def __init__(self):
CopterEnv.__init__(self)
# Initialize state
self._init()
# Action space = motors, rescaled from [0,1] to [-1,+1]
self.action_space = spaces.Box(np.array([-1] * 4), np.array([1] * 4))
# Observation space = full state space
self.observation_space = spaces.Box(np.array([-np.inf] * 12),
np.array([+np.inf] * 12))
def __init__(self, dt=.001, target=10, tolerance=1.0):
CopterEnv.__init__(self, dt)
self.target = target
self.tolerance = tolerance
# Action space = motors, rescaled from [0,1] to [-1,+1]
self.action_space = spaces.Box(np.array([-1]), np.array([1]))
# Observation space = altitude, vertical_velocity
self.observation_space = spaces.Box(np.array([0,-np.inf]), np.array([np.inf,np.inf]))
self._init()
def __init__(self):
CopterEnv.__init__(self, statedims=15)
# Initialize state
self._init()
# Action space = motors, rescaled from [0,1] to [-1,+1]
self.action_space = spaces.Box(np.array([-1]*4), np.array([1]*4))
# Observation space = full state space plus target position
self.observation_space = spaces.Box(np.array([-np.inf]*15), np.array([+np.inf]*15))
self.target_theta = 0