3D rl rpm example

README.md

@@ -39,14 +39,15 @@ cd gym_pybullet_drones/examples/
 python3 downwash.py
 ```
 
-### Reinforcement learning 3'-training examples (SB3's PPO)
+### Reinforcement learning 10'-training example (SB3's PPO)
 
 ```sh
 cd gym_pybullet_drones/examples/
 python learn.py # task: single drone hover at z == 1.0
-python learn.py --multiagent true # task: 2-drone hover at z == 1.2 and 0.7
 ```
 
+<img src="gym_pybullet_drones/assets/rl.gif" alt="rl example" width="350">
+
 ### Betaflight SITL example (Ubuntu only)
 
 ```sh

gym_pybullet_drones/envs/HoverAviary.py

@@ -106,6 +106,11 @@ def _computeTruncated(self):
             Whether the current episode timed out.
 
         """
+        state = self._getDroneStateVector(0)
+        if (abs(state[0]) > 2.0 or abs(state[1]) > 2.0 or state[2] > 2.0 # Truncate when the drone is too far away
+             or abs(state[7]) > .5 or abs(state[8]) > .5 # Truncate when the drone is too tilted
+        ):
+            return True
         if self.step_counter/self.PYB_FREQ > self.EPISODE_LEN_SEC:
             return True
         else:

gym_pybullet_drones/examples/learn.py

@@ -39,7 +39,7 @@
 DEFAULT_COLAB = False
 
 DEFAULT_OBS = ObservationType('kin') # 'kin' or 'rgb'
-DEFAULT_ACT = ActionType('one_d_rpm') # 'rpm' or 'pid' or 'vel' or 'one_d_rpm' or 'one_d_pid'
+DEFAULT_ACT = ActionType('rpm') # 'rpm' or 'pid' or 'vel' or 'one_d_rpm' or 'one_d_pid'
 DEFAULT_AGENTS = 2
 DEFAULT_MA = False
 
@@ -85,7 +85,7 @@ def run(multiagent=DEFAULT_MA, output_folder=DEFAULT_OUTPUT_FOLDER, gui=DEFAULT_
                                  eval_freq=int(2000),
                                  deterministic=True,
                                  render=False)
-    model.learn(total_timesteps=3*int(1e5) if local else int(1e2), # shorter training in GitHub Actions pytest
+    model.learn(total_timesteps=int(1e6) if local else int(1e2), # shorter training in GitHub Actions pytest
                 callback=eval_callback,
                 log_interval=100)