switch to exudyn.graphics, fixes for stable-baselines, compute linear…

…ized system and eigenvalues for constraints; more fixes see issue tracker

README.rst

@@ -39,13 +39,15 @@ Exudyn
 
 **A flexible multibody dynamics systems simulation code with Python and C++**
 
-Exudyn version = 1.8.32.dev1 (Jones)
+Exudyn version = 1.8.52.dev1 (Jones)
 
 +  **University of Innsbruck**, Department of Mechatronics, Innsbruck, Austria
 
 If you like using Exudyn, please add a *star* on github and follow us on 
 `Twitter @RExudyn <https://twitter.com/RExudyn>`_ !
 
++  **Update on Exudyn V1.8.52**: newer examples use ``exudyn.graphics`` instead of ``GraphicsData`` functions. The old models are backwards-compatible, but the updated examples and test models require version 1.8.52 or newer! Install with ``pip install exudyn --pre -U``
+
 +  **NOTE**: for pure installation, use **pip install exudyn** (see further description below)
 +  *free, open source* and with plenty of *documentation* and *examples*
 +  **pre-built** for Python 3.8 - 3.12 under **Windows** , **Linux** and **MacOS** available ( **NEW** : now with manylinux2014 compatibility and PEP518 build); build wheels yourself, see `theDoc.pdf <https://github.com/jgerstmayr/EXUDYN/blob/master/docs/theDoc/theDoc.pdf>`_ )

docs/RST/Examples/ANCFALEtest.rst

@@ -14,7 +14,6 @@ You can view and download this file on Github: `ANCFALEtest.py <https://github.c
    # This is an EXUDYN example
    #
    # Details:  ANCF ALE with under gravity
-   # Notes:    This example fails to solve with the current settings; needs to be reworked
    #
    # Author:   Johannes Gerstmayr
    # Date:     2020-02-17
@@ -24,11 +23,8 @@ You can view and download this file on Github: `ANCFALEtest.py <https://github.c
    #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    
    import exudyn as exu
-   from exudyn.itemInterface import *
-   
-   # from exudyn.basicUtilities import *
-   # from exudyn.graphicsDataUtilities import *
-   from exudyn.utilities import *
+   from exudyn.utilities import * #includes itemInterface and rigidBodyUtilities
+   import exudyn.graphics as graphics #only import if it does not conflict
    
    import numpy as np
    from math import sqrt, sin, cos
@@ -51,16 +47,13 @@ You can view and download this file on Github: `ANCFALEtest.py <https://github.c
    
    #++++++++++++++++++++++++++++++++++
    #initialize variables        
-   vALE0=1 #initial velocity
    
    useGraphics = True
-   if useGraphics:
-       nElements = 32 #16 
-   else:
-       nElements = 4
-       vALE0=2 #initial velocity
-       h= 4e-3
-       tEnd = 2
+   
+   nElements = 8
+   vALE0=1 #initial velocity
+   h= 2e-3
+   tEnd = 2 #fails at higher times ... check if this is just unstable due to very flexible beam
        
    damper = 0.01 #0.1: standard for parameter variation; 0.001: almost no damping, but solution is still oscillating at evaluation period
    

docs/RST/Examples/ANCFcableCantilevered.rst

@@ -23,7 +23,8 @@ You can view and download this file on Github: `ANCFcableCantilevered.py <https:
    #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    
    import exudyn as exu
-   from exudyn.utilities import *
+   from exudyn.utilities import * #includes itemInterface and rigidBodyUtilities
+   import exudyn.graphics as graphics #only import if it does not conflict
    from exudyn.beams import *
    
    import numpy as np

docs/RST/Examples/ANCFcantileverTest.rst

@@ -28,7 +28,8 @@ You can view and download this file on Github: `ANCFcantileverTest.py <https://g
    
    ## import exudyn and utilities
    import exudyn as exu
-   from exudyn.utilities import *
+   from exudyn.utilities import * #includes itemInterface and rigidBodyUtilities
+   import exudyn.graphics as graphics #only import if it does not conflict
    
