Hi Chrono team,
I followed the updated steps and successfully ran *eval.py* on my PC. It
ran successfully on the rigid terrain.
But it fails when I attempt to run on granular terrain. I got the following
error. I suspect it might be due to a CUDA mismatch. What CUDA version do
you recommend I install to run the FSI for the PyChrono Windows granular
simulation?
Loaded configurations from ./data/rl_models/rslrl/cfgs.pkl
Using device: cpu
Create an FSI system using a custom SPH FSI interface
Error initializing terrain: parallel_for failed:
cudaErrorUnsupportedPtxVersion: the provided PTX was compiled with an
unsupported toolchain.
Resetting environment tensor(0)
Create an FSI system using a custom SPH FSI interface
Error initializing terrain: parallel_for failed:
cudaErrorUnsupportedPtxVersion: the provided PTX was compiled with an
unsupported toolchain.
Created environment with 1 parallel environments
Actor MLP: Sequential(
(0): Linear(in_features=45, out_features=512, bias=True)
(1): ELU(alpha=1.0)
(2): Linear(in_features=512, out_features=256, bias=True)
(3): ELU(alpha=1.0)
(4): Linear(in_features=256, out_features=128, bias=True)
(5): ELU(alpha=1.0)
(6): Linear(in_features=128, out_features=12, bias=True)
)
Critic MLP: Sequential(
(0): Linear(in_features=45, out_features=512, bias=True)
(1): ELU(alpha=1.0)
(2): Linear(in_features=512, out_features=256, bias=True)
(3): ELU(alpha=1.0)
(4): Linear(in_features=256, out_features=128, bias=True)
(5): ELU(alpha=1.0)
(6): Linear(in_features=128, out_features=1, bias=True)
)
Loaded model from ./data/rl_models/rslrl\model_2999.pt
Policy loaded successfully
Resetting environment tensor(0)
Create an FSI system using a custom SPH FSI interface
Error initializing terrain: parallel_for failed:
cudaErrorUnsupportedPtxVersion: the provided PTX was compiled with an
unsupported toolchain.
Environment reset. Observation shape: torch.Size([1, 45])
Starting evaluation for 1000 steps...
==================================================
ERROR: FSI system not initialized!
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 156, in <module>
main()
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 94, in main
obs, rewards, dones, extras = env.step(actions)
^^^^^^^^^^^^^^^^^
File
"C:\Users\chike\Box\TurtleRobotExperiments\Sea_Turtle_Robot_AI_Powered_Simulations_Project\NnamdiFiles\mujocotest1\chrono\multi-terrain-RL\rl_examples\rslrl\chrono_crmenv.py",
line 275, in step
self.terrains[i].Advance(step_size)
File
"C:\Users\chike\anaconda3\envs\chrono_rl\Lib\site-packages\pychrono\vehicle.py",
line 5562, in Advance
return _vehicle.CRMTerrain_Advance(self, step)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
RuntimeError: FSI system not initialized!
Best regards,
Nnamdi
On Thursday, August 7, 2025 at 10:36:12 AM UTC-4 [email protected] wrote:
> Hi Nnamdi,
>
> Thank you for your patience. We have published a new release that fixes
> the issue on Windows. You can obtain the release by creating a NEW
> environment using the command listed in
> https://github.com/uwsbel/sbel-reproducibility/tree/master/2025/multi-terrain-RL
>
>
> To run granular simulation, replace "env_type = "rigid"" with "env_type =
> "granular"" in eval.py .
>
> Let me know if you still encounter the issue.
>
> Best,
>
> Bocheng Zou
>
>
> On 8/7/25 02:14, Nnamdi Chikere wrote:
>
> 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://urldefense.com/v3/__https://www.google.com/maps/search/1513*0D*0A**mUniversity*Avenue**A0D*0A**jMadison,*WI*0D*0A**m53706-1572?entry=gmail&source=g__;JSUrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKyslJSsrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrJSUrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysr!!Mak6IKo!KdbaCCLAD5Cq61HUQ4b5JCrg7PjBvB9hSNDyV7cu1Dz_BxVbT-BX3ViQuoDj3YUdNbSnchnKWHwuzYJmLBg$>
>>>>>>>>
>>>>>>>> <https://urldefense.com/v3/__https://www.google.com/maps/search/1513*0D*0A**mUniversity*Avenue**A0D*0A**jMadison,*WI*0D*0A**m53706-1572?entry=gmail&source=g__;JSUrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKyslJSsrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrJSUrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysr!!Mak6IKo!KdbaCCLAD5Cq61HUQ4b5JCrg7PjBvB9hSNDyV7cu1Dz_BxVbT-BX3ViQuoDj3YUdNbSnchnKWHwuzYJmLBg$>
>>>>>>>>
>>>>>>>>
>>>>>>>> Madison, WI 53706-1572
>>>>>>>> <https://urldefense.com/v3/__https://www.google.com/maps/search/1513*0D*0A**mUniversity*Avenue**A0D*0A**jMadison,*WI*0D*0A**m53706-1572?entry=gmail&source=g__;JSUrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKyslJSsrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrJSUrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysr!!Mak6IKo!KdbaCCLAD5Cq61HUQ4b5JCrg7PjBvB9hSNDyV7cu1Dz_BxVbT-BX3ViQuoDj3YUdNbSnchnKWHwuzYJmLBg$>
>>>>>>>>
>>>>>>>> 608 772 0914 <(608)%20772-0914>
>>>>>>>>
>>>>>>>> http://sbel.wisc.edu/
>>>>>>>>
>>>>>>>> http://projectchrono.org/
>>>>>>>> <https://urldefense.com/v3/__http://projectchrono.org/__;!!Mak6IKo!NNZn_b2z9W4LO4J581E-MjNPOiP3Ycu6Aq4Tl1QDCtM_LLuFYDaL6-RQ1C6nAeNfanFjXrRNIOIfwQNCC_e1hx3RfFuX_A$>
>>>>>>>>
>>>>>>>>
>>>>>>>> ---------------------------------------------
>>>>>>>>
>>>>>>>>
>>>>>>>>
>>>>>>>> *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$>
>>>>>>>>
>>>>>>>> <https://urldefense.com/v3/__https://www.google.com/maps/search/1513*University*Avenue**A0D*0A**vMadison,*WI*53706-1572?entry=gmail&source=g__;KysrJSUrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKysrKys!!Mak6IKo!KdbaCCLAD5Cq61HUQ4b5JCrg7PjBvB9hSNDyV7cu1Dz_BxVbT-BX3ViQuoDj3YUdNbSnchnKWHwuAFTp9YI$>
>>>>>>>>
>>>>>>>>
>>>>>>>> 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
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