diff --git a/PyFlyt/core/abstractions/boosters.py b/PyFlyt/core/abstractions/boosters.py index 5f07da70..561f0c39 100644 --- a/PyFlyt/core/abstractions/boosters.py +++ b/PyFlyt/core/abstractions/boosters.py @@ -141,7 +141,7 @@ def get_states(self) -> np.ndarray: - (b0, b1, ..., bn) represent the remaining fuel ratio - (c0, c1, ..., cn) represent the current throttle state - Returns + Returns: ------- np.ndarray: A (3 * num_boosters, ) array diff --git a/PyFlyt/core/abstractions/camera.py b/PyFlyt/core/abstractions/camera.py index ce288d0e..52bd7252 100644 --- a/PyFlyt/core/abstractions/camera.py +++ b/PyFlyt/core/abstractions/camera.py @@ -100,7 +100,7 @@ def __init__( def view_mat(self) -> np.ndarray: """Generates the view matrix for the camera depending on the current orientation and implicit parameters. - Returns + Returns: ------- np.ndarray: view matrix. @@ -161,7 +161,7 @@ def physics_update(self): def capture_image(self) -> tuple[np.ndarray, np.ndarray, np.ndarray]: """Captures the 3 relevant images from the camera. - Returns + Returns: ------- tuple[np.ndarray, np.ndarray, np.ndarray]: rgbaImg, depthImg, segImg diff --git a/PyFlyt/core/abstractions/gimbals.py b/PyFlyt/core/abstractions/gimbals.py index f0984a7a..f5f04b1d 100644 --- a/PyFlyt/core/abstractions/gimbals.py +++ b/PyFlyt/core/abstractions/gimbals.py @@ -123,7 +123,7 @@ def reset(self): def get_states(self) -> np.ndarray: """Gets the current state of the components. - Returns + Returns: ------- np.ndarray: a (2 * num_gimbals, ) array where every pair of values represents the current state of the gimbal diff --git a/PyFlyt/core/abstractions/lifting_surfaces.py b/PyFlyt/core/abstractions/lifting_surfaces.py index 148de490..af39b366 100644 --- a/PyFlyt/core/abstractions/lifting_surfaces.py +++ b/PyFlyt/core/abstractions/lifting_surfaces.py @@ -47,7 +47,7 @@ def reset(self): def get_states(self) -> np.ndarray: """Gets the current state of the components. - Returns + Returns: ------- np.ndarray: a (num_surfaces, ) array representing the actuation state for each surface @@ -254,7 +254,7 @@ def reset(self): def get_states(self) -> float: """Gets the current state of the components. - Returns + Returns: ------- float: the level of deflection of the surface. diff --git a/PyFlyt/core/abstractions/motors.py b/PyFlyt/core/abstractions/motors.py index 82c7ff62..eae4bb4b 100644 --- a/PyFlyt/core/abstractions/motors.py +++ b/PyFlyt/core/abstractions/motors.py @@ -98,7 +98,7 @@ def reset(self) -> None: def get_states(self) -> np.ndarray: """Gets the current state of the components. - Returns + Returns: ------- np.ndarray: an (num_motors, ) array for the current throttle level of each motor diff --git a/PyFlyt/core/aviary.py b/PyFlyt/core/aviary.py index 91b29bcb..a487e228 100644 --- a/PyFlyt/core/aviary.py +++ b/PyFlyt/core/aviary.py @@ -38,7 +38,7 @@ def __init__(self, message: str) -> None: def __str__(self) -> str: """__str__. - Returns + Returns: ------- str: @@ -380,7 +380,7 @@ def all_states(self) -> list[np.ndarray]: This function is not very optimized, if you want the state of a single drone, do `state(i)`. - Returns + Returns: ------- np.ndarray: list of states @@ -399,7 +399,7 @@ def all_aux_states(self) -> list[np.ndarray]: This function is not very optimized, if you want the aux state of a single drone, do `aux_state(i)`. - Returns + Returns: ------- np.ndarray: list of auxiliary states diff --git a/PyFlyt/core/drones/quadx.py b/PyFlyt/core/drones/quadx.py index fac7ad1b..cfc44363 100644 --- a/PyFlyt/core/drones/quadx.py +++ b/PyFlyt/core/drones/quadx.py @@ -32,6 +32,7 @@ def __init__( use_gimbal: bool = False, camera_angle_degrees: int = 20, camera_FOV_degrees: int = 90, + camera_position_offset: np.ndarray = np.array([0.0, 0.0, 0.0]), camera_resolution: tuple[int, int] = (128, 128), camera_fps: None | int = None, ): @@ -51,6 +52,7 @@ def __init__( use_gimbal (bool): use_gimbal camera_angle_degrees (int): camera_angle_degrees camera_FOV_degrees (int): camera_FOV_degrees + camera_position_offset (np.ndarray): offset position of the camera camera_resolution (tuple[int, int]): camera_resolution camera_fps (None | int): camera_fps @@ -205,6 +207,7 @@ def __init__( camera_FOV_degrees=camera_FOV_degrees, camera_angle_degrees=camera_angle_degrees, camera_resolution=camera_resolution, + camera_position_offset=camera_position_offset, ) # compute camera fps parameters diff --git a/PyFlyt/gym_envs/fixedwing_envs/fixedwing_waypoints_env.py b/PyFlyt/gym_envs/fixedwing_envs/fixedwing_waypoints_env.py index d6f20980..44a02488 100644 --- a/PyFlyt/gym_envs/fixedwing_envs/fixedwing_waypoints_env.py +++ b/PyFlyt/gym_envs/fixedwing_envs/fixedwing_waypoints_env.py @@ -116,7 +116,6 @@ def reset( super().begin_reset(seed, options) self.waypoints.reset(self.env, self.np_random) self.info["num_targets_reached"] = 0 - self.distance_to_immediate = np.inf super().end_reset() return self.state, self.info @@ -165,12 +164,9 @@ def compute_state(self) -> None: axis=-1, ) - new_state["target_deltas"] = self.waypoints.distance_to_target( + new_state["target_deltas"] = self.waypoints.distance_to_targets( ang_pos, lin_pos, quaternion ) - self.distance_to_immediate = float( - np.linalg.norm(new_state["target_deltas"][0]) - ) self.state: dict[Literal["attitude", "target_deltas"], np.ndarray] = new_state @@ -180,17 +176,17 @@ def compute_term_trunc_reward(self) -> None: # bonus reward if we are not sparse if not self.sparse_reward: - self.reward += max(3.0 * self.waypoints.progress_to_target(), 0.0) - self.reward += 1.0 / self.distance_to_immediate + self.reward += max(3.0 * self.waypoints.progress_to_next_target, 0.0) + self.reward += 1.0 / self.waypoints.distance_to_next_target # target reached - if self.waypoints.target_reached(): + if self.waypoints.target_reached: self.reward = 100.0 # advance the targets self.waypoints.advance_targets() # update infos and dones - self.truncation |= self.waypoints.all_targets_reached() - self.info["env_complete"] = self.waypoints.all_targets_reached() - self.info["num_targets_reached"] = self.waypoints.num_targets_reached() + self.truncation |= self.waypoints.all_targets_reached + self.info["env_complete"] = self.waypoints.all_targets_reached + self.info["num_targets_reached"] = self.waypoints.num_targets_reached diff --git a/PyFlyt/gym_envs/quadx_envs/quadx_base_env.py b/PyFlyt/gym_envs/quadx_envs/quadx_base_env.py index 943327e0..fc406705 100644 --- a/PyFlyt/gym_envs/quadx_envs/quadx_base_env.py +++ b/PyFlyt/gym_envs/quadx_envs/quadx_base_env.py @@ -75,24 +75,30 @@ def __init__( self.auxiliary_space = spaces.Box( low=-np.inf, high=np.inf, shape=(4,), dtype=np.float64 ) - angular_rate_limit = np.pi + + # define the action space + xyz_limit = np.pi thrust_limit = 0.8 - high = np.array( - [ - angular_rate_limit, - angular_rate_limit, - angular_rate_limit, - thrust_limit, - ] - ) - low = np.array( - [ - -angular_rate_limit, - -angular_rate_limit, - -angular_rate_limit, - 0.0, - ] - ) + if flight_mode == -1: + high = np.ones((4,)) * thrust_limit + low = np.zeros((4,)) + else: + high = np.array( + [ + xyz_limit, + xyz_limit, + xyz_limit, + thrust_limit, + ] + ) + low = np.array( + [ + -xyz_limit, + -xyz_limit, + -xyz_limit, + 0.0, + ] + ) self.action_space = spaces.Box(low=low, high=high, dtype=np.float64) # the whole implicit state space = attitude + previous action + auxiliary information diff --git a/PyFlyt/gym_envs/quadx_envs/quadx_pole_balance_env.py b/PyFlyt/gym_envs/quadx_envs/quadx_pole_balance_env.py index 1acc8f04..6d5aaf28 100644 --- a/PyFlyt/gym_envs/quadx_envs/quadx_pole_balance_env.py +++ b/PyFlyt/gym_envs/quadx_envs/quadx_pole_balance_env.py @@ -13,7 +13,7 @@ class QuadXPoleBalanceEnv(QuadXBaseEnv): """Simple Hover Environment with the additional goal of keeping a pole upright. - Actions are vp, vq, vr, T, ie: angular rates and thrust. + Actions are direct motor PWM commands because any underlying controller introduces too much control latency. The target is to not crash and not let the pole hit the ground for the longest time possible. Args: @@ -32,7 +32,7 @@ class QuadXPoleBalanceEnv(QuadXBaseEnv): def __init__( self, sparse_reward: bool = False, - flight_mode: int = 0, + flight_mode: int = -1, flight_dome_size: float = 3.0, max_duration_seconds: float = 20.0, angle_representation: Literal["euler", "quaternion"] = "quaternion", @@ -45,12 +45,12 @@ def __init__( Args: ---- sparse_reward (bool): whether to use sparse rewards or not. - flight_mode (int): the flight mode of the UAV + flight_mode (int): the flight mode of the UAV. flight_dome_size (float): size of the allowable flying area. max_duration_seconds (float): maximum simulation time of the environment. angle_representation (Literal["euler", "quaternion"]): can be "euler" or "quaternion". agent_hz (int): looprate of the agent to environment interaction. - render_mode (None | Literal["human", "rgb_array"]): render_mode + render_mode (None | Literal["human", "rgb_array"]): render_mode. render_resolution (tuple[int, int]): render_resolution. """ @@ -94,7 +94,10 @@ def reset( super().begin_reset( seed, options, - drone_options={"drone_model": "primitive_drone"}, + drone_options={ + "drone_model": "primitive_drone", + "camera_position_offset": np.array([-3.0, 0.0, 1.0]), + }, ) self.pole.reset(p=self.env, start_location=np.array([0.0, 0.0, 1.55])) super().end_reset(seed, options) diff --git a/PyFlyt/gym_envs/quadx_envs/quadx_pole_waypoints_env.py b/PyFlyt/gym_envs/quadx_envs/quadx_pole_waypoints_env.py index 642c632d..07bdaf2c 100644 --- a/PyFlyt/gym_envs/quadx_envs/quadx_pole_waypoints_env.py +++ b/PyFlyt/gym_envs/quadx_envs/quadx_pole_waypoints_env.py @@ -14,7 +14,7 @@ class QuadXPoleWaypointsEnv(QuadXBaseEnv): """QuadX Pole Waypoints Environment. - Actions are vp, vq, vr, T, ie: angular rates and thrust. + Actions are direct motor PWM commands because any underlying controller introduces too much control latency. The target is to get to a set of `[x, y, z]` waypoints in space without dropping the pole. Args: @@ -37,11 +37,11 @@ def __init__( sparse_reward: bool = False, num_targets: int = 4, goal_reach_distance: float = 0.2, - flight_mode: int = 0, + flight_mode: int = -1, flight_dome_size: float = 10.0, - max_duration_seconds: float = 60.0, + max_duration_seconds: float = 20.0, angle_representation: Literal["euler", "quaternion"] = "quaternion", - agent_hz: int = 30, + agent_hz: int = 40, render_mode: None | Literal["human", "rgb_array"] = None, render_resolution: tuple[int, int] = (480, 480), ): @@ -57,12 +57,11 @@ def __init__( max_duration_seconds (float): maximum simulation time of the environment. angle_representation (Literal["euler", "quaternion"]): can be "euler" or "quaternion". agent_hz (int): looprate of the agent to environment interaction. - render_mode (None | Literal["human", "rgb_array"]): render_mode + render_mode (None | Literal["human", "rgb_array"]): render_mode. render_resolution (tuple[int, int]): render_resolution. """ super().__init__( - start_pos=np.array([[0.0, 0.0, 1.0]]), flight_mode=flight_mode, flight_dome_size=flight_dome_size, max_duration_seconds=max_duration_seconds, @@ -126,7 +125,12 @@ def reset( """ super().begin_reset( - seed, options, drone_options={"drone_model": "primitive_drone"} + seed, + options, + drone_options={ + "drone_model": "primitive_drone", + "camera_position_offset": np.array([-3.0, 0.0, 1.0]), + }, ) # spawn in a pole @@ -135,7 +139,6 @@ def reset( # init some other metadata self.waypoints.reset(self.env, self.np_random) self.info["num_targets_reached"] = 0 - self.distance_to_immediate = np.inf super().end_reset() @@ -162,10 +165,10 @@ def compute_state(self) -> None: """ # compute attitude of self ang_vel, ang_pos, lin_vel, lin_pos, quaternion = super().compute_attitude() + aux_state = super().compute_auxiliary() rotation = ( np.array(self.env.getMatrixFromQuaternion(quaternion)).reshape(3, 3).T ) - aux_state = super().compute_auxiliary() # compute the pole's states ( @@ -210,36 +213,34 @@ def compute_state(self) -> None: pole_bot_pos, pole_top_vel, pole_bot_vel, - ] + ], + axis=-1, ) - new_state["target_deltas"] = self.waypoints.distance_to_target( + new_state["target_deltas"] = self.waypoints.distance_to_targets( ang_pos, lin_pos, quaternion ) - self.distance_to_immediate = float( - np.linalg.norm(new_state["target_deltas"][0]) - ) self.state: dict[Literal["attitude", "target_deltas"], np.ndarray] = new_state def compute_term_trunc_reward(self) -> None: - """Computes the termination, trunction, and reward of the current timestep.""" + """Computes the termination, truncation, and reward of the current timestep.""" super().compute_base_term_trunc_reward() # bonus reward if we are not sparse if not self.sparse_reward: - self.reward += max(3.0 * self.waypoints.progress_to_target(), 0.0) - self.reward += 0.1 / self.distance_to_immediate - self.reward -= self.pole.leaningness + self.reward += max(15.0 * self.waypoints.progress_to_next_target, 0.0) + self.reward += 0.5 / self.waypoints.distance_to_next_target + self.reward += (0.5 - self.pole.leaningness) # target reached - if self.waypoints.target_reached(): - self.reward = 100.0 + if self.waypoints.target_reached: + self.reward = 300.0 # advance the targets self.waypoints.advance_targets() # update infos and dones - self.truncation |= self.waypoints.all_targets_reached() - self.info["env_complete"] = self.waypoints.all_targets_reached() - self.info["num_targets_reached"] = self.waypoints.num_targets_reached() + self.truncation |= self.waypoints.all_targets_reached + self.info["env_complete"] = self.waypoints.all_targets_reached + self.info["num_targets_reached"] = self.waypoints.num_targets_reached diff --git a/PyFlyt/gym_envs/quadx_envs/quadx_waypoints_env.py b/PyFlyt/gym_envs/quadx_envs/quadx_waypoints_env.py index bea5d98e..dd565da7 100644 --- a/PyFlyt/gym_envs/quadx_envs/quadx_waypoints_env.py +++ b/PyFlyt/gym_envs/quadx_envs/quadx_waypoints_env.py @@ -122,7 +122,6 @@ def reset( super().begin_reset(seed, options) self.waypoints.reset(self.env, self.np_random) self.info["num_targets_reached"] = 0 - self.distance_to_immediate = np.inf super().end_reset() return self.state, self.info @@ -171,12 +170,9 @@ def compute_state(self) -> None: axis=-1, ) - new_state["target_deltas"] = self.waypoints.distance_to_target( + new_state["target_deltas"] = self.waypoints.distance_to_targets( ang_pos, lin_pos, quaternion ) - self.distance_to_immediate = float( - np.linalg.norm(new_state["target_deltas"][0]) - ) self.state: dict[Literal["attitude", "target_deltas"], np.ndarray] = new_state @@ -186,17 +182,17 @@ def compute_term_trunc_reward(self) -> None: # bonus reward if we are not sparse if not self.sparse_reward: - self.reward += max(3.0 * self.waypoints.progress_to_target(), 0.0) - self.reward += 0.1 / self.distance_to_immediate + self.reward += max(3.0 * self.waypoints.progress_to_next_target, 0.0) + self.reward += 0.1 / self.waypoints.distance_to_next_target # target reached - if self.waypoints.target_reached(): + if self.waypoints.target_reached: self.reward = 100.0 # advance the targets self.waypoints.advance_targets() # update infos and dones - self.truncation |= self.waypoints.all_targets_reached() - self.info["env_complete"] = self.waypoints.all_targets_reached() - self.info["num_targets_reached"] = self.waypoints.num_targets_reached() + self.truncation |= self.waypoints.all_targets_reached + self.info["env_complete"] = self.waypoints.all_targets_reached + self.info["num_targets_reached"] = self.waypoints.num_targets_reached diff --git a/PyFlyt/gym_envs/utils/pole_handler.py b/PyFlyt/gym_envs/utils/pole_handler.py index e2df09ca..f6a62d4b 100644 --- a/PyFlyt/gym_envs/utils/pole_handler.py +++ b/PyFlyt/gym_envs/utils/pole_handler.py @@ -61,7 +61,7 @@ def reset( def leaningness(self) -> float: """The lean of the pole, minimum of 0.0 and maximum of 1.0. - Returns + Returns: ------- float: diff --git a/PyFlyt/gym_envs/utils/waypoint_handler.py b/PyFlyt/gym_envs/utils/waypoint_handler.py index 2feb64d7..cb40deca 100644 --- a/PyFlyt/gym_envs/utils/waypoint_handler.py +++ b/PyFlyt/gym_envs/utils/waypoint_handler.py @@ -64,8 +64,8 @@ def reset( self.np_random = np_random # reset the error - self.new_distance = 0.0 - self.old_distance = 0.0 + self.new_distance = np.inf + self.old_distance = np.inf # we sample from polar coordinates to generate linear targets self.targets = np.zeros(shape=(self.num_targets, 3)) @@ -108,16 +108,26 @@ def reset( rgbaColor=(0, 1 - (i / len(self.target_visual)), 0, 1), ) - def distance_to_target( + @property + def distance_to_next_target(self) -> float: + """distance_to_next_target. + + Returns: + --- + float: + """ + return self.new_distance + + def distance_to_targets( self, ang_pos: np.ndarray, lin_pos: np.ndarray, quaternion: np.ndarray, ): - """distance_to_target. + """distance_to_targets. Args: - ---- + --- ang_pos (np.ndarray): ang_pos lin_pos (np.ndarray): lin_pos quaternion (np.ndarray): quaternion @@ -149,10 +159,14 @@ def distance_to_target( return target_deltas - def progress_to_target(self): + @property + def progress_to_next_target(self): """progress_to_target.""" + if np.any(np.isinf(self.old_distance + self.new_distance)): + return 0.0 return self.old_distance - self.new_distance + @property def target_reached(self): """target_reached.""" if not self.new_distance < self.goal_reach_distance: @@ -190,10 +204,12 @@ def advance_targets(self): rgbaColor=(0, 1 - (i / len(self.target_visual)), 0, 1), ) + @property def num_targets_reached(self): """num_targets_reached.""" return self.num_targets - len(self.targets) + @property def all_targets_reached(self): """all_targets_reached.""" return len(self.targets) == 0 diff --git a/PyFlyt/pz_envs/fixedwing_envs/ma_fixedwing_base_env.py b/PyFlyt/pz_envs/fixedwing_envs/ma_fixedwing_base_env.py index f6ae36dc..b11838dd 100644 --- a/PyFlyt/pz_envs/fixedwing_envs/ma_fixedwing_base_env.py +++ b/PyFlyt/pz_envs/fixedwing_envs/ma_fixedwing_base_env.py @@ -134,7 +134,7 @@ def __init__( def observation_space(self, agent: Any = None) -> Space: """observation_space. - Returns + Returns: ------- Space: @@ -144,7 +144,7 @@ def observation_space(self, agent: Any = None) -> Space: def action_space(self, agent: Any = None) -> spaces.Box: """action_space. - Returns + Returns: ------- spaces.Box: diff --git a/PyFlyt/pz_envs/fixedwing_envs/ma_fixedwing_dogfight_env.py b/PyFlyt/pz_envs/fixedwing_envs/ma_fixedwing_dogfight_env.py index 1425e216..348a832f 100644 --- a/PyFlyt/pz_envs/fixedwing_envs/ma_fixedwing_dogfight_env.py +++ b/PyFlyt/pz_envs/fixedwing_envs/ma_fixedwing_dogfight_env.py @@ -178,7 +178,7 @@ def reset( def _compute_agent_states(self) -> None: """_compute_agent_states. - Returns + Returns: ------- None: diff --git a/docs/_sources/documentation/gym_envs/quadx_pole_balance_env.md.txt b/docs/_sources/documentation/gym_envs/quadx_pole_balance_env.md.txt index 018067b2..be13772a 100644 --- a/docs/_sources/documentation/gym_envs/quadx_pole_balance_env.md.txt +++ b/docs/_sources/documentation/gym_envs/quadx_pole_balance_env.md.txt @@ -1,6 +1,6 @@ # `PyFlyt/QuadX-Pole-Balance-v2` -```{figure} https://raw.githubusercontent.com/jjshoots/PyFlyt/master/readme_assets/pole_balance.gif +```{figure} https://raw.githubusercontent.com/jjshoots/PyFlyt/master/readme_assets/quadx_pole_balance.gif :width: 50% ``` diff --git a/docs/_sources/documentation/gym_envs/quadx_pole_waypoints_env.md.txt b/docs/_sources/documentation/gym_envs/quadx_pole_waypoints_env.md.txt index a318794d..aa196539 100644 --- a/docs/_sources/documentation/gym_envs/quadx_pole_waypoints_env.md.txt +++ b/docs/_sources/documentation/gym_envs/quadx_pole_waypoints_env.md.txt @@ -1,6 +1,6 @@ # `PyFlyt/QuadX-Pole-Waypoints-v2` -```{figure} https://raw.githubusercontent.com/jjshoots/PyFlyt/master/readme_assets/quadx_waypoint.gif +```{figure} https://raw.githubusercontent.com/jjshoots/PyFlyt/master/readme_assets/quadx_pole_waypoint.gif :width: 50% ``` diff --git a/docs/documentation/core/abstractions/boosters.html b/docs/documentation/core/abstractions/boosters.html index fa803fbe..30776569 100644 --- a/docs/documentation/core/abstractions/boosters.html +++ b/docs/documentation/core/abstractions/boosters.html @@ -452,14 +452,12 @@

