Comments (5)
What Iād say you are doing is to make the control frequency coarser than the physics engine stepping frequency, and yes, that is done with aggregate_physics_steps
E.g. if PyBullet freq is 240Hz, with aggregate_physics_steps set to 5 means controlling the quadrotor at 48Hz
from gym-pybullet-drones.
Hi @CoolCoder54323,
argument freq
sets self.SIM_FREQ
which is the inverse of the timestep PyBullet advances the simulation at each call to p.stepSimulation()
.
aggregate_phy_steps
simply determines how many p.stepSimulation()
happen within each call to env.step()
(it saves a number of read/writes and some wall-clock, it is also useful if you want more accuracy in the simulation, with a higher PyBullet frequency but a fixed or coarser control step frequency).
from gym-pybullet-drones.
So shouldn't the simulation slow down if you set freq to 1
from gym-pybullet-drones.
No, setting freq=1
simply means that every call to p.stepSimulation()
(one per env.step()
iff aggregate_phy_steps==1
) will advance the simulation, in the simulation's clock, by 1 second. This can happen faster that 1 second in wall clock (the one of the world you live in).
The idea is to run simulations faster than real-time, to collect more data, you can check PyBullet documentation for using it as a gaming engine, with (best effort) real-time stepping, but this is not the goal in this repo.
In general, freq=1
is not a good idea because it would result in poor physics accuracy for fast dynamics/collisions.
from gym-pybullet-drones.
What I was trying to do is make each action of the AI last longer in the simulation. So if I'm understanding this correctly I would do that using aggregate_phy_steps
so it updates p.stepSimulation()
more than once using the same action.
from gym-pybullet-drones.
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from gym-pybullet-drones.