def __init__(self, drone_model: DroneModel=DroneModel.CF2X, initial_xyzs=None, initial_rpys=None,
physics: Physics=Physics.PYB, freq: int=240, aggregate_phy_steps: int=1,
gui=False, record=False,
obs: ObservationType=ObservationType.KIN,
act: ActionType=ActionType.RPM):
self.EPISODE_LEN_SEC = 5
self.OBS_TYPE = obs; self.ACT_TYPE = act
#### Before super().__init__ to initialize the proper action/obs spaces ############################
if self.OBS_TYPE==ObservationType.RGB:
self.IMG_RES = np.array([64, 48]); self.IMG_FRAME_PER_SEC = 24; self.IMG_CAPTURE_FREQ = int(freq/self.IMG_FRAME_PER_SEC)
self.rgb = np.zeros(((1, self.IMG_RES[1], self.IMG_RES[0], 4))); self.dep = np.ones(((1, self.IMG_RES[1], self.IMG_RES[0]))); self.seg = np.zeros(((1, self.IMG_RES[1], self.IMG_RES[0])))
if self.IMG_CAPTURE_FREQ%aggregate_phy_steps!=0: print("[ERROR] in BaseSingleAgentAviary.__init__(), aggregate_phy_steps incompatible with the desired video capture frame rate ({:f}Hz)".format(self.IMG_FRAME_PER_SEC)); exit()
super().__init__(drone_model=drone_model, num_drones=1, initial_xyzs=initial_xyzs, initial_rpys=initial_rpys, physics=physics,
freq=freq, aggregate_phy_steps=aggregate_phy_steps, gui=gui, record=record,
obstacles=True, # Add obstacles for RGB observations and/or FlyThruGate
user_debug_gui=False) # Remove of RPM sliders from all single agent learning aviaries
#### After super().__init__ to use the proper constants ############################################
if self.ACT_TYPE==ActionType.DYN or self.ACT_TYPE==ActionType.ONE_D_DYN:
if self.DRONE_MODEL==DroneModel.CF2X: self.A = np.array([ [1, 1, 1, 1], [.5, .5, -.5, -.5], [-.5, .5, .5, -.5], [-1, 1, -1, 1] ])
elif self.DRONE_MODEL in [DroneModel.CF2P, DroneModel.HB]: self.A = np.array([ [1, 1, 1, 1], [0, 1, 0, -1], [-1, 0, 1, 0], [-1, 1, -1, 1] ])
self.INV_A = np.linalg.inv(self.A); self.B_COEFF = np.array([1/self.KF, 1/(self.KF*self.L), 1/(self.KF*self.L), 1/self.KM])
if self.ACT_TYPE==ActionType.PID or self.ACT_TYPE==ActionType.ONE_D_PID:
os.environ['KMP_DUPLICATE_LIB_OK']='True'
if self.DRONE_MODEL in [DroneModel.CF2X, DroneModel.CF2P]: self.ctrl = DSLPIDControl(CtrlAviary(drone_model=DroneModel.CF2X))
elif self.DRONE_MODEL==DroneModel.HB: self.ctrl = SimplePIDControl(CtrlAviary(drone_model=DroneModel.HB))
if self.OBS_TYPE==ObservationType.RGB and self.RECORD: self.ONBOARD_IMG_PATH = os.path.dirname(os.path.abspath(__file__))+"/../../../files/videos/onboard-"+datetime.now().strftime("%m.%d.%Y_%H.%M.%S")+"/"; os.makedirs(os.path.dirname(self.ONBOARD_IMG_PATH), exist_ok=True)
def __init__(self,
drone_model: DroneModel = DroneModel.CF2X,
num_drones: int = 2,
neighbourhood_radius: float = np.inf,
initial_xyzs=None,
initial_rpys=None,
physics: Physics = Physics.PYB,
freq: int = 240,
aggregate_phy_steps: int = 1,
gui=False,
record=False,
obs: ObservationType = ObservationType.KIN,
act: ActionType = ActionType.RPM):
if num_drones < 2:
print(
"[ERROR] in BaseMultiagentAviary.__init__(), num_drones should be >= 2"
)
exit()
vision_attributes = True if obs == ObservationType.RGB else False
dynamics_attributes = True if act in [
ActionType.DYN, ActionType.ONE_D_DYN
] else False
self.OBS_TYPE = obs
self.ACT_TYPE = act
self.EPISODE_LEN_SEC = 5
#### Create integrated controllers #########################
if act in [ActionType.PID, ActionType.ONE_D_PID]:
os.environ['KMP_DUPLICATE_LIB_OK'] = 'True'
if self.DRONE_MODEL in [DroneModel.CF2X, DroneModel.CF2P]:
self.ctrl = [
DSLPIDControl(BaseAviary(drone_model=DroneModel.CF2X))
for i in range(self.NUM_DRONES)
]
elif self.DRONE_MODEL == DroneModel.HB:
