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Add option to turn off aero.

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This commit is contained in:
spencerfolk
2024-01-03 15:30:34 -05:00
parent bd0f7182cc
commit f21b248e29
1 changed files with 5 additions and 7 deletions
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10
rotorpy/learning/quadrotor_environments.py
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@@ -33,7 +33,9 @@ class QuadrotorEnv(gym.Env):
max_time: the maximum time of the session. After this time, the session will exit. max_time: the maximum time of the session. After this time, the session will exit.
world: the world for the quadrotor to operate within. world: the world for the quadrotor to operate within.
sim_rate: the simulation rate (in Hz), i.e. the timestep. sim_rate: the simulation rate (in Hz), i.e. the timestep.
aero: boolean, determines whether or not aerodynamic wrenches are computed.
render_mode: render the quadrotor. render_mode: render the quadrotor.
ax: for plotting purposes, you can supply an axis object that the quadrotor will visualize on.
""" """
metadata = {"render_modes": ["None", "3D", "console"], metadata = {"render_modes": ["None", "3D", "console"],
@@ -54,6 +56,7 @@ class QuadrotorEnv(gym.Env):
wind_profile = None, # wind profile object, if none is supplied it will choose no wind. wind_profile = None, # wind profile object, if none is supplied it will choose no wind.
world = None, # The world object world = None, # The world object
sim_rate = 100, # The update frequency of the simulator in Hz sim_rate = 100, # The update frequency of the simulator in Hz
aero = True, # Whether or not aerodynamic wrenches are computed.
render_mode = "None", # The rendering mode render_mode = "None", # The rendering mode
ax = None, ax = None,
): ):
@@ -71,7 +74,7 @@ class QuadrotorEnv(gym.Env):
self.reward_fn = reward_fn self.reward_fn = reward_fn
# Create quadrotor from quad params and control abstraction. # Create quadrotor from quad params and control abstraction.
self.quadrotor = Multirotor(quad_params=quad_params, initial_state=initial_state, control_abstraction=control_mode) self.quadrotor = Multirotor(quad_params=quad_params, initial_state=initial_state, control_abstraction=control_mode, aero=aero)
assert render_mode is None or render_mode in self.metadata["render_modes"] assert render_mode is None or render_mode in self.metadata["render_modes"]
self.render_mode = render_mode self.render_mode = render_mode
@@ -128,11 +131,6 @@ class QuadrotorEnv(gym.Env):
# Save the order of magnitude of the rotor speeds for later normalization # Save the order of magnitude of the rotor speeds for later normalization
self.rotor_speed_order_mag = math.floor(math.log(self.quadrotor.rotor_speed_max, 10)) self.rotor_speed_order_mag = math.floor(math.log(self.quadrotor.rotor_speed_max, 10))
# # You may define any additional constants you like including control gains.
# self.inertia = np.array([[self.quadrotor.Ixx, self.quadrotor.Ixy, self.quadrotor.Ixz],
# [self.quadrotor.Ixy, self.quadrotor.Iyy, self.quadrotor.Iyz],
# [self.quadrotor.Ixz, self.quadrotor.Iyz, self.quadrotor.Izz]]) # kg*m^2
if world is None: if world is None:
# If no world is specified, assume that it means that the intended world is free space. # If no world is specified, assume that it means that the intended world is free space.
wbound = 4 wbound = 4