home.md

+# Journée utilisateur et ateliers LMGC90: MBS-DEM workshop
+
+Nantes, 12/2006
+
+This page describes the workshop related to the numerical coupling 
+of granular media  models based on a discrete element method (DEM)
+and articulated systems modelled as multibody systems (MBS).
+It is implemented by coupling two programs:
+ * LMGC90 for the DEM,
+ * Robotran for the MBS.
+ 
+## Outline
+
+* Brief introduction to Robotran
+* Installing Robotran:
+  * MBsysPad: The graphical editor
+  * MBsysC: The numerical environment, development version
+* Compiling MBsysC
+* Compiling LMGC90 liking to Robotran/MBsysC
+* Compiling a Robotran project
+* Simulating MBS-DEM models:
+  * The multiple pendulum
+  * The TTT picker robot
+  
+  
+## Introduction to Robotran
+
+* The Robotran framework
+* [MBS modelling cycle](http://www.robotran.be/documentation/Slides/HTML_RobotranSuite/RobotranSuite.html):
+  * MBsysPad: Editing the project
+  * MBsysTran: Generating the symbolic equation
+  * User brain: Writing the constitutive equation of the model
+  * MBsysC: Simulating the motion
+  * MBsysPad: Animating the results
+  * User brain: Analysing the results
+* Structure of a project  
+* [Structure of the MBsysC numerical modules](http://www.robotran.be/documentation/Slides/HTML_MBsysC/MBsysLibDiag.html)
+* How it interacts with LMGC90:
+  * interaction diagram
+  * MBS3D and MBS2D, similar to RBDY3 and RBDY2
+
+## Installing
+
+All information is available on www.robotran.eu. Here are some details
+and specific instruction for the workshop.
+
+### Installing MBsysPad
+
+Follow instructions here:
+ * [Linux](http://www.robotran.eu/tutorial/install/Linux/MBsysPad.html)
+ * [MacOS](http://www.robotran.eu/tutorial/install/MacOS/MBsysPad.html)
+ * [Windows](http://www.robotran.eu/tutorial/install/Win64/MBsysPad.html), but the MBS-DEM coupling is not working with Windows :-(
+
+### Installing MBsysC
+
+For the workshop, install the development version:
+ * Go to the directory where you want to put MBsysC modules
+ * Clone MBsysC modules from git.immc.ucl.ac.be: `git clone git@git.immc.ucl.ac.be:robotran/mbsysc.git`
+ * Tell MBsysPad that you want to use the development version:
+   * Open MBsysPad
+   * Go to menu *Tools/Edit preferences*
+   * Check the box *Specify a custome MBsysC path*
+   * Fill the field *MBsysC path* with the path to the development version of MBsysC modules
+
+## Compiling MBsysC modules
+
+First you must install the dependencies:
+ * Ubuntu 16.04: `sudo apt-get install libxml2-dev libgsl2 libgsl-dev`
+ * Ubuntu 14.04 and previous: `sudo apt-get install libxml2-dev libgsl0ldbl libgsl0-dev`
+ * MacOS: look [here](http://www.robotran.be/tutorial/install/MacOS/MBsysC.html) to install GSL and LibXML2
+
+Then you can compile.
