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Reduced state space to regular quad states

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spencerfolk
2024-01-02 15:21:08 -05:00
parent 6ed428aa63
commit 4e4c361289
1 changed files with 2 additions and 2 deletions
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4
rotorpy/learning/quadrotor_environments.py
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@@ -90,7 +90,7 @@ class QuadrotorEnv(gym.Env):
# motor_speeds, rotor_speeds, observation_state[16:20] # motor_speeds, rotor_speeds, observation_state[16:20]
# For simplicitly, we assume these observations can lie within -inf to inf. # For simplicitly, we assume these observations can lie within -inf to inf.
self.observation_space = spaces.Box(low = -np.inf, high=np.inf, shape = (20,), dtype=np.float32) self.observation_space = spaces.Box(low = -np.inf, high=np.inf, shape = (13,), dtype=np.float32)
############ ACTION SPACE ############ ACTION SPACE
@@ -391,7 +391,7 @@ class QuadrotorEnv(gym.Env):
def _get_obs(self): def _get_obs(self):
# Concatenate all the state variables into a single vector # Concatenate all the state variables into a single vector
state_vec = np.concatenate([self.vehicle_state['x'], self.vehicle_state['v'], self.vehicle_state['q'], self.vehicle_state['w'], self.vehicle_state['wind'], self.vehicle_state['rotor_speeds']], dtype=np.float32) state_vec = np.concatenate([self.vehicle_state['x'], self.vehicle_state['v'], self.vehicle_state['q'], self.vehicle_state['w']], dtype=np.float32)
return state_vec return state_vec