Thank you for the update. I look forward to hearing from you whenever it is fixed.
Best regards, Nnamdi On Wed, Aug 6, 2025 at 9:28 PM 'Bocheng Zou' via ProjectChrono < [email protected]> wrote: > Hi Nnamdi, > > I'd like to provide a quick update regarding my previous email. Due to > some issues with Chrono's build system, we may not be able to release the > package containing the parser fix for Windows within the previously > promised 12-hour timeframe. > > I'll do my best to get it released as soon as the build system is back up > and running. > > Best regards, > > Bocheng Zou > > > On 8/6/25 22:31, 'Bocheng Zou' via ProjectChrono wrote: > > Hi Nnamdi, > > Thank you for bringing the issue to our attention. We just noticed that > there is something wrong in our Windows's conda building pipeline that > causes pychrono.parsers module to be missing. I'm expected to fix that > later today (within 12 hours) and let you know. > > Best > > Bocheng Zou > On 8/6/25 19:35, 'Nnamdi Chikere' via ProjectChrono wrote: > > Hello Harry, > > I tried to replicate the RL example in the GitHub link you shared, but I > have been trying to fix the following error. It seems the pychrono.parsers > module is missing. > > Traceback (most recent call last): > File > "C:\Users\chike\Box\TurtleRobotExperiments\Sea_Turtle_Robot_AI_Powered_Simulations_Project\NnamdiFiles\mujocotest1\chrono\multi-terrain-RL\rl_examples\rslrl\eval.py", > line 8, in <module> > from chrono_env import ChronoQuadrupedEnv as RigidTerrainEnv > File > "C:\Users\chike\Box\TurtleRobotExperiments\Sea_Turtle_Robot_AI_Powered_Simulations_Project\NnamdiFiles\mujocotest1\chrono\multi-terrain-RL\rl_examples\rslrl\chrono_env.py", > line 13, in <module> > import simulation.Robots as Robots > File > "C:\Users\chike\Box\TurtleRobotExperiments\Sea_Turtle_Robot_AI_Powered_Simulations_Project\NnamdiFiles\mujocotest1\chrono\multi-terrain-RL\simulation\Robots.py", > line 7, in <module> > import pychrono.parsers as parsers > ModuleNotFoundError: No module named 'pychrono.parsers' > > Could you please provide some help with this? I followed > conda create -n chrono "python<3.13" -c conda-forge conda activate chrono > conda install bochengzou::pychrono -c bochengzou -c nvidia -c dlr-sc -c > conda-forge > Install RL Library > > Inside the conda environment, supposingly named as chrono: > pip install rsl-rl-lib==2.2.4 > Verify Installation > > Inside the conda environment: > cd <path_to_current_folder>/multi-terrain-RL python > rl_examples/rslrl/eval.py --ckpt 2999 > > Best regards, > Nnamdi > > On Monday, August 4, 2025 at 3:57:30 PM UTC-4 [email protected] wrote: > >> Hello Nnamdi, >> >> I hope you are doing well. >> >> I want to share this repo ( >> https://github.com/uwsbel/sbel-reproducibility/tree/master/2025/multi-terrain-RL >> <https://urldefense.com/v3/__https://github.com/uwsbel/sbel-reproducibility/tree/master/2025/multi-terrain-RL__;!!Mak6IKo!NNZn_b2z9W4LO4J581E-MjNPOiP3Ycu6Aq4Tl1QDCtM_LLuFYDaL6-RQ1C6nAeNfanFjXrRNIOIfwQNCC_e1hx3XANFT5w$>) >> with you, which does the RL training for the demo videos I shared earlier. >> The specific robot type or task might differ, but I think the structure or >> idea would be similar. >> >> I realize I previously offered to meet, but after giving it more >> thought—and in light of similar requests from others—We’ve decided it's >> better to share a prepared code repo instead. This way, you can try it on >> your own and post any questions here, so others can also benefit from the >> discussion. >> >> Best, >> Harry >> >> On Wednesday, July 30, 2025 at 7:50:49 PM UTC-5 [email protected] wrote: >> >>> Hello Harry, >>> >>> Your simulation results looks great and are similar to what I hope to >>> implement in my setup. I am interested in discussing more about this and >>> would love to set up a meeting as soon as possible. Can you please let me >>> know what day/time you are available? >>> >>> Best regards, >>> Nnamdi >>> >>> On Wednesday, July 30, 2025 at 1:50:56 PM UTC-4 [email protected] wrote: >>> >>>> Picture attachment for last message: >>>> [image: Screenshot from 2025-07-30 10-45-41.png] >>>> Best, >>>> Harry >>>> On Wednesday, July 30, 2025 at 11:17:42 AM UTC-5 Harry ZHANG wrote: >>>> >>>>> Hello Nnamdi, >>>>> >>>>> My name's Harry and Dan asked me to follow up on this thread. >>>>> >>>>> About couple weeks ago, we start exploring using PyChrono as our >>>>> physics engine to train RL policies for quadruped locomotion task. Our >>>>> projects's goal is to investigate simulation terrain's effect on >>>>> locomotion >>>>> policy performance. In PyChrono there are different fidelity levels for >>>>> terrain model (from low to high): rigid terrain (rtf<<1) --> SCM >>>>> deformable >>>>> terrain (rtf~=1)-->CRM granular terrain(rtf~=5), where rtf means real time >>>>> fator. RL library we are using is "RSL-RL". >>>>> >>>>> Please check this link for prelim results we got: >>>>> https://drive.google.com/drive/folders/1Yhx1goYDsv0FZdk4OfyH9_yRazkRSwMQ?usp=sharing >>>>> <https://urldefense.com/v3/__https://drive.google.com/drive/folders/1Yhx1goYDsv0FZdk4OfyH9_yRazkRSwMQ?usp=sharing__;!!Mak6IKo!NNZn_b2z9W4LO4J581E-MjNPOiP3Ycu6Aq4Tl1QDCtM_LLuFYDaL6-RQ1C6nAeNfanFjXrRNIOIfwQNCC_e1hx2HrX2Chw$>. >>>>> The locomotion policy trained for 0.5 m/s longitudinal speed walking. The >>>>> policy trained with rigid terrain (about 6 hours) and we put it on scm >>>>> deformable terrain for testing purpose, in both rigid and deformable >>>>> terrain the evaluation looks decent. >>>>> >>>>> For us, there are two major things in our todo list: 1) implement some >>>>> parallelzation methods during training. current 6 hour training time is >>>>> trained with one single simulation agent interact with RSL-RL algorithm, >>>>> we >>>>> try to see if it's possible to do faster by training with multiple >>>>> simulation agents. 2) Include quadrupeds with CRM terrain in both policy >>>>> training and evaluation. See the attched picture, we have a simulation >>>>> script includes quadrupeds on CRM terrain, but we need to merge this into >>>>> RL pipeline. >>>>> >>>>> Let me know if you have any questions, I am available for meeting if >>>>> you want me explain more about the pipeline and details. >>>>> >>>>> Best, >>>>> Harry >>>>> >>>>> On Monday, July 28, 2025 at 4:40:48 PM UTC-5 [email protected] wrote: >>>>> >>>>>> Thank you so much for your response. >>>>>> >>>>>> 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? >>>>>> >>>>>> I am working on a small-sized bioinspired quadruped robot, and I look >>>>>> forward to the findings from your student. >>>>>> >>>>>> 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 interested in having the entire terrain composed of movable >>>>>> rocks, which the limbs can interact with, such as each terrain box filled >>>>>> with rocks of a specific size (2cm to 6cm). I am also open to suggestions >>>>>> on whether this setup might be computationally intensive and any >>>>>> alternatives, such as option B. The image below is what I have in mind >>>>>> (generated in MuJoCo, but is fixed to the ground) >>>>>> [image: Screenshot 2025-07-28 172945.png] >>>>>> >>>>>> 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. >>>>>> >>>>>> Thank you. I will provide more details on my proposed implementation >>>>>> soon. >>>>>> >>>>>> 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. >>>>>> >>>>>> Looking forward to the new version. I have been facing some SDL2 >>>>>> package errors with my current version. I gave more details in a >>>>>> different >>>>>> thread. >>>>>> On Thursday, July 24, 2025 at 3:53:14 PM UTC-4 Dan Negrut wrote: >>>>>> >>>>>>> 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 >>>>>>> <https://www.google.com/maps/search/1513%0D%0A++++++++++++++++++++++++++++++++++++++++University+Avenue+%0D%0A+++++++++++++++++++++++++++++++++++++Madison,+WI%0D%0A++++++++++++++++++++++++++++++++++++++++53706-1572?entry=gmail&source=g> >>>>>>> >>>>>>> <https://www.google.com/maps/search/1513%0D%0A++++++++++++++++++++++++++++++++++++++++University+Avenue+%0D%0A+++++++++++++++++++++++++++++++++++++Madison,+WI%0D%0A++++++++++++++++++++++++++++++++++++++++53706-1572?entry=gmail&source=g> >>>>>>> >>>>>>> Madison, WI 53706-1572 >>>>>>> <https://www.google.com/maps/search/1513%0D%0A++++++++++++++++++++++++++++++++++++++++University+Avenue+%0D%0A+++++++++++++++++++++++++++++++++++++Madison,+WI%0D%0A++++++++++++++++++++++++++++++++++++++++53706-1572?entry=gmail&source=g> >>>>>>> >>>>>>> 608 772 0914 <(608)%20772-0914> >>>>>>> >>>>>>> http://sbel.wisc.edu/ >>>>>>> >>>>>>> http://projectchrono.org/ >>>>>>> <https://urldefense.com/v3/__http://projectchrono.org/__;!!Mak6IKo!NNZn_b2z9W4LO4J581E-MjNPOiP3Ycu6Aq4Tl1QDCtM_LLuFYDaL6-RQ1C6nAeNfanFjXrRNIOIfwQNCC_e1hx3RfFuX_A$> >>>>>>> >>>>>>> --------------------------------------------- >>>>>>> >>>>>>> >>>>>>> >>>>>>> *From:* Nnamdi Chikere <[email protected]> >>>>>>> *Sent:* Thursday, July 24, 2025 10:31 AM >>>>>>> *To:* Dan Negrut <[email protected]> >>>>>>> *Cc:* ProjectChrono <[email protected]> >>>>>>> *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 <[email protected]> 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$> >>>>>>> >>>>>>> <https://www.google.com/maps/search/1513+University+Avenue+%0D%0A+++++++++++++++++++++++++++++++++++++++++++++++++Madison,+WI+53706-1572?entry=gmail&source=g> >>>>>>> >>>>>>> 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$> >>>>>>> >>>>>>> 608 772 0914 <(608)%20772-0914> >>>>>>> >>>>>>> http://sbel.wisc.edu/ >>>>>>> >>>>>>> http://projectchrono.org/ >>>>>>> <https://urldefense.com/v3/__http:/projectchrono.org/__;!!Mak6IKo!Od8BEUkPpm5WoEens9KtQIg47iogD1i2m9LDYGHeEv2M8GiWuVl9N0Stk5HjyF-DIbSFX75lM0FtMmwz$> >>>>>>> >>>>>>> --------------------------------------------- >>>>>>> >>>>>>> >>>>>>> >>>>>>> *From:* 'Nnamdi Chikere' via ProjectChrono < >>>>>>> [email protected]> >>>>>>> *Sent:* Tuesday, July 22, 2025 6:16 PM >>>>>>> *To:* ProjectChrono <[email protected]> >>>>>>> *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 [email protected]. >>>>>>> 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$> >>>>>>> . >>>>>>> >>>>>>> -- > You received this message because you are subscribed to the Google Groups > "ProjectChrono" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to [email protected]. > To view this discussion visit > https://groups.google.com/d/msgid/projectchrono/5ca46b10-a60e-46ff-8ac5-99e9c27eb65en%40googlegroups.com > <https://urldefense.com/v3/__https://groups.google.com/d/msgid/projectchrono/5ca46b10-a60e-46ff-8ac5-99e9c27eb65en*40googlegroups.com?utm_medium=email&utm_source=footer__;JQ!!Mak6IKo!NNZn_b2z9W4LO4J581E-MjNPOiP3Ycu6Aq4Tl1QDCtM_LLuFYDaL6-RQ1C6nAeNfanFjXrRNIOIfwQNCC_e1hx2RQg6jow$> > . > > -- > 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 [email protected]. > To view this discussion visit > https://groups.google.com/d/msgid/projectchrono/65780dea-e49c-465c-a22c-df3f6670ceb3%40wisc.edu > <https://urldefense.com/v3/__https://groups.google.com/d/msgid/projectchrono/65780dea-e49c-465c-a22c-df3f6670ceb3*40wisc.edu?utm_medium=email&utm_source=footer__;JQ!!Mak6IKo!O-OtoRyIAUCCGF0_J2-awFqRELShk3Sp2hdRxIeAUzO1WT8jhGkBF0rN6htqhpFs-371IMQ2ESpiDR-GhflMLRPRBvZbHw$> > . > > -- > 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 [email protected]. > To view this discussion visit > https://groups.google.com/d/msgid/projectchrono/f1a4ed19-c7eb-4a14-9cc3-042bd0e77280%40wisc.edu > <https://groups.google.com/d/msgid/projectchrono/f1a4ed19-c7eb-4a14-9cc3-042bd0e77280%40wisc.edu?utm_medium=email&utm_source=footer> > . > -- 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 [email protected]. To view this discussion visit https://groups.google.com/d/msgid/projectchrono/CADCxF%3DPn_mkOkD1AG4gpOdzo-FxvMZxwkm6q62jspHV5hPh%2Bow%40mail.gmail.com.