self.ctrl = [
SimplePIDControl(BaseAviary(drone_model=DroneModel.HB))
for i in range(self.NUM_DRONES)
]
super().__init__(
drone_model=drone_model,
num_drones=num_drones,
neighbourhood_radius=neighbourhood_radius,
initial_xyzs=initial_xyzs,
initial_rpys=initial_rpys,
physics=physics,
freq=freq,
aggregate_phy_steps=aggregate_phy_steps,
gui=gui,
record=record,
obstacles=
True, # Add obstacles for RGB observations and/or FlyThruGate
user_debug_gui=
False, # Remove of RPM sliders from all single agent learning aviaries
vision_attributes=vision_attributes,
dynamics_attributes=dynamics_attributes)
for i in range(NUM_WP):
TARGET_POS[i, :] = R * np.cos(
(i / NUM_WP) *
(2 * np.pi) + np.pi / 2) + INIT_XYZS[0, 0], R * np.sin(
(i / NUM_WP) *
(2 * np.pi) + np.pi / 2) - R + INIT_XYZS[0, 1], INIT_XYZS[0, 2]
wp_counters = np.array(
[int((i * NUM_WP / 6) % NUM_WP) for i in range(ARGS.num_drones)])
#### Initialize the logger #########################################################################
logger = Logger(logging_freq_hz=int(ARGS.simulation_freq_hz /
AGGR_PHY_STEPS),
num_drones=ARGS.num_drones)
#### Initialize the controllers ####################################################################
ctrl = [DSLPIDControl(env) for i in range(ARGS.num_drones)]
# ctrl = [SimplePIDControl(env) for i in range(ARGS.num_drones)]
#### Run the simulation ############################################################################
CTRL_EVERY_N_STEPS = int(np.floor(env.SIM_FREQ / ARGS.control_freq_hz))
action = {str(i): np.array([0, 0, 0, 0]) for i in range(ARGS.num_drones)}
START = time.time()
for i in range(0, int(ARGS.duration_sec * env.SIM_FREQ), AGGR_PHY_STEPS):
#### Make it rain rubber ducks #####################################################################
# if i/env.SIM_FREQ>5 and i%10==0 and i/env.SIM_FREQ<10: p.loadURDF("duck_vhacd.urdf", [0+random.gauss(0, 0.3),-0.5+random.gauss(0, 0.3),3], p.getQuaternionFromEuler([random.randint(0,360),random.randint(0,360),random.randint(0,360)]), physicsClientId=PYB_CLIENT)
#### Step the simulation ###########################################################################
obs, reward, done, info = env.step(action)
#### Compute control at the desired frequency @@@@@#################################################
#### Create the environment with or without video capture part of each drone's state ###############
if VISION: env = VisionCtrlAviary(drone_model=DRONE, num_drones=NUM_DRONES, initial_xyzs=INIT_XYZS, physics=PHYSICS, \
visibility_radius=10, freq=SIMULATION_FREQ_HZ, gui=GUI, record=RECORD_VIDEO, obstacles=True)
else: env = CtrlAviary(drone_model=DRONE, num_drones=NUM_DRONES, initial_xyzs=INIT_XYZS, physics=PHYSICS, \
visibility_radius=10, freq=SIMULATION_FREQ_HZ, gui=GUI, record=RECORD_VIDEO, obstacles=True)
#### Initialize a circular trajectory ##############################################################
PERIOD = 10; NUM_WP = CONTROL_FREQ_HZ*PERIOD; TARGET_POS = np.zeros((NUM_WP,3))
for i in range(NUM_WP): TARGET_POS[i,:] = R*np.cos((i/NUM_WP)*(2*np.pi)+np.pi/2)+INIT_XYZS[0,0], R*np.sin((i/NUM_WP)*(2*np.pi)+np.pi/2)-R+INIT_XYZS[0,1], INIT_XYZS[0,2]
wp_counters = np.array([ int((i*NUM_WP/6)%NUM_WP) for i in range(NUM_DRONES) ])
#### Initialize the logger #########################################################################
logger = Logger(logging_freq_hz=SIMULATION_FREQ_HZ, num_drones=NUM_DRONES, duration_sec=DURATION_SEC)
#### Initialize the controllers ####################################################################
ctrl = [DSLPIDControl(env) for i in range(NUM_DRONES)]