    ## create container and main system to work with
    SC = exu.SystemContainer()

docs/RST/Examples/ANCFcontactCircle2.rst

@@ -23,7 +23,8 @@ You can view and download this file on Github: `ANCFcontactCircle2.py <https://g
    #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    
    import exudyn as exu
-   from exudyn.utilities import *
+   from exudyn.utilities import * #includes itemInterface and rigidBodyUtilities
+   import exudyn.graphics as graphics #only import if it does not conflict
    
    
    SC = exu.SystemContainer()
@@ -40,11 +41,11 @@ You can view and download this file on Github: `ANCFcontactCircle2.py <https://g
    background1 = {'type':'Line', 'color':[0.1,0.1,0.8,1], 'data':[0,-1,0, 2,-1,0]} #background
    
    
-   background  = [GraphicsDataRectangle(-0.5,-1,2.5,1, color=color4blue)]
-   background += [GraphicsDataLine([[0,-1,0], [2,-1,0]], color=color4green)]
-   background += [GraphicsDataCircle(point=pCircle, radius = circleRadius-0.002, color=color4blue)] #not necessary, as it is drawn by connector
-   background += [GraphicsDataCircle(point=pCircle2, radius = circleRadius2-0.002, color=color4blue)] #not necessary, as it is drawn by connector
-   background += [GraphicsDataText(point=[0.,0.2,0], text = 'ANCF contact with circle', color=color4black)]
+   background  = [GraphicsDataRectangle(-0.5,-1,2.5,1, color=graphics.color.blue)]
+   background += [graphics.Lines([[0,-1,0], [2,-1,0]], color=graphics.color.green)]
+   background += [graphics.Circle(point=pCircle, radius = circleRadius-0.002, color=graphics.color.blue)] #not necessary, as it is drawn by connector
+   background += [graphics.Circle(point=pCircle2, radius = circleRadius2-0.002, color=graphics.color.blue)] #not necessary, as it is drawn by connector
+   background += [graphics.Text(point=[0.,0.2,0], text = 'ANCF contact with circle', color=graphics.color.black)]
    
    oGround=mbs.AddObject(ObjectGround(referencePosition= [0,0,0], visualization=VObjectGround(graphicsData= background)))
    

docs/RST/Examples/ANCFrotatingCable2D.rst

@@ -23,14 +23,15 @@ You can view and download this file on Github: `ANCFrotatingCable2D.py <https://
    #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    
    import exudyn as exu
-   from exudyn.utilities import *
+   from exudyn.utilities import * #includes itemInterface and rigidBodyUtilities
+   import exudyn.graphics as graphics #only import if it does not conflict
    
    SC = exu.SystemContainer()
    mbs = SC.AddSystem()
    
    
    #background
-   background = GraphicsDataCheckerBoard(point=[0,0,-0.1],size = 5)
+   background = graphics.CheckerBoard(point=[0,0,-0.1],size = 5)
    oGround=mbs.AddObject(ObjectGround(referencePosition= [0,0,0], visualization=VObjectGround(graphicsData= [background])))
    
    #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
@@ -83,7 +84,7 @@ You can view and download this file on Github: `ANCFrotatingCable2D.py <https://
    
    if True:
        #create rigid body:
-       gBody = GraphicsDataOrthoCubePoint(size = [h,h,h], color=color4red)
+       gBody = graphics.Brick(size = [h,h,h], color=graphics.color.red)
        dictBody = mbs.CreateRigidBody(referencePosition=[0,0,0],
                                    inertia = InertiaCuboid(1000, [h,h,h]),
                                    graphicsDataList=[gBody],

docs/RST/Examples/ANCFswitchingSlidingJoint2D.rst

@@ -24,7 +24,8 @@ You can view and download this file on Github: `ANCFswitchingSlidingJoint2D.py <
    
    import exudyn as exu
    from exudyn.itemInterface import *
-   from exudyn.utilities import *
+   from exudyn.utilities import * #includes itemInterface and rigidBodyUtilities
+   import exudyn.graphics as graphics #only import if it does not conflict
    
