def __init__(self, render):
self.render = render
self.observation_space = np.empty([9, 1])
self.action_space = np.empty([
3,
])
self.info = {}
self.timestep = 0.01
# ---------------------------------------------------------------------
#
# Create the simulation system and add items
#
self.timeend = 30
# Create the vehicle system
chrono.SetChronoDataPath("/home/aaron/chrono/data/")
veh.SetDataPath("/home/aaron/chrono/data/vehicle/")
# JSON file for vehicle model
self.vehicle_file = veh.GetDataPath(
) + "hmmwv/vehicle/HMMWV_Vehicle.json"
# JSON files for terrain
self.rigidterrain_file = veh.GetDataPath() + "terrain/RigidPlane.json"
# JSON file for powertrain (simple)
self.simplepowertrain_file = veh.GetDataPath(
) + "generic/powertrain/SimplePowertrain.json"
# JSON files tire models (rigid)
self.rigidtire_file = veh.GetDataPath(
) + "hmmwv/tire/HMMWV_RigidTire.json"
# Initial vehicle position
self.initLoc = chrono.ChVectorD(-125, -130, 0.5)
# Initial vehicle orientation
self.initRot = chrono.ChQuaternionD(1, 0, 0, 0)
# Rigid terrain dimensions
self.terrainHeight = 0
self.terrainLength = 300.0 # size in X direction
self.terrainWidth = 300.0 # size in Y direction
# Point on chassis tracked by the camera (Irrlicht only)
self.trackPoint = chrono.ChVectorD(0.0, 0.0, 1.75)
self.dist = 5.0
self.generator = RandomPathGenerator(width=100,
height=100,
maxDisplacement=2,
steps=1)
self.tracknum = 0
def __init__(self, step_size, sys, controller, irrlicht=False, vehicle_type='json', initLoc=chrono.ChVectorD(0,0,0), initRot=chrono.ChQuaternionD(1,0,0,0), vis_balls=False, render_step_size=1.0/60):
# Chrono parameters
self.step_size = step_size
self.irrlicht = irrlicht
self.step_number = 0
# Vehicle controller
self.controller = controller
# Initial vehicle position
self.initLoc = initLoc
# Initial vehicle orientation
self.initRot = initRot
# Point on chassis tracked by the camera (Irrlicht only)
self.trackPoint = chrono.ChVectorD(0.0, 0.0, 1.75)
if vehicle_type == 'json':
# JSON file for vehicle model
self.vehicle_file = veh.GetDataPath() + os.path.join('hmmwv', 'vehicle', 'HMMWV_Vehicle.json')
checkFile(self.vehicle_file)
# JSON file for powertrain (simple)
self.simplepowertrain_file = veh.GetDataPath() + os.path.join('generic', 'powertrain', 'SimplePowertrain.json')
checkFile(self.simplepowertrain_file)
# JSON files tire models (rigid)
self.rigidtire_file = veh.GetDataPath() + os.path.join('hmmwv', 'tire', 'HMMWV_RigidTire.json')
checkFile(self.rigidtire_file)
# --------------------------
# Create the various modules
# --------------------------
if sys == None:
self.wheeled_vehicle = veh.WheeledVehicle(self.vehicle_file)
else:
self.wheeled_vehicle = veh.WheeledVehicle(sys, self.vehicle_file)
self.wheeled_vehicle.Initialize(chrono.ChCoordsysD(self.initLoc, self.initRot))
self.wheeled_vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
self.wheeled_vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
self.wheeled_vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
self.wheeled_vehicle.SetWheelVisualizationType(veh.VisualizationType_NONE)
# Create and initialize the powertrain system
self.powertrain = veh.SimplePowertrain(self.simplepowertrain_file)
self.wheeled_vehicle.InitializePowertrain(self.powertrain)
# Create and initialize the tires
for axle in self.wheeled_vehicle.GetAxles():
tireL = veh.RigidTire(self.rigidtire_file)
self.wheeled_vehicle.InitializeTire(tireL, axle.m_wheels[0], veh.VisualizationType_MESH)
tireR = veh.RigidTire(self.rigidtire_file)
self.wheeled_vehicle.InitializeTire(tireR, axle.m_wheels[1], veh.VisualizationType_MESH)
