0.000512599,2.0504E-05,4.10079E-07
0.502188679,2,0.02512,490,0.001024875,6.1499E-05,1.64006E-06
0.752886904,3,0.02512,490,0.001536504,0.000122959,3.68916E-06
1.003110071,4,0.02512,490,0.002047163,0.000204846,6.5561E-06
1.252700295,5,0.02512,490,0.002556531,0.000307107,1.02391E-05
1.501500089,6,0.02512,490,0.003064286,0.000429678,1.47357E-05
1.749352464,7,0.02512,490,0.003570107,0.000572483,2.00432E-05
1.99610103,8,0.02512,490,0.004073676,0.00073543,2.61582E-05
2.241590094,9,0.02512,490,0.004574674,0.000918417,3.30769E-05
2.485664758,10,0.02512,490,0.005072785,0.001121328,4.07949E-05
2.728171013,11,0.02512,490,0.005567696,0.001344036,4.93073E-05
2.968955843,12,0.02512,490,0.006059094,0.0015864,5.86087E-05
3.207867319,13,0.02512,490,0.006546668,0.001848266,6.86933E-05
3.44475469,14,0.02512,490,0.007030112,0.002129471,7.95547E-05
3.679468485,15,0.02512,490,0.007509119,0.002429836,9.11861E-05
3.911860606,16,0.02512,490,0.007983389,0.002749171,0.00010358
4.141784415,17,0.02512,490,0.008452621,0.003087276,0.000116729
4.369094837,18,0.02512,490,0.00891652,0.003443937,0.000130624
4.593648441,19,0.02512,490,0.009374793,0.003818928,0.000145257
4.81530354,20,0.02512,490,0.00982715,0.004212014,0.000160619
5.033920272,21,0.02512,490,0.010273307,0.004622947,0.000176699
5.249360696,22,0.02512,490,0.010712981,0.005051466,0.000193488
5.461488871,23,0.02512,490,0.011145896,0.005497302,0.000210975
5.67017095,24,0.02512,490,0.011571777,0.005960173,0.000229149
5.875275257,25,0.02512,490,0.011990358,0.006439787,0.000247999
6.076672376,26,0.02512,490,0.012401372,0.006935842,0.000267513
6.274235229,27,0.02512,490,0.012804562,0.007448025,0.000287677
6.467839157,28,0.02512,490,0.013199672,0.007976011,0.000308481
6.657362,29,0.02512,490,0.013586453,0.00851947,0.00032991
6.842684172,30,0.02512,490,0.013964662,0.009078056,0.000351951
7.02368874,31,0.02512,490,0.014334059,0.009651418,0.000374589
7.200261492,32,0.02512,490,0.014694411,0.010239195,0.000397812
7.372291014,33,0.02512,490,0.015045492,0.010841014,0.000421604
7.539668759,34,0.02512,490,0.015387079,0.011456498,0.00044595
7.702289114,35,0.02512,490,0.015718957,0.012085256,0.000470835
7.86004947,36,0.02512,490,0.016040917,0.012726893,0.000496243
8.012850282,37,0.02512,490,0.016352756,0.013381003,0.000522158
8.160595136,38,0.02512,490,0.016654276,0.014047174,0.000548564
8.303190808,39,0.02512,490,0.016945287,0.014724985,0.000575443
8.440547322,40,0.02512,490,0.017225607,0.01541401,0.00060278
8.572578009,41,0.02512,490,0.017495057,0.016113812,0.000630556
8.699199561,42,0.02512,490,0.017753468,0.016823951,0.000658755
8.820332081,43,0.02512,490,0.018000678,0.017543978,0.000687359
8.935899138,44,0.02512,490,0.018236529,0.018273439,0.000716348
9.045827809,45,0.02512,490,0.018460873,0.019011874,0.000745706
9.150048734,46,0.02512,490,0.018673569,0.019758817,0.000775414
9.248496149,47,0.02512,490,0.018874482,0.020513796,0.000805452
9.341107937,48,0.02512,490,0.019063486,0.021276335,0.000835803
9.427825662,49,0.02512,490,0.019240461,0.022045954,0.000866446
