utiasdsl/lsy_drone_racing

Autonomous drone racing course repository from LSY

lsy_drone_racing's Issues

Index for observation looks wrong

I think there is an error with the indices when parsing the observations:

I think the drone angle velocities start at 9 instead of 8

Error running train.py

Hi @amacati,

I tried to run train.py, the new script that you created for training an RL agent. However, it gives an error that says:

"File "examples/train.py", line 46, in main
env = create_race_env(config_path=config_path, gui=gui)
File "examples/train.py", line 39, in create_race_env
return DroneRacingWrapper(firmware_env, terminate_on_lap=True)
File "/home/tngrbz/drone_racing/lsy_drone_racing/lsy_drone_racing/wrapper.py", line 81, in init
n_gates = env.env.NUM_GATES
AttributeError: 'Quadrotor' object has no attribute 'NUM_GATES'"

It's weird because I switched the safe-control-gym repo to the "lsy_drone_racing" branch, which you suggested on Moodle, and I can see the place where the NUM_GATES is defined as well (in quadrotor.py line 346). Also, it was running well before switching to the dev. Here is the whole error prompt I get. I think I misconfigured something, but I couldn't really figure it out.
ErrorLog.txt

Action Space and Scaling in the wrapper

Hi @amacati ,

I struggle to understand the action space and action scaling in the DroneRacingWrapper. It says:
"All values are scaled to [-1, 1]. Transformed back, x, y, z values of 1 correspond to 5m." I don't know how to interpret this.
The action is rescaled for the firmware by 1,1,1,pi and added to the current drone position. Then passed to the full state command of the firmware wrapper. So my question is, why did we not rescale the x,y,z by 0.2 instead of 1?

Secondly, to this logic, I assume, the action that the model learns has to be transformed afterwards as well. So when we use the trained RL model in the sim.py or elsewhere, the action suggested by the trained model has to be transformed in the same sense (rescaling and adding to the current position), right? e.g. when we do:

action = model.predict(obs)

This action has to be transformed. I hope the question is clear
Thanks