Args:# -
-
Returns:
-

np.ndarray

-
-
Return type:
-

A (3 * num_boosters, ) array

-
-
+
+

Returns:#

+
+

np.ndarray: A (3 * num_boosters, ) array

+
+
diff --git a/docs/documentation/core/abstractions/camera.html b/docs/documentation/core/abstractions/camera.html index b7396fae..fcb0b78c 100644 --- a/docs/documentation/core/abstractions/camera.html +++ b/docs/documentation/core/abstractions/camera.html @@ -428,14 +428,12 @@

Args:# capture_image() → tuple[ndarray, ndarray, ndarray]#

Captures the 3 relevant images from the camera.

-
-
Returns:
-

tuple[np.ndarray, np.ndarray, np.ndarray]

-
-
Return type:
-

rgbaImg, depthImg, segImg

-
-
+
+

Returns:#

+
+

tuple[np.ndarray, np.ndarray, np.ndarray]: rgbaImg, depthImg, segImg

+
+

@@ -460,14 +458,12 @@

Args:# property view_mat: ndarray#

Generates the view matrix for the camera depending on the current orientation and implicit parameters.

-
-
Returns:
-

np.ndarray

-
-
Return type:
-

view matrix.

-
-
+
+

Returns:#

+
+

np.ndarray: view matrix.

+
+

diff --git a/docs/documentation/core/abstractions/gimbals.html b/docs/documentation/core/abstractions/gimbals.html index d8e2481f..86de1c6f 100644 --- a/docs/documentation/core/abstractions/gimbals.html +++ b/docs/documentation/core/abstractions/gimbals.html @@ -441,14 +441,12 @@

Returns:#
get_states() → ndarray#

Gets the current state of the components.

