Move to ConfigDict. Rename ThrustEnv to AttitudeEnv.

utiasDSL · Jan 13, 2025 · 0822050 · 0822050
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commit 0822050
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Showing 16 changed files with 221 additions and 196 deletions.
diff --git a/benchmarks/config/test.toml b/benchmarks/config/test.toml
@@ -1,7 +1,7 @@
 [sim]
 physics = "analytical"
 camera_view = [5.0, -40.0, -40.0, 0.5, -1.0, 0.5]
-sim_freq = 500                                    # Simulation frequency, in Hz
+freq = 500                                        # Simulation frequency, in Hz
 attitude_freq = 500                               # Controller frequency, in Hz. This frequency is used to simulate the onboard controller, NOT for the environment's step function
 gui = false                                       # Enable/disable PyBullet's GUI
 
@@ -53,38 +53,38 @@ fn = "uniform"
 minval = [-0.1, -0.1, -0.1]
 maxval = [0.1, 0.1, 0.1]
 
-[env.randomization.drone_pos]
+[env.randomizations.drone_pos]
 type = "uniform" # Everything that can be used as a distribution in numpy.random
 # Kwargs that are permissable in the np random function
 low = [-0.1, -0.1, 0.0]
 high = [0.1, 0.1, 0.02]
 
-[env.randomization.drone_rpy]
+[env.randomizations.drone_rpy]
 type = "uniform"
 low = [-0.1, -0.1, -0.1]
 high = [0.1, 0.1, 0.1]
 
-[env.randomization.drone_mass]
+[env.randomizations.drone_mass]
 type = "uniform"
 low = -0.01
 high = 0.01
 
-[env.randomization.drone_inertia]
+[env.randomizations.drone_inertia]
 type = "uniform"
 low = [-0.000001, -0.000001, -0.000001]
 high = [0.000001, 0.000001, 0.000001]
 
-[env.randomization.gate_pos]
+[env.randomizations.gate_pos]
 type = "uniform"
 low = [-0.1, -0.1, 0.0]
 high = [0.1, 0.1, 0.0]
 
-[env.randomization.gate_rpy]
+[env.randomizations.gate_rpy]
 type = "uniform"
 low = [0.0, 0.0, -0.1]
 high = [0.0, 0.0, 0.1]
 
-[env.randomization.obstacle_pos]
+[env.randomizations.obstacle_pos]
 type = "uniform"
 low = [-0.1, -0.1, 0.0]
 high = [0.1, 0.1, 0.0]

diff --git a/benchmarks/sim.py b/benchmarks/sim.py
@@ -32,7 +32,7 @@
 
 import lsy_drone_racing
 
-env = gymnasium.make('DroneRacingThrust-v0', config=config)
+env = gymnasium.make('DroneRacingAttitude-v0', config=config)
 env.reset()
 env.step(env.action_space.sample())  # JIT compile
 env.reset()

diff --git a/config/level0.toml b/config/level0.toml
@@ -23,7 +23,7 @@ practice_without_track_objects = false
 physics = "analytical"
 
 camera_view = [5.0, -40.0, -40.0, 0.5, -1.0, 0.5]
-sim_freq = 500                                    # Simulation frequency, in Hz
+freq = 500                                        # Simulation frequency, in Hz
 attitude_freq = 500                               # Controller frequency, in Hz. This frequency is used to simulate the onboard controller, NOT for the environment's step function
 gui = false                                       # Enable/disable PyBullet's GUI
 
@@ -37,7 +37,7 @@ low = [-0.1, -0.1, -0.1]
 high = [0.1, 0.1, 0.1]
 
 [env]
-id = "DroneRacing-v0" # Either "DroneRacing-v0" or "DroneRacingThrust-v0". If using "DroneRacingThrust-v0", the drone will use the thrust controller instead of the position controller.
+id = "DroneRacing-v0" # Either "DroneRacing-v0" or "DroneRacingAttitude-v0". If using "DroneRacingAttitude-v0", the drone will use the attitude controller instead of the position controller.
 random_resets = false         # Whether to re-seed the random number generator between episodes
 seed = 1337           # Random seed
 freq = 50             # Frequency of the environment's step function, in Hz

diff --git a/config/level1.toml b/config/level1.toml
@@ -19,12 +19,12 @@ practice_without_track_objects = false
 # Physics options: analytical, sys_id, mujoco
 physics = "analytical"
 camera_view = [5.0, -40.0, -40.0, 0.5, -1.0, 0.5]
-sim_freq = 500                                    # Simulation frequency, in Hz
+freq = 500                                        # Simulation frequency, in Hz
 attitude_freq = 500                               # Controller frequency, in Hz. This frequency is used to simulate the onboard controller, NOT for the environment's step function
 gui = false                                       # Enable/disable PyBullet's GUI
 
