def reset(self):
self.isdone = False
self.ant_sys.Clear()
self.body_abdomen = chrono.ChBody()
self.body_abdomen.SetPos(chrono.ChVectorD(0, self.abdomen_y0, 0 ))
self.body_abdomen.SetMass(self.abdomen_mass)
self.body_abdomen.SetInertiaXX(self.abdomen_inertia)
# set collision surface properties
self.body_abdomen.SetMaterialSurface(self.ant_material)
abdomen_ellipsoid = chrono.ChEllipsoid(chrono.ChVectorD(0, 0, 0 ), chrono.ChVectorD(self.abdomen_x, self.abdomen_y, self.abdomen_z ))
self.abdomen_shape = chrono.ChEllipsoidShape(abdomen_ellipsoid)
self.body_abdomen.AddAsset(self.abdomen_shape)
self.body_abdomen.SetMaterialSurface(self.ant_material)
self.body_abdomen.SetCollide(True)
self.body_abdomen.GetCollisionModel().ClearModel()
self.body_abdomen.GetCollisionModel().AddEllipsoid(self.abdomen_x, self.abdomen_y, self.abdomen_z, chrono.ChVectorD(0, 0, 0 ) )
self.body_abdomen.GetCollisionModel().BuildModel()
self.ant_sys.Add(self.body_abdomen)
leg_ang = (1/4)*math.pi+(1/2)*math.pi*np.array([0,1,2,3])
Leg_quat = [chrono.ChQuaternionD() for i in range(len(leg_ang))]
self.leg_body = [chrono.ChBody() for i in range(len(leg_ang))]
self.leg_pos= [chrono.ChVectorD() for i in range(len(leg_ang))]
leg_cyl = chrono.ChCylinder(-chrono.ChVectorD( self.leg_length/2, 0 ,0),chrono.ChVectorD( self.leg_length/2, 0 ,0), self.leg_radius)
self.leg_shape = chrono.ChCylinderShape(leg_cyl)
ankle_cyl = chrono.ChCylinder(-chrono.ChVectorD( self.ankle_length/2, 0 ,0),chrono.ChVectorD( self.ankle_length/2, 0 ,0), self.ankle_radius)
self.ankle_shape = chrono.ChCylinderShape(ankle_cyl)
foot_sphere = chrono.ChSphere(chrono.ChVectorD(self.ankle_length/2, 0, 0 ), self.ankle_radius )
self.foot_shape = chrono.ChSphereShape(foot_sphere)
Leg_qa = [ chrono.ChQuaternionD() for i in range(len(leg_ang))]
Leg_q = [ chrono.ChQuaternionD() for i in range(len(leg_ang))]
z2x_leg = [ chrono.ChQuaternionD() for i in range(len(leg_ang))]
Leg_rev_pos=[]
Leg_chordsys = []
self.legjoint_frame = []
x_rel = []
z_rel = []
self.Leg_rev = [chrono.ChLinkLockRevolute() for i in range(len(leg_ang))]
self.leg_motor = [chrono.ChLinkMotorRotationTorque() for i in range(len(leg_ang)) ]
#ankle lists
anklejoint_chordsys = []
self.anklejoint_frame = []
self.ankleCOG_frame = []
q_ankle_zrot = [ chrono.ChQuaternionD() for i in range(len(leg_ang))]
self.ankle_body = [chrono.ChBody() for i in range(len(leg_ang))]
self.Ankle_rev = [chrono.ChLinkLockRevolute() for i in range(len(leg_ang))]
self.ankle_motor = [chrono.ChLinkMotorRotationTorque() for i in range(len(leg_ang)) ]
for i in range(len(leg_ang)):
# Legs
Leg_quat[i].Q_from_AngAxis(-leg_ang[i] , chrono.ChVectorD(0, 1, 0))
self.leg_pos[i] = chrono.ChVectorD( (0.5*self.leg_length+self.abdomen_x)*math.cos(leg_ang[i]) ,self.abdomen_y0, (0.5*self.leg_length+self.abdomen_z)*math.sin(leg_ang[i]))
self.leg_body[i].SetPos(self.leg_pos[i])
self.leg_body[i].SetRot(Leg_quat[i])
self.leg_body[i].AddAsset(self.leg_shape)
self.leg_body[i].SetMass(self.leg_mass)
self.leg_body[i].SetInertiaXX(self.leg_inertia)
self.ant_sys.Add(self.leg_body[i])
x_rel.append( Leg_quat[i].Rotate(chrono.ChVectorD(1, 0, 0)))
z_rel.append( Leg_quat[i].Rotate(chrono.ChVectorD(0, 0, 1)))
Leg_qa[i].Q_from_AngAxis(-leg_ang[i] , chrono.ChVectorD(0, 1, 0))
z2x_leg[i].Q_from_AngAxis(chrono.CH_C_PI / 2 , x_rel[i])
Leg_q[i] = z2x_leg[i] * Leg_qa[i]
Leg_rev_pos.append(chrono.ChVectorD(self.leg_pos[i]-chrono.ChVectorD(math.cos(leg_ang[i])*self.leg_length/2,0,math.sin(leg_ang[i])*self.leg_length/2)))
Leg_chordsys.append(chrono.ChCoordsysD(Leg_rev_pos[i], Leg_q[i]))
self.legjoint_frame.append(chrono.ChFrameD(Leg_chordsys[i]))
self.Leg_rev[i].Initialize(self.body_abdomen, self.leg_body[i],Leg_chordsys[i])
self.ant_sys.Add(self.Leg_rev[i])
self.leg_motor[i].Initialize(self.body_abdomen, self.leg_body[i],self.legjoint_frame[i])
self.ant_sys.Add(self.leg_motor[i])
# Ankles
q_ankle_zrot[i].Q_from_AngAxis(-self.ankle_angle , z_rel[i])
anklejoint_chordsys.append(chrono.ChCoordsysD(self.leg_body[i].GetPos()+ self.leg_body[i].GetRot().Rotate(chrono.ChVectorD(self.leg_length/2, 0, 0)) , q_ankle_zrot[i] * self.leg_body[i].GetRot() ))
self.anklejoint_frame.append(chrono.ChFrameD(anklejoint_chordsys[i]))
self.ankle_body[i].SetPos(self.anklejoint_frame[i].GetPos() + self.anklejoint_frame[i].GetRot().Rotate(chrono.ChVectorD(self.ankle_length/2, 0, 0)))
self.ankle_body[i].SetRot( self.anklejoint_frame[i].GetRot() )
self.ankle_body[i].AddAsset(self.ankle_shape)
self.ankle_body[i].SetMass(self.ankle_mass)
self.ankle_body[i].SetInertiaXX(self.ankle_inertia)
self.ant_sys.Add(self.ankle_body[i])
self.Ankle_rev[i].Initialize(self.leg_body[i], self.ankle_body[i], anklejoint_chordsys[i])
self.ant_sys.Add(self.Ankle_rev[i])
self.ankle_motor[i].Initialize(self.leg_body[i], self.ankle_body[i],self.anklejoint_frame[i])
self.ant_sys.Add(self.ankle_motor[i])
# Feet collisions
self.ankle_body[i].SetMaterialSurface(self.ant_material)
self.ankle_body[i].SetCollide(True)
self.ankle_body[i].GetCollisionModel().ClearModel()
self.ankle_body[i].GetCollisionModel().AddSphere(self.ankle_radius, chrono.ChVectorD(self.ankle_length/2, 0, 0 ) )
self.ankle_body[i].GetCollisionModel().BuildModel()
self.ankle_body[i].AddAsset(self.ankle_shape)
self.ankle_body[i].AddAsset(self.foot_shape)
self.Leg_rev[i].GetLimit_Rz().SetActive(True)
self.Leg_rev[i].GetLimit_Rz().SetMin(-math.pi/3)
self.Leg_rev[i].GetLimit_Rz().SetMax(math.pi/3)
self.Ankle_rev[i].GetLimit_Rz().SetActive(True)
self.Ankle_rev[i].GetLimit_Rz().SetMin(-math.pi/2)
self.Ankle_rev[i].GetLimit_Rz().SetMax(math.pi/4)
# Create the room floor: a simple fixed rigid body with a collision shape
# and a visualization shape
self.body_floor = chrono.ChBody()
self.body_floor.SetBodyFixed(True)
self.body_floor.SetPos(chrono.ChVectorD(0, -1, 0 ))
self.body_floor.SetMaterialSurface(self.ant_material)
# Floor Collision.
self.body_floor.SetMaterialSurface(self.ant_material)
self.body_floor.GetCollisionModel().ClearModel()
self.body_floor.GetCollisionModel().AddBox(50, 1, 50, chrono.ChVectorD(0, 0, 0 ))
self.body_floor.GetCollisionModel().BuildModel()
self.body_floor.SetCollide(True)
# Visualization shape
body_floor_shape = chrono.ChBoxShape()
body_floor_shape.GetBoxGeometry().Size = chrono.ChVectorD(5, 1, 5)
body_floor_shape.SetColor(chrono.ChColor(0.4,0.4,0.5))
self.body_floor.GetAssets().push_back(body_floor_shape)
body_floor_texture = chrono.ChTexture()
body_floor_texture.SetTextureFilename(chrono.GetChronoDataFile('vehicle/terrain/textures/grass.jpg'))
self.body_floor.GetAssets().push_back(body_floor_texture)
self.ant_sys.Add(self.body_floor)
#self.body_abdomen.SetBodyFixed(True)
if (self.animate):
self.myapplication.AssetBindAll()
self.myapplication.AssetUpdateAll()
self.numsteps= 0
self.step(np.zeros(8))
return self.get_ob()
def reset(self):
self.isdone = False
self.ant_sys.Clear()
self.body_abdomen = chrono.ChBody()
self.body_abdomen.SetPos(chrono.ChVectorD(0, self.abdomen_y0, 0))
self.body_abdomen.SetMass(self.abdomen_mass)
self.body_abdomen.SetInertiaXX(self.abdomen_inertia)
# set collision surface properties
self.body_abdomen.SetMaterialSurface(self.ant_material)
abdomen_ellipsoid = chrono.ChEllipsoid(
chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(self.abdomen_x, self.abdomen_y, self.abdomen_z))
self.abdomen_shape = chrono.ChEllipsoidShape(abdomen_ellipsoid)
self.body_abdomen.AddAsset(self.abdomen_shape)
self.body_abdomen.SetMaterialSurface(self.ant_material)
self.body_abdomen.SetCollide(True)
self.body_abdomen.GetCollisionModel().ClearModel()
self.body_abdomen.GetCollisionModel().AddEllipsoid(
self.abdomen_x, self.abdomen_y, self.abdomen_z,
chrono.ChVectorD(0, 0, 0))
self.body_abdomen.GetCollisionModel().BuildModel()
self.ant_sys.Add(self.body_abdomen)
tilt_factor = 1.1 # no tilt; higher number tilts body toward positive x
leg_ang = np.array([
tilt_factor * math.pi / 2, tilt_factor * math.pi / 2
]) #(1/4)*math.pi+(1/2)*math.pi*np.array([0,1])
Leg_quat = [chrono.ChQuaternionD() for i in range(len(leg_ang))]
self.leg_body = [chrono.ChBody() for i in range(len(leg_ang))]
self.leg_pos = [chrono.ChVectorD() for i in range(len(leg_ang))]
leg_cyl = chrono.ChCylinder(
-chrono.ChVectorD(self.leg_length / 2, 0, 0),
chrono.ChVectorD(self.leg_length / 2, 0, 0), self.leg_radius)
self.leg_shape = chrono.ChCylinderShape(leg_cyl)
ankle_cyl = chrono.ChCylinder(
-chrono.ChVectorD(self.ankle_length / 2, 0, 0),
chrono.ChVectorD(self.ankle_length / 2, 0, 0), self.ankle_radius)
self.ankle_shape = chrono.ChCylinderShape(ankle_cyl)
foot_sphere = chrono.ChSphere(
chrono.ChVectorD(self.ankle_length / 2, 0, 0), self.ankle_radius)
self.foot_shape = chrono.ChSphereShape(foot_sphere)
Leg_qa = [chrono.ChQuaternionD() for i in range(len(leg_ang))]
Leg_q = [chrono.ChQuaternionD() for i in range(len(leg_ang))]
z2x_leg = [chrono.ChQuaternionD() for i in range(len(leg_ang))]
Leg_rev_pos = []
Leg_chordsys = []
self.legjoint_frame = []
x_rel = []
z_rel = []
self.Leg_rev = [
chrono.ChLinkLockRevolute() for i in range(len(leg_ang))
]
self.leg_motor = [
chrono.ChLinkMotorRotationTorque() for i in range(len(leg_ang))
]
#ankle lists
anklejoint_chordsys = []
self.anklejoint_frame = []
self.ankleCOG_frame = []
q_ankle_zrot = [chrono.ChQuaternionD() for i in range(len(leg_ang))]
self.ankle_body = [chrono.ChBody() for i in range(len(leg_ang))]
self.Ankle_rev = [
chrono.ChLinkLockRevolute() for i in range(len(leg_ang))
]
self.ankle_motor = [
chrono.ChLinkMotorRotationTorque() for i in range(len(leg_ang))
]
for i in range(len(leg_ang)):
# Legs
Leg_quat[i].Q_from_AngAxis(-leg_ang[i], chrono.ChVectorD(0, 0, 1))
# postion of leg CM from abdomen
self.leg_pos[i] = chrono.ChVectorD(
(0.5 * self.leg_length * math.cos(leg_ang[i])),
(self.abdomen_y0 - self.leg_length / 2 * math.sin(leg_ang[i]) -
self.abdomen_y * math.cos(self.CMtohip_angle)),
(-1)**i * self.abdomen_z * math.sin(self.CMtohip_angle))
self.leg_body[i].SetPos(self.leg_pos[i])
self.leg_body[i].SetRot(Leg_quat[i])
self.leg_body[i].AddAsset(self.leg_shape)
self.leg_body[i].SetMass(self.leg_mass)
self.leg_body[i].SetInertiaXX(self.leg_inertia)
self.ant_sys.Add(self.leg_body[i])
x_rel.append(Leg_quat[i].Rotate(chrono.ChVectorD(1, 0, 0)))
z_rel.append(Leg_quat[i].Rotate(chrono.ChVectorD(0, 0, 1)))
Leg_qa[i].Q_from_AngAxis(-leg_ang[i], chrono.ChVectorD(0, 1, 0))
z2x_leg[i].Q_from_AngAxis(chrono.CH_C_PI / 2, x_rel[i])
Leg_q[i] = z2x_leg[i] * Leg_qa[i]
Leg_rev_pos.append(chrono.ChVectorD(0, self.abdomen_y0,
0)) # connection to abdomen
Leg_chordsys.append(chrono.ChCoordsysD(Leg_rev_pos[i], Leg_q[i]))
self.legjoint_frame.append(chrono.ChFrameD(Leg_chordsys[i]))
self.Leg_rev[i].Initialize(self.body_abdomen, self.leg_body[i],
Leg_chordsys[i])
self.ant_sys.Add(self.Leg_rev[i])
self.leg_motor[i].Initialize(self.body_abdomen, self.leg_body[i],
self.legjoint_frame[i])
self.ant_sys.Add(self.leg_motor[i])
# Ankles
q_ankle_zrot[i].Q_from_AngAxis(-self.ankle_angle, z_rel[i])
anklejoint_chordsys.append(
chrono.ChCoordsysD(
self.leg_body[i].GetPos() +
self.leg_body[i].GetRot().Rotate(
chrono.ChVectorD(self.leg_length / 2, 0, 0)),
q_ankle_zrot[i] * self.leg_body[i].GetRot()))
self.anklejoint_frame.append(
chrono.ChFrameD(anklejoint_chordsys[i]))
self.ankle_body[i].SetPos(
self.anklejoint_frame[i].GetPos() +
self.anklejoint_frame[i].GetRot().Rotate(
chrono.ChVectorD(self.ankle_length / 2, 0, 0)))
self.ankle_body[i].SetRot(self.anklejoint_frame[i].GetRot())
self.ankle_body[i].AddAsset(self.ankle_shape)
self.ankle_body[i].SetMass(self.ankle_mass)
self.ankle_body[i].SetInertiaXX(self.ankle_inertia)
self.ant_sys.Add(self.ankle_body[i])
self.Ankle_rev[i].Initialize(self.leg_body[i], self.ankle_body[i],
anklejoint_chordsys[i])
self.ant_sys.Add(self.Ankle_rev[i])
self.ankle_motor[i].Initialize(self.leg_body[i],
self.ankle_body[i],
self.anklejoint_frame[i])
self.ant_sys.Add(self.ankle_motor[i])
# Feet collisions
self.ankle_body[i].SetMaterialSurface(self.ant_material)
self.ankle_body[i].SetCollide(True)
self.ankle_body[i].GetCollisionModel().ClearModel()
self.ankle_body[i].GetCollisionModel().AddSphere(
self.ankle_radius, chrono.ChVectorD(self.ankle_length / 2, 0,
0))
self.ankle_body[i].GetCollisionModel().BuildModel()
self.ankle_body[i].AddAsset(self.ankle_shape)
self.ankle_body[i].AddAsset(self.foot_shape)
# Limits need to turn back to true
self.Leg_rev[i].GetLimit_Rz().SetActive(True)
self.Leg_rev[i].GetLimit_Rz().SetMin(-math.pi / 3)
self.Leg_rev[i].GetLimit_Rz().SetMax(math.pi / 3)
self.Ankle_rev[i].GetLimit_Rz().SetActive(True)
self.Ankle_rev[i].GetLimit_Rz().SetMin(-math.pi / 3)
self.Ankle_rev[i].GetLimit_Rz().SetMax(math.pi / 3)
# Create the room floor: a simple fixed rigid body with a collision shape
# and a visualization shape
self.body_floor = chrono.ChBody()
self.body_floor.SetBodyFixed(True)
self.body_floor.SetPos(
chrono.ChVectorD(
0, -self.abdomen_y0 -
self.abdomen_y * math.cos(self.CMtohip_angle) -
self.ankle_radius, 0))
self.body_floor.SetMaterialSurface(self.ant_material)
# Floor Collision.
self.body_floor.SetMaterialSurface(self.ant_material)
self.body_floor.GetCollisionModel().ClearModel()
self.body_floor.GetCollisionModel().AddBox(50, 1, 50,
chrono.ChVectorD(0, 0, 0))
self.body_floor.GetCollisionModel().BuildModel()
self.body_floor.SetCollide(True)
# Visualization shape
body_floor_shape = chrono.ChBoxShape()
body_floor_shape.GetBoxGeometry().Size = chrono.ChVectorD(5, 1, 5)
body_floor_shape.SetColor(chrono.ChColor(0.4, 0.4, 0.5))
self.body_floor.GetAssets().push_back(body_floor_shape)
body_floor_texture = chrono.ChTexture()
body_floor_texture.SetTextureFilename('../data/grass.jpg')
self.body_floor.GetAssets().push_back(body_floor_texture)
self.ant_sys.Add(self.body_floor)
# this was commented out to not fix the segments
# this is helpful to check geometry of humanoid
#self.body_abdomen.SetBodyFixed(True)
#self.leg_body[0].SetBodyFixed(True)
#self.leg_body[1].SetBodyFixed(True)
#self.ankle_body[0].SetBodyFixed(True)
#self.ankle_body[1].SetBodyFixed(True)
if (self.animate):
self.myapplication.AssetBindAll()
self.myapplication.AssetUpdateAll()
self.numsteps = 0
self.step(np.zeros(4))
return self.get_ob()