-
-
Returns:
-

np.ndarray

-
-
Return type:
-

a (2 * num_gimbals, ) array where every pair of values represents the current state of the gimbal

-
-
+
+

Returns:#

+
+

np.ndarray: a (2 * num_gimbals, ) array where every pair of values represents the current state of the gimbal

+
+
diff --git a/docs/documentation/core/abstractions/lifting_surfaces.html b/docs/documentation/core/abstractions/lifting_surfaces.html index fdbb0449..6ce6d786 100644 --- a/docs/documentation/core/abstractions/lifting_surfaces.html +++ b/docs/documentation/core/abstractions/lifting_surfaces.html @@ -432,14 +432,12 @@

Args:# get_states() → float#

Gets the current state of the components.

-
-
Returns:
-

float

-
-
Return type:
-

the level of deflection of the surface.

-
-
+
+

Returns:#

+
+

float: the level of deflection of the surface.

+
+

@@ -452,8 +450,8 @@

Args:#

cmd (float): normalized actuation in [-1, 1].

-
-

Returns:#

+
+

Returns:#

tuple[np.ndarray, np.ndarray]: vec3 force, vec3 torque

@@ -470,8 +468,8 @@

Returns:#
state_update(surface_velocity: ndarray)#

Updates the local surface velocity of the lifting surface.

-
-

Args:#

+
+

Args:#

surface_velocity (np.ndarray): surface_velocity.

@@ -496,14 +494,12 @@

Args:# get_states() → ndarray#

Gets the current state of the components.

-
-
Returns:
-

np.ndarray

-
-
Return type:
-

a (num_surfaces, ) array representing the actuation state for each surface

-
-
+
+

Returns:#

+
+

np.ndarray: a (num_surfaces, ) array representing the actuation state for each surface

+
+

diff --git a/docs/documentation/core/abstractions/motors.html b/docs/documentation/core/abstractions/motors.html index fa82f5fb..de9186e7 100644 --- a/docs/documentation/core/abstractions/motors.html +++ b/docs/documentation/core/abstractions/motors.html @@ -437,14 +437,12 @@

Args:# get_states() → ndarray#

Gets the current state of the components.

-
-
Returns:
-

np.ndarray

-
-
Return type:
-

an (num_motors, ) array for the current throttle level of each motor

-
-
+
+

Returns:#

+
+

np.ndarray: an (num_motors, ) array for the current throttle level of each motor

+
+

diff --git a/docs/documentation/core/aviary.html b/docs/documentation/core/aviary.html index 030941da..7202c60d 100644 --- a/docs/documentation/core/aviary.html +++ b/docs/documentation/core/aviary.html @@ -626,14 +626,12 @@

Attributes -
Returns:
-

np.ndarray

-
-
Return type:
-

list of states

-
-

+
+

Returns:#

+
+

np.ndarray: list of states

+
+
@@ -642,14 +640,12 @@

Attributes -
Returns:
-

np.ndarray

-
-
Return type:
-

list of auxiliary states

-
-

+
+

Returns:#

+
+

np.ndarray: list of auxiliary states

+
+
diff --git a/docs/documentation/core/drones/quadx.html b/docs/documentation/core/drones/quadx.html index ad5d6f63..ca7d5848 100644 --- a/docs/documentation/core/drones/quadx.html +++ b/docs/documentation/core/drones/quadx.html @@ -418,7 +418,7 @@

Control Modes#

-class PyFlyt.core.drones.QuadX(p: BulletClient, start_pos: ndarray, start_orn: ndarray, control_hz: int = 120, physics_hz: int = 240, drone_model: str = 'cf2x', model_dir: None | str = None, np_random: None | RandomState = None, use_camera: bool = False, use_gimbal: bool = False, camera_angle_degrees: int = 20, camera_FOV_degrees: int = 90, camera_resolution: tuple[int, int] = (128, 128), camera_fps: None | int = None)#
+class PyFlyt.core.drones.QuadX(p: BulletClient, start_pos: ndarray, start_orn: ndarray, control_hz: int = 120, physics_hz: int = 240, drone_model: str = 'cf2x', model_dir: None | str = None, np_random: None | RandomState = None, use_camera: bool = False, use_gimbal: bool = False, camera_angle_degrees: int = 20, camera_FOV_degrees: int = 90, camera_position_offset: ndarray = array([0., 0., 0.]), camera_resolution: tuple[int, int] = (128, 128), camera_fps: None | int = None)#

QuadX instance that handles everything about a quadrotor in the X configuration.

diff --git a/docs/documentation/gym_envs/quadx_pole_balance_env.html b/docs/documentation/gym_envs/quadx_pole_balance_env.html index d929a310..5a239af1 100644 --- a/docs/documentation/gym_envs/quadx_pole_balance_env.html +++ b/docs/documentation/gym_envs/quadx_pole_balance_env.html @@ -389,7 +389,7 @@

PyFlyt/QuadX-Pole-Balance-v2#

-https://raw.githubusercontent.com/jjshoots/PyFlyt/master/readme_assets/pole_balance.gif +https://raw.githubusercontent.com/jjshoots/PyFlyt/master/readme_assets/quadx_pole_balance.gif
@@ -414,9 +414,9 @@