 [env]
-id = "DroneRacing-v0" # Either "DroneRacing-v0" or "DroneRacingThrust-v0". If using "DroneRacingThrust-v0", the drone will use the thrust controller instead of the position controller.
+id = "DroneRacing-v0" # Either "DroneRacing-v0" or "DroneRacingAttitude-v0". If using "DroneRacingAttitude-v0", the drone will use the attitude controller instead of the position controller.
 random_resets = false         # Whether to re-seed the random number generator between episodes
 seed = 1337           # Random seed
 freq = 50             # Frequency of the environment's step function, in Hz
@@ -73,26 +73,26 @@ fn = "uniform"
 minval = [-0.1, -0.1, -0.1]
 maxval = [0.1, 0.1, 0.1]
 
-[env.randomization.drone_pos]
+[env.randomizations.drone_pos]
 fn = "uniform"
-[env.randomization.drone_pos.kwargs]
+[env.randomizations.drone_pos.kwargs]
 minval = [-0.1, -0.1, 0.0]
 maxval = [0.1, 0.1, 0.02]
 
-[env.randomization.drone_rpy]
+[env.randomizations.drone_rpy]
 fn = "uniform"
-[env.randomization.drone_rpy.kwargs]
+[env.randomizations.drone_rpy.kwargs]
 minval = [-0.1, -0.1, -0.1]
 maxval = [0.1, 0.1, 0.1]
 
-[env.randomization.drone_mass]
+[env.randomizations.drone_mass]
 fn = "uniform"
-[env.randomization.drone_mass.kwargs]
+[env.randomizations.drone_mass.kwargs]
 minval = -0.01
 maxval = 0.01
 
-[env.randomization.drone_inertia]
+[env.randomizations.drone_inertia]
 fn = "uniform"
-[env.randomization.drone_inertia.kwargs]
+[env.randomizations.drone_inertia.kwargs]
 minval = [-0.000001, -0.000001, -0.000001]
 maxval = [0.000001, 0.000001, 0.000001]
diff --git a/config/level2.toml b/config/level2.toml
@@ -19,12 +19,12 @@ practice_without_track_objects = false
 # Physics options: analytical, sys_id, mujoco
 physics = "analytical"
 camera_view = [5.0, -40.0, -40.0, 0.5, -1.0, 0.5]
-sim_freq = 500                                    # Simulation frequency, in Hz
+freq = 500                                        # Simulation frequency, in Hz
 attitude_freq = 500                               # Controller frequency, in Hz. This frequency is used to simulate the onboard controller, NOT for the environment's step function
 gui = false                                       # Enable/disable PyBullet's GUI
 
 [env]
-id = "DroneRacing-v0" # Either "DroneRacing-v0" or "DroneRacingThrust-v0". If using "DroneRacingThrust-v0", the drone will use the thrust controller instead of the position controller.
+id = "DroneRacing-v0" # Either "DroneRacing-v0" or "DroneRacingAttitude-v0". If using "DroneRacingAttitude-v0", the drone will use the attitude controller instead of the position controller.
 random_resets = false         # Whether to re-seed the random number generator between episodes
 seed = 1337           # Random seed
 freq = 50             # Frequency of the environment's step function, in Hz
@@ -73,44 +73,44 @@ fn = "uniform"
 minval = [-0.1, -0.1, -0.1]
 maxval = [0.1, 0.1, 0.1]
 
-[env.randomization.drone_pos]
+[env.randomizations.drone_pos]
 fn = "uniform"
-[env.randomization.drone_pos.kwargs]
+[env.randomizations.drone_pos.kwargs]
 minval = [-0.1, -0.1, 0.0]
 maxval = [0.1, 0.1, 0.02]
 