9.508594605,50,0.02512,490,0.019405295,0.022822166,0.000897362
9.583363804,51,0.02512,490,0.019557885,0.023604481,0.000928533
9.65208608,52,0.02512,490,0.019698135,0.024392406,0.000959938
9.714718071,53,0.02512,490,0.019825955,0.025185445,0.000991557
9.771220258,54,0.02512,490,0.019941266,0.025983095,0.001023371
9.821556988,55,0.02512,490,0.020043994,0.026784855,0.001055359
9.8656965,56,0.02512,490,0.020134074,0.027590218,0.001087501
9.903610943,57,0.02512,490,0.020211451,0.028398676,0.001119778
9.935276393,58,0.02512,490,0.020276074,0.029209719,0.001152168
9.960672871,59,0.02512,490,0.020327904,0.030022835,0.001184651
9.979784351,60,0.02512,490,0.020366907,0.030837511,0.001217207
9.992598775,61,0.02512,490,0.020393059,0.031653234,0.001249815
9.999108056,62,0.02512,490,0.020406343,0.032469487,0.001282454
9.999308088,63,0.02512,490,0.020406751,0.033285757,0.001315105
9.993198744,64,0.02512,490,0.020394283,0.034101529,0.001347746
9.98078388,65,0.02512,490,0.020368947,0.034916287,0.001380356
9.962071329,66,0.02512,490,0.020330758,0.035729517,0.001412916
9.937072897,67,0.02512,490,0.020279741,0.036540707,0.001445404
9.905804359,68,0.02512,490,0.020215927,0.037349344,0.001477801
9.868285445,69,0.02512,490,0.020139358,0.038154918,0.001510085
9.824539828,70,0.02512,490,0.020050081,0.038956921,0.001542237
9.774595111,71,0.02512,490,0.019948153,0.039754847,0.001574235
9.718482808,72,0.02512,490,0.019833638,0.040548193,0.001606061
9.656238324,73,0.02512,490,0.019706609,0.041336457,0.001637693
9.587900936,74,0.02512,490,0.019567145,0.042119143,0.001669112
9.513513762,75,0.02512,490,0.019415334,0.042895756,0.001700298
9.43312374,76,0.02512,490,0.019251273,0.043665807,0.001731231
9.346781594,77,0.02512,490,0.019075064,0.04442881,0.001761892
9.254541804,78,0.02512,490,0.01888682,0.045184283,0.001792262
9.156462572,79,0.02512,490,0.018686658,0.045931749,0.001822321
9.052605785,80,0.02512,490,0.018474706,0.046670737,0.00185205
8.943036973,81,0.02512,490,0.018251096,0.047400781,0.00188143
8.827825272,82,0.02512,490,0.01801597,0.04812142,0.001910444
8.70704338,83,0.02512,490,0.017769476,0.048832199,0.001939072
8.580767507,84,0.02512,490,0.01751177,0.04953267,0.001967297
8.44907733,85,0.02512,490,0.017243015,0.05022239,0.001995101
8.312055945,86,0.02512,490,0.016963379,0.050900926,0.002022466
8.169789808,87,0.02512,490,0.01667304,0.051567847,0.002049375
8.022368688,88,0.02512,490,0.016372181,0.052222734,0.002075812
7.869885603,89,0.02512,490,0.016060991,0.052865174,0.002101758
7.712436769,90,0.02512,490,0.015739667,0.053494761,0.002127199
7.550121531,91,0.02512,490,0.015408411,0.054111097,0.002152117
7.383042309,92,0.02512,490,0.015067433,0.054713795,0.002176498
7.211304526,93,0.02512,490,0.014716948,0.055302472,0.002200325
7.035016545,94,0.02512,490,0.014357177,0.05587676,0.002223585
6.854289601,95,0.02512,490,0.013988346,0.056436293,0.002246261
6.669237728,96,0.02512,490,0.013610689,0.056980721,0.00226834
6.479977692,97,0.02512,490,0.013224444,0.057509699,0.002289808