self.vehicle = self.wheeled_vehicle
self.sys = self.wheeled_vehicle.GetSystem()
elif vehicle_type == 'rccar':
if sys == None:
self.rc_vehicle = veh.RCCar()
self.rc_vehicle.SetContactMethod(chrono.ChMaterialSurface.SMC)
self.rc_vehicle.SetChassisCollisionType(veh.ChassisCollisionType_NONE)
else:
self.rc_vehicle = veh.RCCar(sys)
self.rc_vehicle.SetChassisFixed(False)
self.rc_vehicle.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))
self.rc_vehicle.SetTireType(veh.TireModelType_RIGID)
self.rc_vehicle.SetTireStepSize(step_size)
self.rc_vehicle.Initialize()
self.rc_vehicle.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
self.rc_vehicle.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
self.rc_vehicle.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
self.rc_vehicle.SetWheelVisualizationType(veh.VisualizationType_PRIMITIVES)
self.rc_vehicle.SetTireVisualizationType(veh.VisualizationType_PRIMITIVES)
self.vehicle = self.rc_vehicle.GetVehicle()
self.sys = self.vehicle.GetSystem()
self.trackPoint = chrono.ChVectorD(4, 0.0, .15)
elif vehicle_type == 'sedan':
if sys == None:
self.sedan = veh.Sedan()
self.sedan.SetContactMethod(chrono.ChMaterialSurface.NSC)
self.sedan.SetChassisCollisionType(veh.ChassisCollisionType_NONE)
else:
self.sedan = veh.Sedan(sys)
self.sedan.SetChassisFixed(False)
self.sedan.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))
self.sedan.SetTireType(veh.TireModelType_RIGID)
self.sedan.SetTireStepSize(step_size)
self.sedan.Initialize()
self.sedan.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES)
self.sedan.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
self.sedan.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
self.sedan.SetWheelVisualizationType(veh.VisualizationType_PRIMITIVES)
self.sedan.SetTireVisualizationType(veh.VisualizationType_PRIMITIVES)
self.vehicle = self.sedan.GetVehicle()
self.sys = self.vehicle.GetVehicle().GetSystem()
# -------------
# Create driver
# -------------
self.driver = Driver(self.vehicle)
self.driver.SetStepSize(step_size)
# Set the time response for steering and throttle inputs.
# NOTE: this is not exact, since we do not render quite at the specified FPS.
steering_time = 1.0 # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0 # time to go from 0 to +1
braking_time = 0.3 # time to go from 0 to +1
self.driver.SetSteeringDelta(render_step_size / steering_time)
self.driver.SetThrottleDelta(render_step_size / throttle_time)
self.driver.SetBrakingDelta(render_step_size / braking_time)
self.vis_balls = vis_balls
if self.vis_balls:
self.sentinel_sphere = chrono.ChBodyEasySphere(.25, 1000, False, True)
self.sentinel_sphere.SetBodyFixed(True)
self.sentinel_sphere.AddAsset(chrono.ChColorAsset(1,0,0))
self.sys.Add(self.sentinel_sphere)
self.sentinel_target = chrono.ChBodyEasySphere(.25, 1000, False, True)
self.sentinel_target.SetBodyFixed(True)
self.sentinel_target.AddAsset(chrono.ChColorAsset(0,1,0));
self.sys.Add(self.sentinel_target)
# Vehicle parameters for matplotlib
self.length = self.vehicle.GetWheelbase() + 2.0 # [m]
self.width = self.vehicle.GetWheeltrack(0) # [m]
self.backtowheel = 1.0 # [m]
self.wheel_len = self.vehicle.GetWheel(0, 1).GetWidth() * 2 # [m]
self.wheel_width = self.vehicle.GetWheel(0, 1).GetWidth() # [m]
self.tread = self.vehicle.GetWheeltrack(0) / 2 # [m]
self.wb = self.vehicle.GetWheelbase() # [m]
self.offset = [-4.0,0] # [m]
terrain.Advance(step_size)
app.Advance(step_size)
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
# =============================================================================
"""
!!!! Set this path before running the demo!