# ctrl = [SimplePIDControl(env) for i in range(NUM_DRONES)]
#### Run the simulation ############################################################################
CTRL_EVERY_N_STEPS= int(np.floor(env.SIM_FREQ/CONTROL_FREQ_HZ))
action = { str(i): np.array([0,0,0,0]) for i in range(NUM_DRONES) }
START = time.time(); temp_action = {}
for i in range(DURATION_SEC*env.SIM_FREQ):
#### Step the simulation ###########################################################################
obs, reward, done, info = env.step(action)
#### Compute control at the desired frequency @@@@@#################################################
if i%CTRL_EVERY_N_STEPS==0:
#### Compute control for the current way point #####################################################
aggregate_phy_steps=AGGR_PHY_STEPS,
gui=ARGS.gui,
record=ARGS.record_video,
obstacles=ARGS.obstacles,
user_debug_gui=ARGS.user_debug_gui)
#### Obtain the PyBullet Client ID from the environment ####
PYB_CLIENT = env.getPyBulletClient()
#### Initialize the logger #################################
logger = Logger(logging_freq_hz=int(ARGS.simulation_freq_hz /
AGGR_PHY_STEPS),
num_drones=1)
#### Initialize the controller #############################
ctrl = DSLPIDControl(drone_model=DroneModel.CF2X)
#### Run the simulation ####################################
CTRL_EVERY_N_STEPS = int(np.floor(env.SIM_FREQ / ARGS.control_freq_hz))
action = {"0": np.array([0, 0, 0, 0])}
START = time.time()
for i in range(0, int(ARGS.duration_sec * env.SIM_FREQ), AGGR_PHY_STEPS):
#### Make it rain rubber ducks #############################
# if i/env.SIM_FREQ>5 and i%10==0 and i/env.SIM_FREQ<10: p.loadURDF("duck_vhacd.urdf", [0+random.gauss(0, 0.3),-0.5+random.gauss(0, 0.3),3], p.getQuaternionFromEuler([random.randint(0,360),random.randint(0,360),random.randint(0,360)]), physicsClientId=PYB_CLIENT)
#### Step the simulation ###################################
obs, reward, done, info = env.step(action)
#### Compute control at the desired frequency ##############
if i % CTRL_EVERY_N_STEPS == 0:
#### Initialize the trajectories ###########################
PERIOD = 5
NUM_WP = ARGS.control_freq_hz * PERIOD
TARGET_POS = np.zeros((NUM_WP, 2))
for i in range(NUM_WP):
TARGET_POS[i, :] = [0.5 * np.cos(2 * np.pi * (i / NUM_WP)), 0]
wp_counters = np.array([0, int(NUM_WP / 2)])
#### Initialize the logger #################################
logger = Logger(logging_freq_hz=int(ARGS.simulation_freq_hz /
AGGR_PHY_STEPS),
num_drones=2,
duration_sec=ARGS.duration_sec)
#### Initialize the controllers ############################
ctrl = [DSLPIDControl(drone_model=ARGS.drone) for i in range(2)]
#### Run the simulation ####################################
CTRL_EVERY_N_STEPS = int(np.floor(env.SIM_FREQ / ARGS.control_freq_hz))
action = {str(i): np.array([0, 0, 0, 0]) for i in range(2)}
START = time.time()
for i in range(0, int(ARGS.duration_sec * env.SIM_FREQ), AGGR_PHY_STEPS):
#### Step the simulation ###################################
obs, reward, done, info = env.step(action)
#### Compute control at the desired frequency ##############
if i % CTRL_EVERY_N_STEPS == 0:
#### Compute control for the current way point #############
for j in range(2):
def __init__(self,
drone_model: DroneModel=DroneModel.CF2X,
num_drones: int=2,
neighbourhood_radius: float=np.inf,
initial_xyzs=None,
initial_rpys=None,
physics: Physics=Physics.PYB,
freq: int=240,
aggregate_phy_steps: int=1,
gui=False,
record=False,
obs: ObservationType=ObservationType.KIN,
act: ActionType=ActionType.RPM
):
"""Initialization of a generic multi-agent RL environment.