+
+ * Go to the path: `....../mbsysC/MBsysC`
+ * Make a build directory: `mkdir build`
+ * Go to the build directory: `cd build`
+ * Configure the project: `cmake ..`
+ * Adapt the options so as to compile the MBS-DEM and the python interfaces
+   * Open cmake-gui
+   * Check the following options:
+     * FLAG_ADDON_MBSLMGC (to compile the MBS-DEM coupling)
+     * FLAG_INTERFACE_PYTHON (to compile the python interface to MBsysC modules)
+     * FLAG_IPY_WITH_MBS_LMGC (to compile the python interface to the MBS-DEM coupling)
+  * **Warning for MacOS user**, you have to force to use the same compiler
+    as LMGC90, i.e. gcc:
+    * With cmake-gui: check *avdanced* and set the option CMAKE_C_COMPILER to gcc
+    * Alternatively, in the command line: `cmake . -DCMAKE_C_COMPILER=gcc`
+  * Compile MBsysC: `make`  
+
+## Compiling LMGC90 by linking to Robotran/MBsysC
+
+ * Go to the build folder of LMGC90
+ * Open cmake-gui and set the following options:
+   * set EXT_MBS_VERSION to *Robotran*
+   * set EXT_MBS_FILE with the path `....../mbsysC/MBsysC/build/mbs_add_on/mbs_lmgc/Robotran_Lmgc90.cfg`
+   * Alternatively, in the command line: `cmake . -DEXT_MBS_VERSION=Robotran -DEXT_MBS_FILE=....../mbsysC/MBsysC/build/mbs_add_on/mbs_lmgc/Robotran_Lmgc90.cfg`
+ * re-Compile LMGC90: `make`  
+   
+## Compiling a Robotran project: the MultiplePendulum example
+           
+The MultiplePendulum example comes with the MBsysC distribution and is
+stroed in the ExampleProjects folder
+
+ * Go to the *workR* folder of the MultiplePendulum project
+   `cd ...../mbsysc/ExampleProjects/MultiplePendulum/workR`
+ * Create a build directory: `mkdir build`
+ * Go to the build directory: `cd build`
+ * Configure the project: `cmake ..`
+ * Configure the project to build in *separate* mode
+   * open cmake-gui and check FLAG_SEPARATE_BUILD
+   * Alternatively, in the shell: `cmake -DFLAG_SEPARATE_BUILD=ON ..`
+ * Compile the project: `make`   
+   
+## Running the MultiplePendulum example
+
+The simulation is controlled by a python script. This script is very
+similar to the command script of a LMGC90 project with some specific
+commands to initialize and call the MBS computations.
+
+Remark: there is no preprocessor for the MBS-DEM coupling: contactors
+  and mbs elements are added directly in the command script
+
+ * Add the MBS-DEM coupling anf the python interface of MBsysC to the 
+   python path: 
+     * `export PYTHONPATH=...../mbsysc/MBsysC/build/mbs_add_on/mbs_lmgc/lib:${PYTHONPATH}`
+     * `export PYTHONPATH=...../mbsysc/MBsysC/build/mbs_interface/mbs_python/lib:${PYTHONPATH}`
+ * Go to the work/lmgc90 folder: `cd ...../mbsysc/ExampleProjects/MultiplePendulum/workR/lmgc90`  
+ * Run the script: `python command_MBS_LMGC.py`
+
+You can then look at the simulation results in paraview as for a 
+LMGC90 project. 
+ 
+## Simulating the TTT picker robot
+
+* Go to the folder in which you want to put the project: `cd my/mbs/folder`
+* Get the project from git.immc.ucl.ac.be: `git clone git@git.immc.ucl.ac.be:mbs_lmgc90/Robot-TTT.git`
+* Go to the workR directory: `cd Robot-TTT/workR`
+* Create the build directory: `mkdir build`
+* Go to the build directory: `cd build`
+* Configure the project: `cmake ..`
+* Adapt options:
+  * Open cmake-gui
+  * check FLAG_SEPARATE_BUILD and click configure
+  * In the field LibRobotranC_DIR, set the path to MBsysC: `....../mbsysC/MBsysC/build`
+  * Alternatively, in the command line: `cmake .. -DFLAG_SEPARATE_BUILD=ON -DROBOTRAN_SOURCE_DIR=....../mbsysC/MBsysC`
+* Compile: `make`
+* Go to the work/lmgc90 folder: `cd my/mbs/folder/Robot-TTT/workR/lmgc90`  
+* Add the MBS-DEM coupling anf the python interface of MBsysC to the 
+   python path: 
+  * `export PYTHONPATH=...../mbsysc/MBsysC/build/mbs_add_on/mbs_lmgc/lib:${PYTHONPATH}`
+  * `export PYTHONPATH=...../mbsysc/MBsysC/build/mbs_interface/mbs_python/lib:${PYTHONPATH}`
+* Run the script: `python command_MBS_interface.py`
+* Look at the motion in paraview
+* Setting the correct position of the target:
+  * Open MBsysPad
+  * OPen the project by selecting the dataR/Rob_TTT.mbs file
+  * Click on the *User Model* button  
+  * Select the *Target* suer model and set the X and Y values:
+    * X: -0.1
+    * Y: -0.3
+  * Save the project
+  * Run again