Usage#<

Environment Options#

-class PyFlyt.gym_envs.quadx_envs.quadx_pole_balance_env.QuadXPoleBalanceEnv(sparse_reward: bool = False, flight_mode: int = 0, flight_dome_size: float = 3.0, max_duration_seconds: float = 20.0, angle_representation: Literal['euler', 'quaternion'] = 'quaternion', agent_hz: int = 40, render_mode: None | Literal['human', 'rgb_array'] = None, render_resolution: tuple[int, int] = (480, 480))#
+class PyFlyt.gym_envs.quadx_envs.quadx_pole_balance_env.QuadXPoleBalanceEnv(sparse_reward: bool = False, flight_mode: int = -1, flight_dome_size: float = 3.0, max_duration_seconds: float = 20.0, angle_representation: Literal['euler', 'quaternion'] = 'quaternion', agent_hz: int = 40, render_mode: None | Literal['human', 'rgb_array'] = None, render_resolution: tuple[int, int] = (480, 480))#

Simple Hover Environment with the additional goal of keeping a pole upright.

-

Actions are vp, vq, vr, T, ie: angular rates and thrust. +

Actions are direct motor PWM commands because any underlying controller introduces too much control latency. The target is to not crash and not let the pole hit the ground for the longest time possible.

Args:#

diff --git a/docs/documentation/gym_envs/quadx_pole_waypoints_env.html b/docs/documentation/gym_envs/quadx_pole_waypoints_env.html index bd13cf40..6924eeca 100644 --- a/docs/documentation/gym_envs/quadx_pole_waypoints_env.html +++ b/docs/documentation/gym_envs/quadx_pole_waypoints_env.html @@ -389,7 +389,7 @@

PyFlyt/QuadX-Pole-Waypoints-v2#

-https://raw.githubusercontent.com/jjshoots/PyFlyt/master/readme_assets/quadx_waypoint.gif +https://raw.githubusercontent.com/jjshoots/PyFlyt/master/readme_assets/quadx_pole_waypoint.gif
@@ -434,9 +434,9 @@

Flattening the Environment#

-class PyFlyt.gym_envs.quadx_envs.quadx_pole_waypoints_env.QuadXPoleWaypointsEnv(sparse_reward: bool = False, num_targets: int = 4, goal_reach_distance: float = 0.2, flight_mode: int = 0, flight_dome_size: float = 10.0, max_duration_seconds: float = 60.0, angle_representation: Literal['euler', 'quaternion'] = 'quaternion', agent_hz: int = 30, render_mode: None | Literal['human', 'rgb_array'] = None, render_resolution: tuple[int, int] = (480, 480))#
+class PyFlyt.gym_envs.quadx_envs.quadx_pole_waypoints_env.QuadXPoleWaypointsEnv(sparse_reward: bool = False, num_targets: int = 4, goal_reach_distance: float = 0.2, flight_mode: int = -1, flight_dome_size: float = 10.0, max_duration_seconds: float = 20.0, angle_representation: Literal['euler', 'quaternion'] = 'quaternion', agent_hz: int = 40, render_mode: None | Literal['human', 'rgb_array'] = None, render_resolution: tuple[int, int] = (480, 480))#

QuadX Pole Waypoints Environment.

-

Actions are vp, vq, vr, T, ie: angular rates and thrust. +

Actions are direct motor PWM commands because any underlying controller introduces too much control latency. The target is to get to a set of [x, y, z] waypoints in space without dropping the pole.