Attributes `vision_attributes` and `dynamics_attributes` are selected
based on the choice of `obs` and `act`; `obstacles` is set to True
and overridden with landmarks for vision applications;
`user_debug_gui` is set to False for performance.
Parameters
----------
drone_model : DroneModel, optional
The desired drone type (detailed in an .urdf file in folder `assets`).
num_drones : int, optional
The desired number of drones in the aviary.
neighbourhood_radius : float, optional
Radius used to compute the drones' adjacency matrix, in meters.
initial_xyzs: ndarray | None, optional
(NUM_DRONES, 3)-shaped array containing the initial XYZ position of the drones.
initial_rpys: ndarray | None, optional
(NUM_DRONES, 3)-shaped array containing the initial orientations of the drones (in radians).
physics : Physics, optional
The desired implementation of PyBullet physics/custom dynamics.
freq : int, optional
The frequency (Hz) at which the physics engine steps.
aggregate_phy_steps : int, optional
The number of physics steps within one call to `BaseAviary.step()`.
gui : bool, optional
Whether to use PyBullet's GUI.
record : bool, optional
Whether to save a video of the simulation in folder `files/videos/`.
obs : ObservationType, optional
The type of observation space (kinematic information or vision)
act : ActionType, optional
The type of action space (1 or 3D; RPMS, thurst and torques, waypoint or velocity with PID control; etc.)
"""
if num_drones < 2:
print("[ERROR] in BaseMultiagentAviary.__init__(), num_drones should be >= 2")
exit()
if act == ActionType.TUN:
print("[ERROR] in BaseMultiagentAviary.__init__(), ActionType.TUN can only used with BaseSingleAgentAviary")
exit()
vision_attributes = True if obs == ObservationType.RGB else False
dynamics_attributes = True if act in [ActionType.DYN, ActionType.ONE_D_DYN] else False
self.OBS_TYPE = obs
self.ACT_TYPE = act
self.EPISODE_LEN_SEC = 5
#### Create integrated controllers #########################
if act in [ActionType.PID, ActionType.VEL, ActionType.ONE_D_PID]:
os.environ['KMP_DUPLICATE_LIB_OK']='True'
if drone_model in [DroneModel.CF2X, DroneModel.CF2P]:
self.ctrl = [DSLPIDControl(drone_model=DroneModel.CF2X) for i in range(num_drones)]
elif drone_model == DroneModel.HB:
self.ctrl = [SimplePIDControl(drone_model=DroneModel.HB) for i in range(num_drones)]
else:
print("[ERROR] in BaseMultiagentAviary.__init()__, no controller is available for the specified drone_model")
super().__init__(drone_model=drone_model,
num_drones=num_drones,
neighbourhood_radius=neighbourhood_radius,
initial_xyzs=initial_xyzs,
initial_rpys=initial_rpys,
physics=physics,
freq=freq,
aggregate_phy_steps=aggregate_phy_steps,
gui=gui,
record=record,
obstacles=True, # Add obstacles for RGB observations and/or FlyThruGate
user_debug_gui=False, # Remove of RPM sliders from all single agent learning aviaries
vision_attributes=vision_attributes,
dynamics_attributes=dynamics_attributes
)
#### Set a limit on the maximum target speed ###############
if act == ActionType.VEL:
self.SPEED_LIMIT = 0.03 * self.MAX_SPEED_KMH * (1000/3600)
TARGET_POS[i, :] = R * np.cos(
(i / NUM_WP) *
(2 * np.pi) + np.pi / 2) + INIT_XYZS[0, 0], R * np.sin(
(i / NUM_WP) *
(2 * np.pi) + np.pi / 2) - R + INIT_XYZS[0, 1], INIT_XYZS[0, 2]
wp_counters = np.array(
[int((i * NUM_WP / 6) % NUM_WP) for i in range(ARGS.num_drones)])
#### Initialize the logger #################################
logger = Logger(logging_freq_hz=int(ARGS.simulation_freq_hz /
