Comments (4)
Thanks @JacopoPan ,
For your fast and detailed explanation. I got it (that obs
return normalised values whereas env.pos
reruns original values). Is there is any way so that I get max(x,y,z)
and min(x,y,z)
(original\not normalised).
If you want I make Google-Colaboratory examples for your example (non-gui) and for TensorFlow also. (For gui=True
, it shows an error cannot connect to server x
(same as it shows for cv2.imshow
); we just had to make changes or add attribute like gui_show=False
; so it don't show GUI but one can record video that can be later on visualised for Google-Colab.).
from gym-pybullet-drones.
Hi @MegaCreater,
I should double check your numbers and slicing but one sure reason why the obs
in TakeoffAviary
(and all other env classes meant for RL) does not contain the raw, world frame values is because it is clipped and normalized to the -1, +1 range:
You can use CtrlAviary for unbounded, raw
obs
.from gym-pybullet-drones.
Hi @MegaCreater,
I should double check your numbers and slicing but one sure reason why the
obs
inTakeoffAviary
(and all other env classes meant for RL) does not contain the raw, world frame values is because it is clipped and normalized to the -1, +1 range:
You can use CtrlAviary for unbounded, raw
obs
.
Hi @JacopoPan ,
That i got that why values are btwn -1 and 1 (or 0 and 1 for z) (That is not the issue.). I just only want to get/Know that obs, reward, done, info = env.step(env.action_space.sample())
; obs numerical values are not equal to env-pos,vel or ang_v parameters (numerically not equal.).
from gym-pybullet-drones.
Because kinematic information is retrieved from PyBullet in:
Which is called at every step:
And those value are used to build a state:
But then that state is clipped to max, min values and divided by ranges in:
Before being returned as an
obs
.If you spot any numerical mistake please let me know but I wouldn't expect
obs
and env.pos
to contain the same values.from gym-pybullet-drones.
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from gym-pybullet-drones.