vietld-itec / crm_sim_nasa_exp_scripts

Scripts to reproduce the CRM simulation results published in the paper

Scripts and Instructions

Clone the scripts and follow the below instructions to reproduce the results we published in the paper.

We ran simulations and generated all the results on Ubuntu 20.04 with CUDA 11.8 and GCC 9.3.0.

These simulations took 3-4 days on a workstation with Intel 14900K CPU and NVIDIA RTX 4090 GPU.

Step 1 - Clone Chrono and scripts for the paper, then build Chrono software

Create a work directory in your home directory like below:

~/00_CRM_NASA_SIM

Go to this work directory, clone the Chrono repository and checkout to release 8.0 version:

git clone https://github.com/projectchrono/chrono.git --recursive -b release/8.0

Clone the scripts repository for the paper:

git clone https://github.com/sjtumsd/crm_sim_nasa_exp_scripts.git

Make some necessary changes to the Chrono source files by replacing them with the provided files:

cp crm_sim_nasa_exp_scripts/chrono_source_files/Ch* chrono/src/chrono_fsi/

cp crm_sim_nasa_exp_scripts/chrono_source_files/Viper.cpp chrono/src/chrono_models/robot/viper/

Create a directory to build Chrono software and go to it:

mkdir chrono_build

cd chrono_build

Build Chrono in this directory with FSI MODULE ON, VEHICLE MODULE ON, and USE_FSI_DOUBLE OFF

Step 2 - Build and run the single wheel simulation with VV-mode

Go to the single wheel VV-mode scripts folder:

~/00_CRM_NASA_SIM/crm_sim_nasa_exp_scripts/demos/single_wheel_vv_mode

Configure the single wheel simulation:

cmake . -DCMAKE_BUILD_TYPE=Release -DChrono_DIR=../../../chrono_build/cmake

Build the simulation:

make

Run the simulation:

sudo chmod +x runSimulation.sh

./runSimulation.sh

Step 3 - Build and run the single wheel simulation with Real slope-mode

Go to the single wheel Real slope-mode scripts folder:

~/00_CRM_NASA_SIM/crm_sim_nasa_exp_scripts/demos/single_wheel_real_slope_mode

Configure the single wheel simulation:

cmake . -DCMAKE_BUILD_TYPE=Release -DChrono_DIR=../../../chrono_build/cmake

Build the simulation:

make

Run the simulation:

sudo chmod +x runSimulation.sh

./runSimulation.sh

Step 4 - Build and run the full Viper rover simulation

Go to the full Viper rover scripts folder

~/00_CRM_NASA_SIM/crm_sim_nasa_exp_scripts/demos/viper_real_slope

Configure the full Viper rover simulation

cmake . -DCMAKE_BUILD_TYPE=Release -DChrono_DIR=../../../chrono_build/cmake

Build the simulation:

make

Run the simulation:

sudo chmod +x runSimulation.sh

sudo chmod +x runSimulationConclusion.sh

./runSimulation.sh

./runSimulationConclusion.sh

Step 5 - Generate all images in the paper

Go to below directory:

~/00_CRM_NASA_SIM/crm_sim_nasa_exp_scripts

Download Blender package

wget https://mirror.clarkson.edu/blender/release/Blender3.3/blender-3.3.1-linux-x64.tar.xz

tar -xvf blender-3.3.1-linux-x64.tar.xz

Go to below directory:

~/00_CRM_NASA_SIM/crm_sim_nasa_exp_scripts/images

Generate all images by running below script:

sudo chmod +x generateFigures.sh

./generateFigures.sh

All the images will be in:

~/00_CRM_NASA_SIM/crm_sim_nasa_exp_scripts/images/figure