AGGR_PHY_STEPS),
num_drones=ARGS.num_drones)
#### Initialize the controllers ############################
ctrl = [
DSLPIDControl(drone_model=ARGS.drone) for i in range(ARGS.num_drones)
]
#### Run the simulation ####################################
CTRL_EVERY_N_STEPS = int(np.floor(env.SIM_FREQ / ARGS.control_freq_hz))
action = {str(i): np.array([0, 0, 0, 0]) for i in range(ARGS.num_drones)}
START = time.time()
for i in range(0, int(ARGS.duration_sec * env.SIM_FREQ), AGGR_PHY_STEPS):
#### Step the simulation ###################################
obs, reward, done, info = env.step(action)
#### Compute control at the desired frequency @@@@@#########
if i % CTRL_EVERY_N_STEPS == 0:
#### Compute control for the current way point #############
#### Initialize the trajectories ###########################
PERIOD = 10
NUM_WP = ARGS.control_freq_hz * PERIOD
TARGET_POS = np.zeros((NUM_WP, 2))
for i in range(NUM_WP):
TARGET_POS[i, :] = [0.5 * np.cos(2 * np.pi * (i / NUM_WP)), 0]
wp_counters = np.array([0, int(NUM_WP / 2)])
#### Initialize the logger #################################
logger = Logger(logging_freq_hz=ARGS.simulation_freq_hz,
num_drones=2,
duration_sec=ARGS.duration_sec)
#### Initialize the controllers ############################
ctrl = [DSLPIDControl(env) for i in range(2)]
#### Run the simulation ####################################
CTRL_EVERY_N_STEPS = int(np.floor(env.SIM_FREQ / ARGS.control_freq_hz))
action = {str(i): np.array([0, 0, 0, 0]) for i in range(2)}
START = time.time()
for i in range(ARGS.duration_sec * env.SIM_FREQ):
#### Step the simulation ###################################
obs, reward, done, info = env.step(action)
#### Compute control at the desired frequency ##############
if i % CTRL_EVERY_N_STEPS == 0:
#### Compute control for the current way point #############
for j in range(2):
def __init__(self,
drone_model: DroneModel=DroneModel.CF2X,
initial_xyzs=None,
initial_rpys=None,
physics: Physics=Physics.PYB,
freq: int=240,
aggregate_phy_steps: int=1,
gui=False,
record=False,
obs: ObservationType=ObservationType.KIN,
act: ActionType=ActionType.RPM
):
"""Initialization of a generic single agent RL environment.
Attribute `num_drones` is automatically set to 1; `vision_attributes`
and `dynamics_attributes` are selected based on the choice of `obs`
and `act`; `obstacles` is set to True and overridden with landmarks for
vision applications; `user_debug_gui` is set to False for performance.
Parameters
----------
drone_model : DroneModel, optional
The desired drone type (detailed in an .urdf file in folder `assets`).
initial_xyzs: ndarray | None, optional
(NUM_DRONES, 3)-shaped array containing the initial XYZ position of the drones.
initial_rpys: ndarray | None, optional
(NUM_DRONES, 3)-shaped array containing the initial orientations of the drones (in radians).
physics : Physics, optional
The desired implementation of PyBullet physics/custom dynamics.
freq : int, optional
The frequency (Hz) at which the physics engine steps.
aggregate_phy_steps : int, optional
The number of physics steps within one call to `BaseAviary.step()`.
gui : bool, optional
Whether to use PyBullet's GUI.
record : bool, optional
Whether to save a video of the simulation in folder `files/videos/`.
obs : ObservationType, optional
The type of observation space (kinematic information or vision)
act : ActionType, optional
The type of action space (1 or 3D; RPMS, thurst and torques, waypoint or velocity with PID control; etc.)
