Pinball

Pinball#

This is an advanced control task where the drone is tasked with catching and hitting a ball. The goal is to prevent the ball from falling to the ground, requiring precise control and timing.

Observation#

The observation space consists of the following parts:

  • rpos (3): The position of the ball relative to the drone.

  • drone_state (19 + num_rotors): The basic information of the drone containing its rotation (in quaternion), velocities (linear and angular), heading and up vectors, and the current throttle.

Reward#

  • drone_pos: to keep the drone around the origin.

  • ball_height: encourage striking the ball high enough.

  • score: sparse reward individual strikes.

The total reward is the sum of the above terms.

Episode End#

An episode is truncated when it reaches the maximum length or terminates when any of the following conditions is met:

  • the drone’s z position is below 0.2.

  • the drone deviates to far from the origin.

  • the ball’s z position is below 0.2 or above 4.5.

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