Comments (7)
@JacopoPan thank you for the explanation. yes, I got it.
from gym-pybullet-drones.
Hi @azamkamranian,
There are essentially 3 layers of implementation:
BaseAviary
implements all is needed to simulate one or more quadcopter (but not RL interfaces)- Subclasses
BaseSingleAgentAviary
andBaseMultiagentAviary
extend it with Gym-style action and observation spaces - Finally, subsubclasses like
HoverAviary
implement the task-specific methods of each Gym (reward, done, info) and other tweaks like normalization and clipping of the observation, obstacles, etc.
Did that answer your question?
from gym-pybullet-drones.
@JacopoPan I know there is so much work but I think a wiki really helps. not only for envs, but a little explaining about the quadcopter physics and ctrl stuff. It really helps to understand functions and ctrl methods for those who are new to drones.
from gym-pybullet-drones.
I am typically against over complicating documentations but I admit that this repo ballooned a bit w.r.t. to its initial README.
I'm currently working on a new repo with a couple of simple single agent control tasks that should make it easier to approach RL with a controls background and vice versa. I'll revisit this one once the other is released.
from gym-pybullet-drones.
That is so great. I want to use new envs for implementing RL algorithms. So, I am looking forward to the new rep too.
from gym-pybullet-drones.
gym.error.UnregisteredEnv: No registered env with id: takeoff-aviary-v0
The terminal reminds me of this error. Can you help me? Thank you!
from gym-pybullet-drones.
did you pip3 install -e .
in the main folder? The registration of the environment is in gym-pybullet-drones/gym_pybullet_drones/__init__.py
.
from gym-pybullet-drones.
Related Issues (20)
- 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
- Request to Migrate from Master to Main Branch for Improved Stability HOT 3
- learn.py: Incompatibility with gym env despite having stable_baselines3 version 2.x
- Motor Delay HOT 2
- Simulation environment capabilities/scenario assistance for fault detection HOT 1
- one_d_rpm breaks with different masses for HoverAviary HOT 4
- Create custom simulation environment to train UAV collision avoidance HOT 6
- Issues with HoverAviary: Navigation and Plotting HOT 19
- Occupancy grid and disparity map from depth image HOT 1
- Questions about camera Settings HOT 4
- No module named 'gym_pybullet_drones' HOT 2
- Deviations in the actual CTRL_FREQ for the training loop HOT 2
- M2 Mac Failed to build pybullet HOT 1
- Fixed Wings? HOT 1
- Episode truncated and is still showing mean_episode_length in the printed logs as 242.
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from gym-pybullet-drones.