"""
vision_attributes = True if obs == ObservationType.RGB else False
dynamics_attributes = True if act in [ActionType.DYN, ActionType.ONE_D_DYN] else False
self.OBS_TYPE = obs
self.ACT_TYPE = act
self.EPISODE_LEN_SEC = 5
#### Create integrated controllers #########################
if act in [ActionType.PID, ActionType.VEL, ActionType.TUN, ActionType.ONE_D_PID]:
os.environ['KMP_DUPLICATE_LIB_OK']='True'
if drone_model in [DroneModel.CF2X, DroneModel.CF2P]:
self.ctrl = DSLPIDControl(drone_model=DroneModel.CF2X)
if act == ActionType.TUN:
self.TUNED_P_POS = np.array([.4, .4, 1.25])
self.TUNED_I_POS = np.array([.05, .05, .05])
self.TUNED_D_POS = np.array([.2, .2, .5])
self.TUNED_P_ATT = np.array([70000., 70000., 60000.])
self.TUNED_I_ATT = np.array([.0, .0, 500.])
self.TUNED_D_ATT = np.array([20000., 20000., 12000.])
elif drone_model in [DroneModel.HB, DroneModel.ARDRONE2]:
self.ctrl = SimplePIDControl(drone_model=drone_model)
if act == ActionType.TUN:
self.TUNED_P_POS = np.array([.1, .1, .2])
self.TUNED_I_POS = np.array([.0001, .0001, .0001])
self.TUNED_D_POS = np.array([.3, .3, .4])
self.TUNED_P_ATT = np.array([.3, .3, .05])
self.TUNED_I_ATT = np.array([.0001, .0001, .0001])
self.TUNED_D_ATT = np.array([.3, .3, .5])
else:
print("[ERROR] in BaseSingleAgentAviary.__init()__, no controller is available for the specified drone_model")
super().__init__(drone_model=drone_model,
num_drones=1,
initial_xyzs=initial_xyzs,
initial_rpys=initial_rpys,
physics=physics,
freq=freq,
aggregate_phy_steps=aggregate_phy_steps,
gui=gui,
record=record,
obstacles=True, # Add obstacles for RGB observations and/or FlyThruGate
user_debug_gui=False, # Remove of RPM sliders from all single agent learning aviaries
vision_attributes=vision_attributes,
dynamics_attributes=dynamics_attributes
)
#### Set a limit on the maximum target speed ###############
if act == ActionType.VEL:
self.SPEED_LIMIT = 0.03 * self.MAX_SPEED_KMH * (1000/3600)
#### Try _trajectoryTrackingRPMs exists IFF ActionType.TUN #
if act == ActionType.TUN and not (hasattr(self.__class__, '_trajectoryTrackingRPMs') and callable(getattr(self.__class__, '_trajectoryTrackingRPMs'))):
print("[ERROR] in BaseSingleAgentAviary.__init__(), ActionType.TUN requires an implementation of _trajectoryTrackingRPMs in the instantiated subclass")
exit()
def __init__(self,
drone_model: DroneModel = DroneModel.CF2X,
initial_xyzs=None,
initial_rpys=None,
physics: Physics = Physics.PYB,
freq: int = 240,
aggregate_phy_steps: int = 1,
gui=False,
record=False,
obs: ObservationType = ObservationType.KIN,
act: ActionType = ActionType.RPM):
"""Initialization of a generic single agent RL environment.
Attribute `num_drones` is automatically set to 1; `vision_attributes`
and `dynamics_attributes` are selected based on the choice of `obs`
and `act`; `obstacles` is set to True and overridden with landmarks for
vision applications; `user_debug_gui` is set to False for performance.
