Comments (3)
Hi @azamkamranian,
there is a note on that in the README. The idea is that one can re-define methods _actionSpace()
and _preprocessAction()
for these to be arbitrary implementations. In class CtrlAviary
, an action for N
drones is a dictionary in the form
{"0": [RPM_P0, RPM_P1, RPM_P2, RPM_P3], "1": [RPM_P0, RPM_P1, RPM_P2, RPM_P3], .., "N": [RPM_P0, RPM_P1, RPM_P2, RPM_P3]}
Class BaseSingleAgentAviary
contains a few different implementations—ranging from a single value for the RPMs applied to each propeller to a desired velocity vector (targeted via PID control)—listed in Enum
ActionType
from gym-pybullet-drones.
Yes, you can think of it as a linear transformation away from PWM (and maybe it's a bit more intuitive).
from gym-pybullet-drones.
RPM : round per minute , now I got this action concept.
from gym-pybullet-drones.
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from gym-pybullet-drones.