EnvConfig#
- class do_dpc.environments.legacy_coco_rocket.env_cfg.EnvConfig(scale=30, viewport_width=1000, viewport_height=800, sea_chunks_x=16, sea_chunks_y=24, clouds=True, fps=60, update_time=0.016666666666666666, lander_scaling=4, lander_length=170.8, lander_radius=7.4, lander_density=158.238, gravity=-9.81, lander_poly=((-7.4, -85.4), (7.4, -85.4), (7.4, 85.4), (-7.4, 85.4)), nozzle_poly=((-3.7, -5.3375), (3.7, -5.3375), (-3.7, 5.3375), (3.7, 5.3375)), leg_width=4.8, leg_height=42.7, leg_initial_angle=30, leg_spring_torque=-167554944.90139106, side_engine_y_offset=64.05000000000001, side_engine_x_offset=7.4, _main_engine_thrust=435200000.0, _side_engine_thrust=8704000.0, main_engine_thrust_limits=(0.0, 1.0), side_engine_thrust_limits=(-1.0, 1.0), initial_fuel_mass=0.2, main_engine_fuel_cost=50.0, side_engine_fuel_cost=1.0, nozzle_torque=2000, max_nozzle_angle=0.2617993877991494, nozzle_angle_limits=(-1.0, 1.0), barge_friction=8.0, barge_width=8.333333333333334, barge_height=1.6666666666666667, barge_y_pos=3.3333333333333335, landing_vertical_calibration=-0.15)[source]#
Bases:
objectNotes about the Falcon 9: - Total thrust of the first stage is: 6.8 MN - Dimensions are approximately 42.7m long and 3.7m in diameter - First stage mass on landing: 25,000-30,000 kg - Density of original rocket is 158.238 kg / m^2
Methods#
Attributes#
barge_friction#
-
EnvConfig.barge_friction:
float= 8.0#
barge_height#
-
EnvConfig.barge_height:
float= 1.6666666666666667#
barge_width#
-
EnvConfig.barge_width:
float= 8.333333333333334#
barge_y_pos#
-
EnvConfig.barge_y_pos:
float= 3.3333333333333335#
clouds#
-
EnvConfig.clouds:
bool= True#
fps#
-
EnvConfig.fps:
int= 60#
gravity#
-
EnvConfig.gravity:
float= -9.81#
height#
- EnvConfig.height = 26.666666666666668#
initial_fuel_mass#
-
EnvConfig.initial_fuel_mass:
float= 0.2#
lander_density#
-
EnvConfig.lander_density:
float= 158.238#
lander_length#
-
EnvConfig.lander_length:
float= 170.8#
lander_poly#
-
EnvConfig.lander_poly:
Tuple[Tuple,...] = ((-7.4, -85.4), (7.4, -85.4), (7.4, 85.4), (-7.4, 85.4))#
lander_radius#
-
EnvConfig.lander_radius:
float= 7.4#
lander_scaling#
-
EnvConfig.lander_scaling:
float= 4#
landing_vertical_calibration#
-
EnvConfig.landing_vertical_calibration:
float= -0.15#
leg_height#
-
EnvConfig.leg_height:
float= 42.7#
leg_initial_angle#
-
EnvConfig.leg_initial_angle:
float= 30#
leg_spring_torque#
-
EnvConfig.leg_spring_torque:
float= -167554944.90139106#
leg_width#
-
EnvConfig.leg_width:
float= 4.8#
main_engine_fuel_cost#
-
EnvConfig.main_engine_fuel_cost:
float= 50.0#
main_engine_thrust#
- EnvConfig.main_engine_thrust = 16118.518518518518#
main_engine_thrust_limits#
-
EnvConfig.main_engine_thrust_limits:
Tuple[float,...] = (0.0, 1.0)#
max_nozzle_angle#
-
EnvConfig.max_nozzle_angle:
float= 0.2617993877991494#
nozzle_angle_limits#
-
EnvConfig.nozzle_angle_limits:
Tuple[float,...] = (-1.0, 1.0)#
nozzle_poly#
-
EnvConfig.nozzle_poly:
Tuple[Tuple,...] = ((-3.7, -5.3375), (3.7, -5.3375), (-3.7, 5.3375), (3.7, 5.3375))#
nozzle_torque#
-
EnvConfig.nozzle_torque:
float= 2000#
scale#
-
EnvConfig.scale:
int= 30#
sea_chunks_x#
-
EnvConfig.sea_chunks_x:
int= 16#
sea_chunks_y#
-
EnvConfig.sea_chunks_y:
int= 24#
side_engine_fuel_cost#
-
EnvConfig.side_engine_fuel_cost:
float= 1.0#
side_engine_thrust#
- EnvConfig.side_engine_thrust = 322.3703703703704#
side_engine_thrust_limits#
-
EnvConfig.side_engine_thrust_limits:
Tuple[float,...] = (-1.0, 1.0)#
side_engine_x_offset#
-
EnvConfig.side_engine_x_offset:
float= 7.4#
side_engine_y_offset#
-
EnvConfig.side_engine_y_offset:
float= 64.05000000000001#
theta_limit#
- EnvConfig.theta_limit = 0.6108652381980153#
update_time#
-
EnvConfig.update_time:
float= 0.016666666666666666#
viewport_height#
-
EnvConfig.viewport_height:
int= 800#
viewport_width#
-
EnvConfig.viewport_width:
int= 1000#
width#
- EnvConfig.width = 33.333333333333336#
wind_force#
- EnvConfig.wind_force = 322.3703703703704#