swangnice/rotor_py_control
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Removed wind/rotor states from observation. Added axis label.

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spencerfolk
2024-01-04 12:17:14 -05:00
parent 1b634ee1af
commit 69682680ef
1 changed files with 2 additions and 1 deletions
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examples/gymnasium_basic_usage.py
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@@ -62,7 +62,7 @@ for i in range(T):
##### Below is just code for computing the action via the SE3 controller and converting it to an action [-1,1] ##### Below is just code for computing the action via the SE3 controller and converting it to an action [-1,1]
# Unpack the observation from the environment # Unpack the observation from the environment
state = {'x': observation[0:3], 'v': observation[3:6], 'q': observation[6:10], 'w': observation[10:13], 'wind': observation[13:16], 'rotor_speeds': observation[16:20]} state = {'x': observation[0:3], 'v': observation[3:6], 'q': observation[6:10], 'w': observation[10:13]}
# For illustrative purposes, just command the quad to hover. # For illustrative purposes, just command the quad to hover.
flat = {'x': [0, 0, 0], flat = {'x': [0, 0, 0],
@@ -111,6 +111,7 @@ ax = axes[1]
ax.plot(time, velocity[:, 0], 'r', label='X') ax.plot(time, velocity[:, 0], 'r', label='X')
ax.plot(time, velocity[:, 1], 'g', label='Y') ax.plot(time, velocity[:, 1], 'g', label='Y')
ax.plot(time, velocity[:, 2], 'b', label='Z') ax.plot(time, velocity[:, 2], 'b', label='Z')
ax.set_ylabel("Velocity, m/s")
ax.set_xlabel("Time, s") ax.set_xlabel("Time, s")
(fig, axes) = plt.subplots(nrows=2, ncols=1, num="Action and Reward") (fig, axes) = plt.subplots(nrows=2, ncols=1, num="Action and Reward")