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Hi,
I have two questions:
- I am confused about set_setpoint() and env.step() functions. For example I run examples/03_control with below settings:
env.set_mode(6)
setpoint = np.array([1.0, 1.0, 0.0, 1.0])
env.set_setpoint(0, setpoint)for i in range(500):
env.step()
After 120 time step, the linear velocity output is [0.8311551,0.8359855,0.84075016]. I expected it to be array with ones (or near ones). When I set change mode to position (7), the output of time step 120 is [0.34209266,0.3467627,0.35143232]. So the output of the RL algorithm and environment state not match. I don't know about low-level controllers, can you help me with this?
- I couldn't find the upper and lower limits of the flight modes input range. For example, what is the upper and lower bound of the linear velocity?
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