-[env.randomization.drone_rpy]
+[env.randomizations.drone_rpy]
 fn = "uniform"
-[env.randomization.drone_rpy.kwargs]
+[env.randomizations.drone_rpy.kwargs]
 minval = [-0.1, -0.1, -0.1]
 maxval = [0.1, 0.1, 0.1]
 
-[env.randomization.drone_mass]
+[env.randomizations.drone_mass]
 fn = "uniform"
-[env.randomization.drone_mass.kwargs]
+[env.randomizations.drone_mass.kwargs]
 minval = -0.01
 maxval = 0.01
 
-[env.randomization.drone_inertia]
+[env.randomizations.drone_inertia]
 fn = "uniform"
-[env.randomization.drone_inertia.kwargs]
+[env.randomizations.drone_inertia.kwargs]
 minval = [-0.000001, -0.000001, -0.000001]
 maxval = [0.000001, 0.000001, 0.000001]
 
-[env.randomization.gate_pos]
+[env.randomizations.gate_pos]
 fn = "uniform"
-[env.randomization.gate_pos.kwargs]
+[env.randomizations.gate_pos.kwargs]
 minval = [-0.15, -0.15, -0.1]
 maxval = [0.15, 0.15, 0.1]
 
-[env.randomization.gate_rpy]
+[env.randomizations.gate_rpy]
 fn = "uniform"
-[env.randomization.gate_rpy.kwargs]
+[env.randomizations.gate_rpy.kwargs]
 minval = [0.0, 0.0, -0.1]
 maxval = [0.0, 0.0, 0.1]
 
-[env.randomization.obstacle_pos]
+[env.randomizations.obstacle_pos]
 fn = "uniform"
-[env.randomization.obstacle_pos.kwargs]
+[env.randomizations.obstacle_pos.kwargs]
 minval = [-0.15, -0.15, -0.05]
 maxval = [0.15, 0.15, 0.05]
diff --git a/config/level3.toml b/config/level3.toml
@@ -19,12 +19,12 @@ practice_without_track_objects = false
 # Physics options: analytical, sys_id, mujoco
 physics = "analytical"
 camera_view = [5.0, -40.0, -40.0, 0.5, -1.0, 0.5]
-sim_freq = 500                                    # Simulation frequency, in Hz
+freq = 500                                        # Simulation frequency, in Hz
 attitude_freq = 500                               # Controller frequency, in Hz. This frequency is used to simulate the onboard controller, NOT for the environment's step function
 gui = false                                       # Enable/disable PyBullet's GUI
 
 [env]
-id = "DroneRacing-v0" # Either "DroneRacing-v0" or "DroneRacingThrust-v0". If using "DroneRacingThrust-v0", the drone will use the thrust controller instead of the position controller.
+id = "DroneRacing-v0" # Either "DroneRacing-v0" or "DroneRacingAttitude-v0". If using "DroneRacingAttitude-v0", the drone will use the attitude controller instead of the position controller.
 random_resets = true        # Whether to re-seed the random number generator between episodes
 seed = 1337           # Random seed
 freq = 50             # Frequency of the environment's step function, in Hz
@@ -73,44 +73,44 @@ fn = "uniform"
 minval = [-0.1, -0.1, -0.1]
 maxval = [0.1, 0.1, 0.1]
 
-[env.randomization.drone_pos]
+[env.randomizations.drone_pos]
 fn = "uniform"
-[env.randomization.drone_pos.kwargs]
+[env.randomizations.drone_pos.kwargs]
 minval = [-0.1, -0.1, 0.0]
 maxval = [0.1, 0.1, 0.02]
 
-[env.randomization.drone_rpy]
+[env.randomizations.drone_rpy]
 fn = "uniform"
-[env.randomization.drone_rpy.kwargs]
+[env.randomizations.drone_rpy.kwargs]
 minval = [-0.1, -0.1, -0.1]
 maxval = [0.1, 0.1, 0.1]
 
-[env.randomization.drone_mass]
+[env.randomizations.drone_mass]
 fn = "uniform"
-[env.randomization.drone_mass.kwargs]
+[env.randomizations.drone_mass.kwargs]
 minval = -0.01
 maxval = 0.01
 