6.286628912,98,0.02512,490,0.012829855,0.058022893,0.002310652
6.089313387,99,0.02512,490,0.01242717,0.05851998,0.002330857
5.88815562,100,0.02512,490,0.012016644,0.059000645,0.002350413
5.683282537,101,0.02512,490,0.011598536,0.059464587,0.002369305
5.474823409,102,0.02512,490,0.011173109,0.059911511,0.002387522
5.262909771,103,0.02512,490,0.010740632,0.060341137,0.002405053
5.047675335,104,0.02512,490,0.010301378,0.060753192,0.002421887
4.829255911,105,0.02512,490,0.009855624,0.061147417,0.002438012
4.607789318,106,0.02512,490,0.009403652,0.061523563,0.00245342
4.383415296,107,0.02512,490,0.008945746,0.061881393,0.002468099
4.156275421,108,0.02512,490,0.008482195,0.06222068,0.002482041
3.926513014,109,0.02512,490,0.008013292,0.062541212,0.002495238
3.694273051,110,0.02512,490,0.007539333,0.062842785,0.00250768
3.459702072,111,0.02512,490,0.007060616,0.06312521,0.00251936
3.222948085,112,0.02512,490,0.006577445,0.063388308,0.00253027
2.984160479,113,0.02512,490,0.006090123,0.063631913,0.002540404
2.743489924,114,0.02512,490,0.005598959,0.063855871,0.002549756
2.501088277,115,0.02512,490,0.005104262,0.064060042,0.002558318
2.257108492,116,0.02512,490,0.004606344,0.064244295,0.002566087
2.011704513,117,0.02512,490,0.004105519,0.064408516,0.002573056
1.765031186,118,0.02512,490,0.003602104,0.0645526,0.002579222
1.517244158,119,0.02512,490,0.003096417,0.064676457,0.002584581
1.268499777,120,0.02512,490,0.002588775,0.064780008,0.002589129
1.018954997,121,0.02512,490,0.0020795,0.064863188,0.002592864
0.768767275,122,0.02512,490,0.001568913,0.064925944,0.002595783
0.518094476,123,0.02512,490,0.001057336,0.064968238,0.002597884
0.267094768,124,0.02512,490,0.000545091,0.064990042,0.002599166
0.015926529,125,0.02512,490,3.25031E-05,0.064991342,0.002599628
-0.235251759,126,0.02512,490,-0.000480106,0.064972137,0.00259927
-0.486281608,127,0.02512,490,-0.000992411,0.064932441,0.002598092
-0.737004623,128,0.02512,490,-0.001504091,0.064872277,0.002596094
-0.987262601,129,0.02512,490,-0.002014822,0.064791684,0.002593279
-1.236897635,130,0.02512,490,-0.002524281,0.064690713,0.002589648
-1.485752211,131,0.02512,490,-0.003032147,0.064569427,0.002585203
-1.733669304,132,0.02512,490,-0.003538101,0.064427903,0.002579947
-1.980492484,133,0.02512,490,-0.004041821,0.06426623,0.002573883
-2.226066011,134,0.02512,490,-0.004542992,0.064084511,0.002567015
-2.470234933,135,0.02512,490,-0.005041296,0.063882859,0.002559347
-2.712845182,136,0.02512,490,-0.005536419,0.063661402,0.002550885
-2.953743677,137,0.02512,490,-0.006028048,0.06342028,0.002541634
-3.192778415,138,0.02512,490,-0.006515874,0.063159645,0.002531599
-3.42979857,139,0.02512,490,-0.006999589,0.062879662,0.002520786
-3.664654586,140,0.02512,490,-0.007478887,0.062580506,0.002509203
-3.897198274,141,0.02512,490,-0.007953466,0.062262368,0.002496857
-4.127282904,142,0.02512,490,-0.008423026,0.061925447,0.002483756
-4.354763295,143,0.02512,490,-0.008887272,0.061569956,0.002469908
-4.579495913,144,0.02512,490,-0.00934591,0.061196119,0.002455321
