Hey Macro, Regarding the RL part, in my mind, the most useful resource in this case would be gym-chrono (https://github.com/projectchrono/gym-chrono). Not sure what your RL policy wants to achieve, for instance, do you want to train a vehicle agent doing trajectory tracking, or goal reaching with obstacle avoidance, etc. But I would say the example existing in gym-chrono repo could give you a jump start on this. Two things I want to highlight about gym-chrono 1. It uses stable-baseline3 as RL algorithm library and gymnasium environment. While you might choose other RL libraries, the example provides a guide how to wrap up chrono physics engine as RL training environment (gym environment) that has key functions such as step, get_observation, etc. 2. Check out the example https://github.com/projectchrono/gym-chrono/blob/master/gym_chrono/envs/wheeled/off_road_gator.py. This setup an environment for Gator vehicle doing obstacle avoidance while reaching target position, which utilize chrono's vehicle, sensor support in the physics engine. I would recommend use it as template for setting up RL problem with Chrono.
Let me know if you have further questions. Best, Harry On Wednesday, August 20, 2025 at 1:09:33 PM UTC-5 marco.c...@gmail.com wrote: > Hello everyone I am quite new to Project Chrono so I might be missing > something, > I am currently using pychrono to implement the simulation of a Kart to use > with a reinforcement learning agent to drive the kart. > > I was trying to implement front and rear ends as close to reality as > possible and for that I chose RigidSuspensions both for front and rear. > At the front I implemented a RackPinion steering to emulate the Kart > steering system. > > With the double wishbone i was able to get the kart to run and steer > correctly in the simulation but when I implement the RigidSuspension it > does move the steering bar but does not rotate the wheels. Is the > RigidSuspension able to implement steering mechanisms? Do I just have to > change the connection positions? > > From the image you can see the steering bar moved according to the > steering input, but the wheels position remained untouched. > > If needed I can attach all my JSONs used for the configuration, > > Thanks in advance, > > [image: img.png] > > -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to projectchrono+unsubscr...@googlegroups.com. To view this discussion visit https://groups.google.com/d/msgid/projectchrono/ae5a96f5-cf27-420b-b071-efa0321fddcbn%40googlegroups.com.
