purdue-biorobotics / flappy Goto Github PK

Pydart2 cannot be installed with this issue from the year of 2018. Still not solved. Pip install and make install will goes to the same problem.

Since pydart2 is now deprecated.
Is it possible to make some updates so that flappy will not rely on pydart2?

Hello,

I set up a colab notebook, so you can train your agents online on flappy envs ;) : https://colab.research.google.com/drive/13mJ1bU2tKVurG9chNhM0U7ivgVKlzPu7

Also, I have some questions about the training:

• How many timesteps did you use for the hover and maneuver envs?
• What was the final performance?

It seems, that your maneuver does not follow gym interface, the reward must be a float, but is currently a numpy array (I had to use a reward wrapper to catch up the error).

I would also normalize the reward using the opposite of the cost instead of the inverse (otherwise the reward magnitude is really huge), and maybe add a "life bonus" (+1 for each timesteps) for the hover env, see here for an example ;)

python version>=3.8 only support TensorFlow >=2.0, but there are many changes you know.

Dear developer, good evening,
I now have displacement data on the deformation of flexible thin films in experiments, hoping to reconstruct the mechanical characteristics of thin films such as strain energy and stress through deformation. I would like to know if this algorithm supports my idea?
If I could receive your reply, I would greatly appreciate it! Thank you!

Hello,

Thanks for releasing such a nice simulator. I have been trying to run it and, while I was successful only once, now I am not able to continue. I keep getting this error:

Traceback (most recent call last):
  File "/home/fer/git_clone/flappy/pydart2/pydart2/pydart2_api.py", line 14, in swig_import_helper
    return importlib.import_module(mname)
  File "/home/fer/git_clone/flappy/.flappy_env/lib/python3.5/importlib/__init__.py", line 126, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "<frozen importlib._bootstrap>", line 986, in _gcd_import
  File "<frozen importlib._bootstrap>", line 969, in _find_and_load
  File "<frozen importlib._bootstrap>", line 956, in _find_and_load_unlocked
ImportError: No module named 'pydart2._pydart2_api'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "test.py", line 15, in <module>
    from flappy.envs.fwmav.controllers.arc_xy_arc_z import ARCController
  File "/home/fer/git_clone/flappy/flappy/envs/fwmav/__init__.py", line 1, in <module>
    from flappy.envs.fwmav.fwmav_sim_env import FWMAVSimEnv
  File "/home/fer/git_clone/flappy/flappy/envs/fwmav/fwmav_sim_env.py", line 11, in <module>
    import pydart2 as pydart
  File "/home/fer/git_clone/flappy/pydart2/pydart2/__init__.py", line 5, in <module>
    from . import pydart2_api as papi
  File "/home/fer/git_clone/flappy/pydart2/pydart2/pydart2_api.py", line 17, in <module>
    _pydart2_api = swig_import_helper()
  File "/home/fer/git_clone/flappy/pydart2/pydart2/pydart2_api.py", line 16, in swig_import_helper
    return importlib.import_module('_pydart2_api')
  File "/home/fer/git_clone/flappy/.flappy_env/lib/python3.5/importlib/__init__.py", line 126, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
ImportError: libdart.so.6.8: cannot open shared object file: No such file or directory

Also, it seems that now pydart2 is deprecated.

Could you please let me know if there is any way to solve this issue? I would really like to use your simulator to test control ideas. Thanks!

Hello,

While reading the papers on FWMAVs control and design optimization, I found in your paper [1] references to "..C_L, C_D and C_N are the aerodynamic lift, drag and normal coefficient given by [19]... ". However, after checking [19] I could only find the definition and values for C_L and C_D, but not for C_N, the aerodynamic normal coefficient.

I verified as well other references but yet could not find references to the C_N. Would you please be kind to let me know where can I find more information on the aerodynamic normal coefficient, its values and mathematical derivation?

I would like to test out my control ideas, and need the C_N value.

Thanks for your time.

Juan Medrano

[1]Zhang, J., Tu, Z., Fei, F., & Deng, X. (2017). Geometric flight control of a hovering robotic hummingbird. Proceedings - IEEE International Conference on Robotics and Automation, 5415–5421. https://doi.org/10.1109/ICRA.2017.7989638

[19] Dickinson, M. H., Lehmann, F., Sane, S. P., Dickinson, M. H., Lehmann, F., & Sane, S. P. (2016). Wing Rotation and the Aerodynamic Basis of Insect Flight Published by : American Association for the Advancement of Science Stable URL : http://www.jstor.org/stable/2898158 Linked references are available on JSTOR for this article : Wing Rotation and the , 284(5422), 1954–1960.