"""
chrono.SetChronoDataPath('../../../../Library/data/')
veh.SetDataPath('../../../../Library/data/vehicle/')
# JSON file for vehicle model
vehicle_file = veh.GetDataPath() +"hmmwv/vehicle/HMMWV_Vehicle.json"
# JSON files for terrain
rigidterrain_file = veh.GetDataPath() +"terrain/RigidPlane.json"
# JSON file for powertrain (simple)
simplepowertrain_file = veh.GetDataPath() + "generic/powertrain/SimplePowertrain.json"
# JSON files tire models (rigid)
rigidtire_file = veh.GetDataPath() +"hmmwv/tire/HMMWV_RigidTire.json"
# Initial vehicle position
initLoc = chrono.ChVectorD(0, 0, 1.6)
# Initial vehicle orientation
initRot = chrono.ChQuaternionD(1, 0, 0, 0)
def __init__(self, step_size, sys, irrlicht=False, terrain_type='json', height=-0.5, width=300, length=300):
# Chrono parameters
self.step_size = step_size
self.irrlicht = irrlicht
self.step_number = 0
# Rigid terrain dimensions
self.height = height
self.length = length # size in X direction
self.width = width # size in Y direction
self.sys = sys
if terrain_type == 'json':
import os
# JSON files for terrain
self.rigidterrain_file = veh.GetDataPath() + os.path.join('terrain', 'RigidPlane.json')
checkFile(self.rigidterrain_file)
# Create the ground
self.terrain = veh.RigidTerrain(self.sys, self.rigidterrain_file)
elif terrain_type == 'concrete':
# Create the terrain
self.terrain = veh.RigidTerrain(self.sys)
patch = self.terrain.AddPatch(chrono.ChCoordsysD(chrono.ChVectorD(0, 0, self.height - 5), chrono.QUNIT),
chrono.ChVectorD(self.width, self.length, 10))
patch.SetContactFrictionCoefficient(0.9)
patch.SetContactRestitutionCoefficient(0.01)
patch.SetContactMaterialProperties(2e7, 0.3)
patch.SetTexture(chrono.GetChronoDataFile("concrete.jpg"), self.length, self.width)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
self.terrain.Initialize()
try:
ground_body = patch.GetGroundBody()
ground_asset = ground_body.GetAssets()[0]
visual_asset = chrono.CastToChVisualization(ground_asset)
vis_mat = chrono.ChVisualMaterial()
vis_mat.SetKdTexture(chrono.GetChronoDataFile("concrete.jpg"))
vis_mat.SetFresnelMax(0);
visual_asset.material_list.append(vis_mat)
except:
print("Not Visual Material")
elif terrain_type == 'hallway':
y_max = 5.65
x_max = 23
offset = chrono.ChVectorD(-x_max/2, -y_max/2, .21)
offsetF = chrono.ChVectorF(offset.x, offset.y, offset.z)
self.terrain = veh.RigidTerrain(self.sys)
coord_sys = chrono.ChCoordsysD(offset, chrono.ChQuaternionD(1,0,0,0))
patch = self.terrain.AddPatch(coord_sys, chrono.GetChronoDataFile("sensor/textures/hallway.obj"), "mesh", 0.01, False)
vis_mesh = chrono.ChTriangleMeshConnected()
vis_mesh.LoadWavefrontMesh(chrono.GetChronoDataFile("sensor/textures/hallway.obj"), True, True)
trimesh_shape = chrono.ChTriangleMeshShape()
trimesh_shape.SetMesh(vis_mesh)
trimesh_shape.SetName("mesh_name")
trimesh_shape.SetStatic(True)
patch.GetGroundBody().AddAsset(trimesh_shape)
patch.SetContactFrictionCoefficient(0.9)
patch.SetContactRestitutionCoefficient(0.01)
patch.SetContactMaterialProperties(2e7, 0.3)
self.terrain.Initialize()