-4.801338954,145,0.02512,490,-0.009798651,0.060804173,0.002440006
-5.020152441,146,0.02512,490,-0.010245209,0.060394365,0.002423971
-5.235798306,147,0.02512,490,-0.010685303,0.059966953,0.002407226
-5.44814048,148,0.02512,490,-0.011118654,0.059522207,0.002389783
-5.657044981,149,0.02512,490,-0.01154499,0.059060407,0.002371652
-5.862379992,150,0.02512,490,-0.011964041,0.058581845,0.002352845
-6.064015951,151,0.02512,490,-0.012375543,0.058086824,0.002333373
-6.26182563,152,0.02512,490,-0.012779236,0.057575654,0.00231325
-6.455684215,153,0.02512,490,-0.013174866,0.05704866,0.002292486
-6.645469385,154,0.02512,490,-0.013562182,0.056506172,0.002271097
-6.831061388,155,0.02512,490,-0.013940942,0.055948535,0.002249094
-7.012343119,156,0.02512,490,-0.014310904,0.055376098,0.002226493
-7.189200194,157,0.02512,490,-0.014671837,0.054789225,0.002203306
-7.361521018,158,0.02512,490,-0.015023512,0.054188285,0.00217955
-7.529196861,159,0.02512,490,-0.015365708,0.053573656,0.002155239
-7.692121922,160,0.02512,490,-0.015698208,0.052945728,0.002130388
-7.850193399,161,0.02512,490,-0.016020803,0.052304896,0.002105012
-8.003311551,162,0.02512,490,-0.016333289,0.051651564,0.002079129
-8.151379764,163,0.02512,490,-0.016635469,0.050986145,0.002052754
-8.294304609,164,0.02512,490,-0.016927152,0.050309059,0.002025904
-8.431995904,165,0.02512,490,-0.017208155,0.049620733,0.001998596
-8.564366767,166,0.02512,490,-0.0174783,0.048921601,0.001970847
-8.691333677,167,0.02512,490,-0.017737416,0.048212105,0.001942674
-8.812816517,168,0.02512,490,-0.01798534,0.047492691,0.001914096
-8.928738636,169,0.02512,490,-0.018221916,0.046763814,0.00188513
-9.039026889,170,0.02512,490,-0.018446994,0.046025935,0.001855795
-9.143611686,171,0.02512,490,-0.018660432,0.045279517,0.001826109
-9.242427035,172,0.02512,490,-0.018862096,0.044525033,0.001796091
-9.335410586,173,0.02512,490,-0.019051858,0.043762959,0.00176576
-9.422503669,174,0.02512,490,-0.019229599,0.042993775,0.001735135
-9.503651329,175,0.02512,490,-0.019395207,0.042217967,0.001704235
-9.578802363,176,0.02512,490,-0.019548576,0.041436024,0.00167308
-9.647909353,177,0.02512,490,-0.019689611,0.040648439,0.001641689
-9.710928693,178,0.02512,490,-0.019818222,0.039855711,0.001610083
-9.76782062,179,0.02512,490,-0.019934328,0.039058337,0.001578281
-9.818549235,180,0.02512,490,-0.020037856,0.038256823,0.001546303
-9.86308253,181,0.02512,490,-0.02012874,0.037451674,0.00151417
-9.901392406,182,0.02512,490,-0.020206923,0.036643397,0.001481901
-9.933454688,183,0.02512,490,-0.020272357,0.035832502,0.001449518
-9.959249148,184,0.02512,490,-0.020324998,0.035019502,0.00141704
-9.978759508,185,0.02512,490,-0.020364815,0.03420491,0.001384488
-9.991973458,186,0.02512,490,-0.020391783,0.033389239,0.001351883
-9.998882661,187,0.02512,490,-0.020405883,0.032573003,0.001319245
-9.999482756,188,0.02512,490,-0.020407108,0.031756719,0.001286594
-9.993773366,189,0.02512,490,-0.020395456,0.030940901,0.001253952
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