Args:#

diff --git a/docs/searchindex.js b/docs/searchindex.js index 4e9a31e4..c798ee14 100644 --- a/docs/searchindex.js +++ b/docs/searchindex.js @@ -1 +1 @@ -Search.setIndex({"alltitles": {"Abstractions": [[2, "abstractions"]], "Accessing Individual Drones": [[10, "accessing-individual-drones"]], "Args:": [[3, "args"], [3, "args"], [4, "args"], [4, "id1"], [4, "id2"], [5, "args"], [5, "id1"], [6, "args"], [7, "args"], [7, "id1"], [8, "args"], [8, "id1"], [8, "id2"], [8, "args"], [8, "id1"], [8, "id2"], [9, "args"], [9, "id1"], [10, "args"], [10, "args"], [10, "id1"], [10, "id2"], [10, "id4"], [10, "id5"], [10, "id6"], [10, "id7"], [12, "args"], [12, "id1"], [12, "id2"], [13, "args"], [13, "id1"], [13, "id2"], [13, "id3"], [14, "args"], [14, "id1"], [14, "id2"], [17, "args"], [18, "args"], [19, "args"], [20, "args"], [21, "args"], [22, "args"], [24, "args"], [25, "args"]], "Attributes": [[10, "attributes"]], "Aviary": [[10, "aviary"]], "Axis Conventions": [[1, "axis-conventions"]], "Base Drone Class": [[3, "base-drone-class"]], "Boosters": [[4, "boosters"]], "Boring Bodies": [[5, "boring-bodies"]], "Camera": [[6, "camera"]], "Citation": [[27, "citation"]], "Class Description": [[3, "class-description"], [4, "class-description"], [5, "class-description"], [6, "class-description"], [7, "class-description"], [8, "class-description"], [9, "class-description"], [10, "class-description"], [12, "class-description"], [13, "class-description"], [14, "class-description"]], "Control Mode": [[12, "control-mode"], [14, "control-mode"]], "Control Modes": [[13, "control-modes"]], "Controlling Drone Types": [[10, "controlling-drone-types"]], "Core": [[1, "core"]], "Core API": [[1, "core-api"]], "Core API Example": [[10, "core-api-example"]], "Default Attributes": [[3, "default-attributes"], [15, "default-attributes"]], "Default Methods": [[3, "default-methods"]], "Description": [[2, "description"], [4, "description"], [5, "description"], [6, "description"], [7, "description"], [8, 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"zero": [3, 8], "zeros_lik": [10, 15]}, "titles": ["Documentation", "Core", "Abstractions", "Base Drone Class", "Boosters", "Boring Bodies", "Camera", "Gimbals", "Lifting Surfaces", "Motors", "Aviary", "Drones", "Fixedwing", "QuadX", "Rocket", "Wind", "Gymnasium Environments", "PyFlyt/Fixedwing-Waypoints-v2", "PyFlyt/QuadX-Hover-v2", "PyFlyt/QuadX-Pole-Balance-v2", "PyFlyt/QuadX-Pole-Waypoints-v2", "PyFlyt/QuadX-Waypoints-v2", "PyFlyt/Rocket-Landing-v2", "PettingZoo Environments", "MAFixedwingDogfightEnv", "MAQuadXHoverEnv", "PyFlyt - UAV Simulation Environments for Reinforcement Learning Research", "Paper Publication", "Tutorials"], "titleterms": {"abstract": 2, "access": 10, "api": [1, 10], "architectur": 1, "arg": [3, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 17, 18, 19, 20, 21, 22, 24, 25], "attribut": [3, 10, 15], "aviari": 10, "axi": 1, "balanc": 19, "base": 3, "bodi": 5, "booster": 4, "bore": 5, "camera": 6, "citat": 27, "class": [3, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14], "complex": 15, 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[3, 15], "research": 26, "return": [4, 6, 7, 8, 9, 10], "rocket": [14, 22], "rule": 24, "set": 10, "setup": 10, "simpl": 15, "simul": 26, "singl": 10, "spawn": 10, "step": 10, "surfac": 8, "task": [17, 18, 19, 20, 21, 22, 24, 25], "tutori": 28, "type": 10, "uav": 26, "usag": [2, 10, 17, 18, 19, 20, 21, 22, 24, 25], "v2": [17, 18, 19, 20, 21, 22], "variant": 13, "want": 0, "waypoint": [17, 20, 21], "wind": 15, "window": 0}}) \ No newline at end of file diff --git a/docs_source/documentation/gym_envs/quadx_pole_balance_env.md b/docs_source/documentation/gym_envs/quadx_pole_balance_env.md index 018067b2..be13772a 100644 --- a/docs_source/documentation/gym_envs/quadx_pole_balance_env.md +++ b/docs_source/documentation/gym_envs/quadx_pole_balance_env.md @@ -1,6 +1,6 @@ # `PyFlyt/QuadX-Pole-Balance-v2` -```{figure} https://raw.githubusercontent.com/jjshoots/PyFlyt/master/readme_assets/pole_balance.gif +```{figure} https://raw.githubusercontent.com/jjshoots/PyFlyt/master/readme_assets/quadx_pole_balance.gif :width: 50% ``` diff --git a/docs_source/documentation/gym_envs/quadx_pole_waypoints_env.md b/docs_source/documentation/gym_envs/quadx_pole_waypoints_env.md index a318794d..aa196539 100644 --- a/docs_source/documentation/gym_envs/quadx_pole_waypoints_env.md +++ b/docs_source/documentation/gym_envs/quadx_pole_waypoints_env.md @@ -1,6 +1,6 @@ # `PyFlyt/QuadX-Pole-Waypoints-v2` -```{figure} https://raw.githubusercontent.com/jjshoots/PyFlyt/master/readme_assets/quadx_waypoint.gif +```{figure} https://raw.githubusercontent.com/jjshoots/PyFlyt/master/readme_assets/quadx_pole_waypoint.gif :width: 50% ``` diff --git a/pyproject.toml b/pyproject.toml index 3ff7cdcd..73512851 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta" [project] name = "PyFlyt" -version = "0.23.0" +version = "0.24.0" authors = [ { name="Jet", email="taijunjet@hotmail.com" }, ] @@ -49,5 +49,8 @@ reportMissingImports = "none" ignore = ["D401", "D404", "D203", "D213"] select = ["E4", "E7", "E9", "F", "I", "D"] +[tool.ruff.lint.pydocstyle] +convention = "google" + [tool.ruff.lint.per-file-ignores] "__init__.py" = ["F401"] diff --git a/readme_assets/pole_balance.gif b/readme_assets/quadx_pole_balance.gif similarity index 100% rename from readme_assets/pole_balance.gif rename to readme_assets/quadx_pole_balance.gif diff --git a/readme_assets/quadx_pole_waypoint.gif b/readme_assets/quadx_pole_waypoint.gif new file mode 100644 index 00000000..2f527b91 Binary files /dev/null and b/readme_assets/quadx_pole_waypoint.gif differ