def step(self, action):
# Rescale action from [-1,+1] to [0,1]
motors = (1 + action) / 2
# Call parent-class method to do basic state update, return whether vehicle crashed
crashed = CopterEnv._update(self, motors)
# Update target position. For now we just make it go in circles
self.state[12] = 10 * np.cos(self.target_theta)
self.state[13] = 10 * np.sin(self.target_theta)
self.target_theta += .0025
# Fake up reward for now
reward = 0
return self.state, reward, crashed, {}
def step(self, action):
# Rescale action from [-1,+1] to [0,1]
motor = (1 + action[0]) / 2
# Use it for all four motors
motors = motor * np.ones(4)
# Call parent-class step() to do basic update
crashed = CopterEnv._update(self, motors)
# Dynamics uses NED coordinates, so negate to get altitude and vertical velocity
altitude = -self.state[4]
velocity = -self.state[5]
#costs = (altitude-self.target)**2 + .1*velocity**2 + .001*(motor**2)
costs = (altitude - self.target)**2 + velocity**2
# False = max_episodes in registry determines whether we're done
return (altitude, velocity), -costs, crashed, {}