Parameters
----------
drone_model : DroneModel, optional
The desired drone type (detailed in an .urdf file in folder `assets`).
initial_xyzs: ndarray | None, optional
(NUM_DRONES, 3)-shaped array containing the initial XYZ position of the drones.
initial_rpys: ndarray | None, optional
(NUM_DRONES, 3)-shaped array containing the initial orientations of the drones (in radians).
physics : Physics, optional
The desired implementation of PyBullet physics/custom dynamics.
freq : int, optional
The frequency (Hz) at which the physics engine steps.
aggregate_phy_steps : int, optional
The number of physics steps within one call to `BaseAviary.step()`.
gui : bool, optional
Whether to use PyBullet's GUI.
record : bool, optional
Whether to save a video of the simulation in folder `files/videos/`.
obs : ObservationType, optional
The type of observation space (kinematic information or vision)
act : ActionType, optional
The type of action space (1 or 3D; RPMS, thurst and torques, or waypoint with PID control)
"""
vision_attributes = True if obs == ObservationType.RGB else False
dynamics_attributes = True if act in [
ActionType.DYN, ActionType.ONE_D_DYN
] else False
self.OBS_TYPE = obs
self.ACT_TYPE = act
self.EPISODE_LEN_SEC = 5
#### Create integrated controllers #########################
if act in [ActionType.PID, ActionType.ONE_D_PID]:
os.environ['KMP_DUPLICATE_LIB_OK'] = 'True'
if self.DRONE_MODEL in [DroneModel.CF2X, DroneModel.CF2P]:
self.ctrl = [
DSLPIDControl(BaseAviary(drone_model=DroneModel.CF2X))
for i in range(self.NUM_DRONES)
]
elif self.DRONE_MODEL == DroneModel.HB:
self.ctrl = [
SimplePIDControl(BaseAviary(drone_model=DroneModel.HB))
for i in range(self.NUM_DRONES)
]
super().__init__(
drone_model=drone_model,
num_drones=1,
initial_xyzs=initial_xyzs,
initial_rpys=initial_rpys,
physics=physics,
freq=freq,
aggregate_phy_steps=aggregate_phy_steps,
gui=gui,
record=record,
obstacles=
True, # Add obstacles for RGB observations and/or FlyThruGate
user_debug_gui=
False, # Remove of RPM sliders from all single agent learning aviaries
vision_attributes=vision_attributes,
dynamics_attributes=dynamics_attributes)
record=ARGS.record_video,
obstacles=ARGS.obstacles,
user_debug_gui=ARGS.user_debug_gui)
#### Obtain the PyBullet Client ID from the environment ####
PYB_CLIENT = env.getPyBulletClient()
#### Initialize the logger #################################
logger = Logger(logging_freq_hz=int(ARGS.simulation_freq_hz /
AGGR_PHY_STEPS),
num_drones=ARGS.num_drones)
#### Initialize the controllers ############################
if ARGS.drone in [DroneModel.CF2X, DroneModel.CF2P]:
ctrl = [
DSLPIDControl(drone_model=ARGS.drone)
for i in range(ARGS.num_drones)
]
elif ARGS.drone in [DroneModel.HB]:
ctrl = [
SimplePIDControl(drone_model=ARGS.drone)
for i in range(ARGS.num_drones)
]
#### Run the simulation ####################################
CTRL_EVERY_N_STEPS = int(np.floor(env.SIM_FREQ / ARGS.control_freq_hz))
action = {str(i): np.array([0, 0, 0, 0]) for i in range(ARGS.num_drones)}
START = time.time()
for i in range(0, int(ARGS.duration_sec * env.SIM_FREQ), AGGR_PHY_STEPS):
#### Make it rain rubber ducks #############################
)
INITIAL_STATE = env.reset()
action = {"0": np.zeros(4)}
pos_err = 9999.