    SC = exu.SystemContainer()
    mbs = SC.AddSystem()

docs/RST/Examples/CMSexampleCourse.rst

@@ -25,7 +25,8 @@ You can view and download this file on Github: `CMSexampleCourse.py <https://git
    
    
    import exudyn as exu
-   from exudyn.utilities import *
+   from exudyn.utilities import * #includes itemInterface and rigidBodyUtilities
+   import exudyn.graphics as graphics #only import if it does not conflict
    from exudyn.FEM import *
    import numpy as np
    from math import sqrt, sin, cos, pi

docs/RST/Examples/ComputeSensitivitiesExample.rst

@@ -32,6 +32,8 @@ You can view and download this file on Github: `ComputeSensitivitiesExample.py <
    
    import numpy as np #for postprocessing
    
+   useGraphics = True
+   
    #this is the function which is repeatedly called from ComputeSensitivities
    #parameterSet contains dictinary with varied parameters
    def ParameterFunction(parameterSet):
@@ -82,10 +84,9 @@ You can view and download this file on Github: `ComputeSensitivitiesExample.py <
        mbs.AddLoad(LoadCoordinate(markerNumber = nodeMarker, 
                                                 load = P.force))
        #add sensor:
-       fileName = 'solution/paramVarDisplacement'+ str(P.computationIndex) +'.txt'#
        flagWriteFile = False
        if P.computationIndex == 'Ref': flagWriteFile = True
-       sData = mbs.AddSensor(SensorObject(objectNumber=nC, fileName=fileName, 
+       sData = mbs.AddSensor(SensorObject(objectNumber=nC, storeInternal=True,
                                   outputVariableType=exu.OutputVariableType.Force, 
                                   writeToFile=flagWriteFile))
        
@@ -100,8 +101,8 @@ You can view and download this file on Github: `ComputeSensitivitiesExample.py <
        simulationSettings.timeIntegration.endTime = tEnd
        
        simulationSettings.timeIntegration.generalizedAlpha.spectralRadius = 1 #no damping
-       if not(flagWriteFile): 
-           sRecorder = AddSensorRecorder(mbs, sData, tEnd, simulationSettings.solutionSettings.sensorsWritePeriod, sensorOutputSize=1)
+       # if not(flagWriteFile): 
+       #     sRecorder = AddSensorRecorder(mbs, sData, tEnd, simulationSettings.solutionSettings.sensorsWritePeriod, sensorOutputSize=1)
        
        #exu.StartRenderer()              #start graphics visualization
        #mbs.WaitForUserToContinue()    #wait for pressing SPACE bar to continue
@@ -115,13 +116,7 @@ You can view and download this file on Github: `ComputeSensitivitiesExample.py <
        #+++++++++++++++++++++++++++++++++++++++++++++++++++++
        #evaluate difference between reference and optimized solution
        #reference solution:
-       
-   
-       if flagWriteFile: 
-           data = np.loadtxt(fileName, comments='#', delimiter=',')
-       else: 
-           data = mbs.variables['sensorRecord0']
-   
+       data = mbs.GetSensorStoredData(sData)
        avgPos = np.average(np.abs(data))
        #+++++++++++++++++++++++++++++++++++++++++++++++++++++
        #compute exact solution:
@@ -148,26 +143,26 @@ You can view and download this file on Github: `ComputeSensitivitiesExample.py <
        import time
        useMultiProcessing = exudyn
        start_time = time.time()
-       n = [2, 2]
-       fVar = [1e-3, 1.5e-3, 1]
+       n = [2, 2] #number of variations
+       fVar = [1e-3, 1.5e-3, 1] #differentiation eps
        mRef = 1.5
        kRef = 4000
        [pList, valRef, valuesSorted, sensitivity] = ComputeSensitivities(parameterFunction=ParameterFunction, 
                                             parameters = {'mass': (mRef, fVar[0], n[0]), 
                                                           'spring': (kRef,fVar[1], n[1]),
                                                           },
                                             scaledByReference=False,  
-                                            debugMode=True,
+                                            debugMode=useGraphics,
                                             addComputationIndex=True,
                                             useMultiProcessing=False,
-                                            showProgress=True,)
+                                            showProgress=useGraphics)
        
        testResult = np.average(np.abs(sensitivity))
        if True: 
            print("--- %s seconds ---" % (time.time() - start_time))
            PlotSensitivityResults(valRef, valuesSorted, sensitivity, strYAxis=['avg. $|x|$', 'x0', ''])
        else: 
-           exu.Print('result of ConvexContactTest=',testResult)
+           exu.Print('result of Sensitivities Examaple=',testResult)