-[env.randomization.drone_inertia]
+[env.randomizations.drone_inertia]
 fn = "uniform"
-[env.randomization.drone_inertia.kwargs]
+[env.randomizations.drone_inertia.kwargs]
 minval = [-0.000001, -0.000001, -0.000001]
 maxval = [0.000001, 0.000001, 0.000001]
 
-[env.randomization.gate_pos]
+[env.randomizations.gate_pos]
 fn = "uniform"
-[env.randomization.gate_pos.kwargs]
+[env.randomizations.gate_pos.kwargs]
 minval = [-0.15, -0.15, -0.1]
 maxval = [0.15, 0.15, 0.1]
 
-[env.randomization.gate_rpy]
+[env.randomizations.gate_rpy]
 fn = "uniform"
-[env.randomization.gate_rpy.kwargs]
+[env.randomizations.gate_rpy.kwargs]
 minval = [0.0, 0.0, -0.1]
 maxval = [0.0, 0.0, 0.1]
 
-[env.randomization.obstacle_pos]
+[env.randomizations.obstacle_pos]
 fn = "uniform"
-[env.randomization.obstacle_pos.kwargs]
+[env.randomizations.obstacle_pos.kwargs]
 minval = [-0.15, -0.15, -0.05]
 maxval = [0.15, 0.15, 0.05]
diff --git a/lsy_drone_racing/envs/__init__.py b/lsy_drone_racing/envs/__init__.py
@@ -27,8 +27,8 @@
 )
 
 register(
-    id="DroneRacingThrust-v0",
-    entry_point="lsy_drone_racing.envs.drone_racing_env:DroneRacingThrustEnv",
+    id="DroneRacingAttitude-v0",
+    entry_point="lsy_drone_racing.envs.drone_racing_env:DroneRacingAttitudeEnv",
     max_episode_steps=1800,
     disable_env_checker=True,
 )
@@ -41,8 +41,8 @@
 )
 
 register(
-    id="DroneRacingThrustDeploy-v0",
-    entry_point="lsy_drone_racing.envs.drone_racing_deploy_env:DroneRacingThrustDeployEnv",
+    id="DroneRacingAttitudeDeploy-v0",
+    entry_point="lsy_drone_racing.envs.drone_racing_deploy_env:DroneRacingAttitudeDeployEnv",
     max_episode_steps=1800,
     disable_env_checker=True,
 )
diff --git a/lsy_drone_racing/envs/drone_racing_deploy_env.py b/lsy_drone_racing/envs/drone_racing_deploy_env.py
@@ -8,11 +8,11 @@
 
 * :class:`~.DroneRacingDeployEnv`: A Gymnasium environment for controlling a real Crazyflie drone in
   a physical race track, using Vicon motion capture for positioning.
-* :class:`~.DroneRacingThrustDeployEnv`: A variant of :class:`~.DroneRacingDeployEnv` that uses
+* :class:`~.DroneRacingAttitudeDeployEnv`: A variant of :class:`~.DroneRacingDeployEnv` that uses
   collective thrust and attitude commands for control.
 
 These environments maintain consistent interfaces with their simulation counterparts
-(:class:`~.DroneRacingEnv` and :class:`~.DroneRacingThrustEnv`), allowing for seamless transition
+(:class:`~.DroneRacingEnv` and :class:`~.DroneRacingAttitudeEnv`), allowing for seamless transition
 from simulation to real-world deployment. They handle the complexities of interfacing with physical
 hardware while providing the same observation and action spaces as the simulation environments.
 
@@ -273,11 +273,11 @@ def gate_passed(self, pos: NDArray[np.floating], prev_pos: NDArray[np.floating])
         return False
 
 
-class DroneRacingThrustDeployEnv(DroneRacingDeployEnv):
+class DroneRacingAttitudeDeployEnv(DroneRacingDeployEnv):
     """A Gymnasium environment for deploying drone racing algorithms on real hardware.
 
     This environment mirrors the functionality of the
-    class:~lsy_drone_racing.envs.drone_racing_thrust_env.DroneRacingThrustEnv, but interfaces with
+    class:~lsy_drone_racing.envs.drone_racing_thrust_env.DroneRacingAttitudeEnv, but interfaces with
     real-world hardware (Crazyflie drone and Vicon motion capture system) instead of a simulation.
     """