From 0608cd70979fff4586c174ee1bb6e04a913b1609 Mon Sep 17 00:00:00 2001
From: Andri Joos <andri@joos.io>
Date: Fri, 29 Sep 2023 17:42:50 +0200
Subject: [PATCH] remove unused infos from env
---
HelloWorldEnv.py | 8 +++++---
1 file changed, 5 insertions(+), 3 deletions(-)
diff --git a/HelloWorldEnv.py b/HelloWorldEnv.py
index 154e135..fc57073 100644
--- a/HelloWorldEnv.py
+++ b/HelloWorldEnv.py
@@ -13,7 +13,7 @@ from tf_agents.specs.array_spec import BoundedArraySpec, ArraySpec
class HelloWorldEnv(PyEnvironment):
def __init__(self, ip: str, handle_auto_reset: bool = False):
self._action_spec = BoundedArraySpec(shape=(), dtype=np.int32, minimum=0, maximum=2, name='action')
- self._observation_spec = ArraySpec(shape=(3,), dtype=np.float32, name='observation')
+ self._observation_spec = ArraySpec(shape=(1,), dtype=np.float32, name='observation')
self._client = airsim.MultirotorClient(ip=ip)
super(HelloWorldEnv, self).__init__(handle_auto_reset)
@@ -52,8 +52,10 @@ class HelloWorldEnv(PyEnvironment):
def _getObservation(self):
geo_point = self._client.getGpsData().gnss.geo_point
- return geo_point.latitude, geo_point.longitude, geo_point.altitude
+ # return geo_point.latitude, geo_point.longitude, geo_point.altitude
+ return (geo_point.altitude,)
@staticmethod
def _calculate_reward(obs: tuple[float, float, float]):
- return -abs(133 - obs[2])
+ # return -abs(133 - obs[2])
+ return -abs(133 - (obs[0]))
--
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