Comments (4)
This is not something currently implemented but I could give it some thought, can you give me a small example of the scenario/output you would like to see? Should the occupancy grid be part of the obs
(i.e. do you need it for RL) or could it be an additional entry in info
(i.e. you are using the environment simply as a simulation?
from gym-pybullet-drones.
Gotcha, I was looking more for something like:
Airsim's Voxel grid construction (microsoft/AirSim#3209)
to get the 'ground truth' 3D state of the world. I'd use it as an additional entry in info
- specifically, I'd want to use it for ground truth optimal planning.
I think we could use something like this voxelization tool for the .obj files for the sphere, samurai, etc URDFs (http://www.open3d.org/docs/latest/tutorial/Advanced/voxelization.html).
That said, I think I'm good without an occupancy grid at this stage, but thank you for helping!
from gym-pybullet-drones.
I should give it some thought. Note that collisions are managed by PyBullet (see the collision queries api) using the collision shapes specified in the .urdf file of each drone/object (these could be simple geometries or .dae/.obj meshes). The ground truth position/orientation of any object in the sim can be retrieved with a call to p.getLinkState()
, then (knowing the collision shape/mesh of each object) one could use Open3D's voxelization. I have to look into how to use basic geometries and multiple meshes in a single Voxel grid but I suspect it could result in a significative computational overhead.
from gym-pybullet-drones.
Sounds good! Yeah, it'd probably result in significant computational overhead.
from gym-pybullet-drones.
Related Issues (20)
- RPM Motor Mapping HOT 6
- Some camera associated issues HOT 1
- What does pycffirmware do HOT 1
- run learn.py
- rgb and GL HOT 2
- path planning algorithms HOT 1
- Ctrl Freq and Simulation Freq Questions HOT 1
- Clarification on Each Dimension's Meaning for ActionType.VEL HOT 3
- Discrete action space implementation based on BaseRLAviary HOT 1
- Visualize drone cameras in explorer HOT 1
- Location of Paper on Dynamics Code HOT 1
- -1 to 1 action space meaning HOT 1
- Pybullet drones
- No module named 'gym_pybullet_drones.envs.VisionAviary'
- Units HOT 1
- High frequency in RPMs when include action buffer in observation space can couse problems in real hardware HOT 2
- Why might my rewards be inversely proportional to the target height in the HoverAviary environment? HOT 2
- Error while running velocity.py and fly.py examples HOT 1
- ray 1.9 error while installing gym-pybullet-drones HOT 1
- Sim2real transfer for betaflight HOT 2
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from gym-pybullet-drones.