菜单
Create and configure a ChSensorManager, add scene lighting, and run sensor update loops. NON-FSI scenes only — FSI/SPH scenes must use fsi/sph Pattern G (VSG-only recording) because OptiX cannot render SPH particles.
用 Codex 或 Claude 帮你安装 复制这段 Prompt，粘贴到 Codex、Claude 或其他助手里，让它检查 Skill 页面并帮你完成安装。
基于 SOC 职业分类
Entry point for FSI-coupled hybrid plans (plan_type=fsi_in_scene) — any scene combining SPH fluid (water tanks, dam-break, wave channels) with multi-body dynamics, optionally with a wheeled vehicle. Pick this over mbs_in_scene whenever the plan involves a fluid domain (scene_objects with domain_type starting "sph_") or an FSI body registration (scene_objects with fsi_registration set). Routes to fsi/sph (always), veh/wheeled_vehicle (when vehicle present), and enforces FSI-specific invariants distinct from generic mbs_in_scene rigid scenes.
Entry point for rigid-body hybrid plans (plan_type=mbs_in_scene) combining a robot or vehicle with scene assets — NO fluid coupling. Routes to the correct domain skills and defines only high-level invariants. Use core/fsi_in_scene instead when the plan involves SPH fluid or FSI body registration.
Entry point for pure multi-body simulation plans (plan_type=mbs). Routes the agent to the correct mechanics, system, and camera skills and defines only high-level invariants.
Entry point for static scene plans (plan_type=scene). Routes the agent to the correct scene, system, and camera skills and defines only high-level invariants.
Set up SPH-based Fluid-Structure Interaction (FSI): create ChFsiFluidSystemSPH and ChFsiSystemSPH, configure fluid and SPH parameters, seed fluid particles with hydrostatic initialization, add container BCE boundary markers, register floating rigid bodies, optionally couple with a wheeled vehicle, and advance with sysFSI.DoStepDynamics(dT).
Translate a `geometry_relations` entry from the plan into correct PyChrono coordinate code. Read this whenever the plan declares a relation_name you have not previously encoded, and especially BEFORE writing SetPos / camera placement for any body that participates in a multi-body geometric constraint. Each subsection below is one canonical pattern named exactly as it appears in `plan.geometry_relations[i].relation_name`.
| name | sensor_manager |
| description | Create and configure a ChSensorManager, add scene lighting, and run sensor update loops. NON-FSI scenes only — FSI/SPH scenes must use fsi/sph Pattern G (VSG-only recording) because OptiX cannot render SPH particles. |
| compatibility | pychrono >= 8.0 |
| metadata | {"domain":"sens"} |
Create and configure a ChSensorManager to oversee all sensors in a simulation, add scene lighting for camera-based sensors, and run the sensor update loop.
Use when building any simulation that includes sensors (camera, lidar, radar, IMU, GPS, etc.). The sensor manager must be created before adding any sensors.
If the scene includes SPH fluid (the fsi/sph skill is loaded, plan
mentions water / pool / fluid / floating body), do NOT use this skill for
the primary mp4 recording. ChCameraSensor (OptiX) cannot render SPH
particles — ChSphVisualizationVSG is a VSG-pipeline plugin and never
reaches the OptiX scene tree, so any sensor-camera mp4 of an FSI scene
shows an empty tank with no water.
For FSI scenes, follow fsi/sph Pattern G — VSG-Only mp4 Recording
instead, using the helpers in chrono_code.utils.vsg_recording
(hide_vsg_gui, lock_side_camera, setup_vsg_recording).
A sensor camera MAY still be added on top of the VSG recording when the scene also needs sensor data for ML training (e.g. depth maps, where missing fluid is acceptable for the downstream task) — but the main video of an FSI scene is always VSG-only.
import pychrono.sensor as sens
manager = sens.ChSensorManager(physical_system)
Camera-based sensors require scene lighting to function properly:
# AddPointLight: (ChVector3f position, ChColor color, float range)
manager.scene.AddPointLight(
chrono.ChVector3f(2, 2.5, 100),
chrono.ChColor(1.0, 1.0, 1.0),
500.0
)
# SetAmbientLight: takes ChVector3f, NOT ChColor
manager.scene.SetAmbientLight(chrono.ChVector3f(0.3, 0.3, 0.3))
# AddDirectionalLight: (ChColor color, float elevation, float azimuth)
# Note the order: color first, then two scalar angles in radians.
manager.scene.AddDirectionalLight(
chrono.ChColor(0.8, 0.8, 0.7),
0.45,
-1.10,
)
Directional light on the sensor scene is not the same API style as VSG lighting:
manager.scene.AddDirectionalLight(...) expects ChColor + 2 scalar anglesvis.SetLightDirection(...) configures VSG lighting and also uses scalar angles| Wrong | Correct | Why |
|---|---|---|
SetAmbientLight(chrono.ChColor(0.5, 0.5, 0.5)) | SetAmbientLight(chrono.ChVector3f(0.5, 0.5, 0.5)) | Takes ChVector3f, NOT ChColor |
SetAmbientLight(chrono.ChVector3f(0.5, 0.5, 0.5), 1.0) | SetAmbientLight(chrono.ChVector3f(0.5, 0.5, 0.5)) | Only 1 argument (the vector), no intensity param |
AddPointLight(chrono.ChVector3d(...), ...) | AddPointLight(chrono.ChVector3f(...), ...) | Position must be ChVector3f, NOT ChVector3d |
AddDirectionalLight(chrono.ChVector3f(...), chrono.ChColor(...), chrono.ChVector3f(...)) | AddDirectionalLight(chrono.ChColor(...), elevation, azimuth) | Sensor-scene directional light takes color first, then two scalar angles |
AddDirectionalLight(direction, color, up) | AddDirectionalLight(color, elevation, azimuth) | This binding does not accept a direction vector or an up vector |
In the simulation loop, update all sensors before stepping the system:
# In your while loop:
manager.Update() # Update all sensors
sys.DoStepDynamics(dt)
import pychrono.core as chrono
import pychrono.sensor as sens
# Create the physical system
sys = chrono.ChSystemNSC()
sys.SetGravityY()
# Create sensor manager
manager = sens.ChSensorManager(sys)
# Add scene lighting for camera sensors
intensity = 1.0
manager.scene.AddPointLight(
chrono.ChVector3f(2, 2.5, 100),
chrono.ChColor(intensity, intensity, intensity),
500.0
)
manager.scene.AddDirectionalLight(
chrono.ChColor(0.8, 0.8, 0.7),
0.45,
-1.10,
)
# Now add sensors to manager:
# manager.AddSensor(sensor)
# In simulation loop:
# manager.Update()
# sys.DoStepDynamics(dt)
bg = sens.Background()
bg.mode = sens.BackgroundMode_SOLID_COLOR # module-level constant
bg.color_zenith = chrono.ChVector3f(0, 0, 0)
bg.color_horizon = chrono.ChVector3f(0, 0, 0)
manager.scene.SetBackground(bg)
manager.scene.SetAmbientLight(chrono.ChVector3f(0.3, 0.3, 0.3))
../camera/ - Camera sensor setup via setup_preview_cameraallowed_classes:
allowed_methods:
allowed_constants: