def __init__(self, render):
self.animate = render
self.observation_space = np.empty([30,])
self.action_space = np.zeros([8,])
self.info = {}
# ---------------------------------------------------------------------
#
# Create the simulation system and add items
#
self.Xtarg = 1000.0
self.Ytarg = 0.0
self.d_old = np.linalg.norm(self.Xtarg + self.Ytarg)
self.ant_sys = chrono.ChSystemNSC()
# Set the default outward/inward shape margins for collision detection,
# this is epecially important for very large or very small objects.
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001)
#ant_sys.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN) # precise, more slow
self.ant_sys.SetSolverMaxIterations(70)
self.ant_material = chrono.ChMaterialSurfaceNSC()
self.ant_material.SetFriction(0.5)
self.ant_material.SetDampingF(0.2)
self.ant_material.SetCompliance (0.0005)
self.ant_material.SetComplianceT(0.0005)
self.timestep = 0.01
self.abdomen_x = 0.25
self.abdomen_y = 0.25
self.abdomen_z = 0.25
self.leg_density = 250 # kg/m^3
self.abdomen_density = 100
self.abdomen_y0 = 0.4
self.leg_length = 0.3
self.leg_radius = 0.04
self.ankle_angle = 60*(math.pi/180)
self.ankle_length = 0.4
self.ankle_radius = 0.04
self.gain = 30
self.abdomen_mass = self.abdomen_density * ((4/3)*chrono.CH_C_PI*self.abdomen_x*self.abdomen_y*self.abdomen_z)
self.abdomen_inertia = chrono.ChVectorD((1/5)*self.abdomen_mass*(pow(self.abdomen_y,2)+pow(self.abdomen_z,2)),(1/5)*self.abdomen_mass*(pow(self.abdomen_x,2)+pow(self.abdomen_z,2)),(1/5)*self.abdomen_mass*(pow(self.abdomen_y,2)+pow(self.abdomen_x,2)))
self.leg_mass = self.leg_density * self.leg_length * math.pi* pow (self.leg_radius,2)
self.leg_inertia = chrono.ChVectorD(0.5*self.leg_mass*pow(self.leg_radius,2), (self.leg_mass/12)*(3*pow(self.leg_radius,2)+pow(self.leg_length,2)),(self.leg_mass/12)*(3*pow(self.leg_radius,2)+pow(self.leg_length,2)))
self.ankle_mass = self.leg_density * self.ankle_length * math.pi* pow (self.ankle_radius,2)
self.ankle_inertia = chrono.ChVectorD(0.5*self.ankle_mass*pow(self.ankle_radius,2), (self.ankle_mass/12)*(3*pow(self.ankle_radius,2)+pow(self.ankle_length,2)),(self.ankle_mass/12)*(3*pow(self.ankle_radius,2)+pow(self.ankle_length,2)))
self.leg_limit = chrono.ChLinkLimit()
self.ankle_limit = chrono.ChLinkLimit()
self.leg_limit.SetRmax(math.pi/9)
self.leg_limit.SetRmin(-math.pi/9)
self.ankle_limit.SetRmax(math.pi/9)
self.ankle_limit.SetRmin(-math.pi/9)
if (self.animate) :
self.myapplication = chronoirr.ChIrrApp(self.ant_sys)
self.myapplication.AddShadowAll()
self.myapplication.SetStepManage(True)
self.myapplication.SetTimestep(self.timestep)
self. myapplication.SetTryRealtime(True)
self.myapplication.AddTypicalSky()
self.myapplication.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
self.myapplication.AddTypicalCamera(chronoirr.vector3df(0,1.5,0))
self.myapplication.AddLightWithShadow(chronoirr.vector3df(4,4,0), # point
chronoirr.vector3df(0,0,0), # aimpoint
20, # radius (power)
1,9, # near, far
90) # angle of FOV
def __init__(self):
ChronoBaseEnv.__init__(self)
low = np.full(30, -1000)
high = np.full(30, 1000)
self.observation_space = spaces.Box(low, high, dtype=np.float32)
self.action_space = spaces.Box(low=-1.0, high=1.0, shape=(8,), dtype=np.float32)
self.info = {"timeout": 10000.0}
# ---------------------------------------------------------------------
#
# Create the simulation system and add items
#
self.Xtarg = 1000.0
self.Ytarg = 0.0
self.d_old = np.linalg.norm(self.Xtarg + self.Ytarg)
self.ant_sys = chrono.ChSystemNSC()
# Set the default outward/inward shape margins for collision detection,
# this is epecially important for very large or very small objects.
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001)
#ant_sys.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN) # precise, more slow
self.ant_sys.SetSolverMaxIterations(70)
self.ant_material = chrono.ChMaterialSurfaceNSC()
self.ant_material.SetFriction(0.5)
self.ant_material.SetDampingF(0.2)
self.ant_material.SetCompliance (0.0005)
self.ant_material.SetComplianceT(0.0005)
self.timestep = 0.01
self.abdomen_x = 0.25
self.abdomen_y = 0.25
self.abdomen_z = 0.25
self.leg_density = 250 # kg/m^3
self.abdomen_density = 100
self.abdomen_y0 = 0.4
self.leg_length = 0.3
self.leg_radius = 0.04
self.ankle_angle = 60*(math.pi/180)
self.ankle_length = 0.4
self.ankle_radius = 0.04
self.gain = 30
self.abdomen_mass = self.abdomen_density * ((4/3)*chrono.CH_C_PI*self.abdomen_x*self.abdomen_y*self.abdomen_z)
self.abdomen_inertia = chrono.ChVectorD((1/5)*self.abdomen_mass*(pow(self.abdomen_y,2)+pow(self.abdomen_z,2)),(1/5)*self.abdomen_mass*(pow(self.abdomen_x,2)+pow(self.abdomen_z,2)),(1/5)*self.abdomen_mass*(pow(self.abdomen_y,2)+pow(self.abdomen_x,2)))
self.leg_mass = self.leg_density * self.leg_length * math.pi* pow (self.leg_radius,2)
self.leg_inertia = chrono.ChVectorD(0.5*self.leg_mass*pow(self.leg_radius,2), (self.leg_mass/12)*(3*pow(self.leg_radius,2)+pow(self.leg_length,2)),(self.leg_mass/12)*(3*pow(self.leg_radius,2)+pow(self.leg_length,2)))
self.ankle_mass = self.leg_density * self.ankle_length * math.pi* pow (self.ankle_radius,2)
self.ankle_inertia = chrono.ChVectorD(0.5*self.ankle_mass*pow(self.ankle_radius,2), (self.ankle_mass/12)*(3*pow(self.ankle_radius,2)+pow(self.ankle_length,2)),(self.ankle_mass/12)*(3*pow(self.ankle_radius,2)+pow(self.ankle_length,2)))
self.leg_limit = chrono.ChLinkLimit()
self.ankle_limit = chrono.ChLinkLimit()
self.leg_limit.SetRmax(math.pi/9)
self.leg_limit.SetRmin(-math.pi/9)
self.ankle_limit.SetRmax(math.pi/9)
self.ankle_limit.SetRmin(-math.pi/9)