Closed JakobThumm closed 2 years ago
The one you link is not an attribute of the environment (but in the PIDController
class).
BaseAviary
contains both GRAVITY_ACC
(the acceleration in m/s**2) and GRAVITY
(the weight/force in N on any robot given its mass and g). If you want to re-name the second to WEIGHT
, that's a simple replacement PR I'm happy to merge (just make sure you you apply it across the whole repo).
Do you still want/plan this change (GRAVITY
-> WEIGHT
), @JakobThumm ?
(I'll re-open this if you do.)
Hi, I would highly recommend replacing https://github.com/utiasDSL/safe-control-gym/blob/19ec4f9a6bf7a5c2691aee7c281b0ee255d2e7cc/safe_control_gym/envs/gym_pybullet_drones/quadrotor_utils.py#L107 with just the acceleration that the earth's gravitational force induces on an object
g=9.8 m/s^2
, and calculateF_g = g * m
, where it's needed. The wordgravity
has a formal definition and it is very confusing ifenv.gravity = 0.2646
instead of=9.8
! Thanks, Jakob