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fix a warning issue and update readme

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This commit is contained in:
Lu Junjie 2024-11-02 12:25:00 +08:00
parent 079d8cf23a
commit 8142087649
2 changed files with 2 additions and 2 deletions
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2
README.md
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@ -78,7 +78,7 @@ conda activate yopo
conda install pytorch torchvision torchaudio pytorch-cuda=11.8 -c pytorch -c nvidia
pip install opencv-python
pip install gym stable-baselines3==1.5.0
pip install gym==0.21.0 stable-baselines3==1.5.0
pip install scipy scikit-build ruamel-yaml==0.17.21 numpy==1.22.3 tensorboard==2.9.1 empy catkin_pkg
```
**5. build the flightlib**

2
flightpolicy/envs/vec_env_wrapper.py
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@ -34,7 +34,7 @@ class FlightEnvVec(VecEnv):
self._gray_img_obs = np.zeros([self.num_envs, self.img_width * self.img_height], dtype=np.uint8)
self._depth_img_obs = np.zeros([self.num_envs, self.img_width * self.img_height], dtype=np.float32)
self._reward = np.zeros([self.num_envs, self.reward_dim], dtype=np.float32)
self._done = np.zeros((self.num_envs), dtype=np.bool)
self._done = np.zeros((self.num_envs), dtype=bool)
self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
# observation: [p_wb, v_b, a_b, q_wb] (in Body Frame); action: dp_pred; reward: cost