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thaipduong avatar thaipduong commented on July 18, 2024 1

Awesome! I'll take a look. Thanks, @JacopoPan

from gym-pybullet-drones.

JacopoPan avatar JacopoPan commented on July 18, 2024

Hi @thaipduong

yes, that is expected, of course, the slowdown will be proportional to:

  • number of UAVs num_drones (Not the the vision is in each UAV frame so these are all separate render views)
  • resolution self.IMG_RES = np.array([64, 48]) in BaseAviary
  • framerate of capture self.IMG_FRAME_PER_SEC = 24 in BaseAviary
    For the sake of collecting data, I would recommend running headless (gui=False) and to use an Ubuntu machine and GPU
    In this case you can uncomment line 203 in BaseAviary
if platform == "linux": p.setAdditionalSearchPath(pybullet_data.getDataPath()); plugin = p.loadPlugin(egl.get_filename(), "_eglRendererPlugin"); print("plugin=", plugin)

for hardware acceleration (see section "Plugins" of PyBullet manual)

from gym-pybullet-drones.

thaipduong avatar thaipduong commented on July 18, 2024

I see. Thank you, @JacopoPan
Just to confirm, there is currently no lidar on the drone, right?

from gym-pybullet-drones.

JacopoPan avatar JacopoPan commented on July 18, 2024

Sorry, I forgot to answer your second question.

I didn't implement anything specifically in this repo, but if you look at another work-in-progress env I have here there is an example of how to use PyBullet's rayTest to determine if there is line-of-sight between agents.

from gym-pybullet-drones.

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