#### TRACE_FILE starts at [0,0,0], sim starts at [0,0,INITIAL_STATE[2]]
TRACE_CTRL_REFERENCE[:, 2] = INITIAL_STATE["0"]["state"][2]
#### Initialize the logger #################################
logger = Logger(logging_freq_hz=SIMULATION_FREQ_HZ,
num_drones=2,
duration_sec=DURATION_SEC
)
#### Initialize the controller #############################
ctrl = DSLPIDControl(env)
#### Run the comparison ####################################
START = time.time()
for i in range(DURATION_SEC*env.SIM_FREQ):
#### Step the simulation ###################################
obs, reward, done, info = env.step(action)
#### Compute next action using the set points from the trace
action["0"], pos_err, yaw_err = ctrl.computeControlFromState(control_timestep=env.TIMESTEP,
state=obs["0"]["state"],
target_pos=TRACE_CTRL_REFERENCE[i, 0:3],
target_vel=TRACE_CTRL_REFERENCE[i, 3:6]
)
def __init__(self,
drone_model: DroneModel = DroneModel.CF2X,
num_drones: int = 1,
neighbourhood_radius: float = np.inf,
initial_xyzs=None,
initial_rpys=None,
physics: Physics = Physics.PYB,
freq: int = 240,
aggregate_phy_steps: int = 1,
gui=False,
record=False,
obstacles=False,
user_debug_gui=True):
"""Initialization of an aviary environment for or high-level planning.
Parameters
----------
drone_model : DroneModel, optional
The desired drone type (detailed in an .urdf file in folder `assets`).
num_drones : int, optional
The desired number of drones in the aviary.
neighbourhood_radius : float, optional
Radius used to compute the drones' adjacency matrix, in meters.
initial_xyzs: ndarray | None, optional
(NUM_DRONES, 3)-shaped array containing the initial XYZ position of the drones.
initial_rpys: ndarray | None, optional
(NUM_DRONES, 3)-shaped array containing the initial orientations of the drones (in radians).
physics : Physics, optional
The desired implementation of PyBullet physics/custom dynamics.
freq : int, optional
The frequency (Hz) at which the physics engine steps.
aggregate_phy_steps : int, optional
The number of physics steps within one call to `BaseAviary.step()`.
gui : bool, optional
Whether to use PyBullet's GUI.
record : bool, optional
Whether to save a video of the simulation in folder `files/videos/`.
obstacles : bool, optional
Whether to add obstacles to the simulation.
user_debug_gui : bool, optional
Whether to draw the drones' axes and the GUI RPMs sliders.
"""
#### Create integrated controllers #########################
os.environ['KMP_DUPLICATE_LIB_OK'] = 'True'
if drone_model in [DroneModel.CF2X, DroneModel.CF2P]:
self.ctrl = [
DSLPIDControl(drone_model=DroneModel.CF2X)
for i in range(num_drones)
]
elif drone_model == DroneModel.HB:
self.ctrl = [
SimplePIDControl(drone_model=DroneModel.HB)
for i in range(num_drones)
]
super().__init__(drone_model=drone_model,
num_drones=num_drones,
neighbourhood_radius=neighbourhood_radius,
initial_xyzs=initial_xyzs,
initial_rpys=initial_rpys,
physics=physics,
freq=freq,
aggregate_phy_steps=aggregate_phy_steps,
gui=gui,
record=record,
obstacles=obstacles,
user_debug_gui=user_debug_gui)
#### Set a limit on the maximum target speed ###############
self.SPEED_LIMIT = 0.03 * self.MAX_SPEED_KMH * (1000 / 3600)
def __init__(self):
parser = argparse.ArgumentParser(
description=
'Helix flight script using CtrlAviary or VisionAviary and DSLPIDControl'
)
parser.add_argument('--drone',
default="cf2x",
type=DroneModel,
help='Drone model (default: CF2X)',
metavar='',
choices=DroneModel)
parser.add_argument('--num_drones',
default=1,
type=int,
help='Number of drones (default: 3)',
metavar='')
parser.add_argument('--physics',
default="pyb",
type=Physics,
help='Physics updates (default: PYB)',
metavar='',
choices=Physics)
parser.add_argument(
'--vision',
default=False,
type=str2bool,
help='Whether to use VisionAviary (default: False)',
metavar='')
parser.add_argument('--gui',
default=True,
type=str2bool,
help='Whether to use PyBullet GUI (default: True)',
metavar='')
parser.add_argument('--record_video',
default=False,
type=str2bool,
help='Whether to record a video (default: False)',
metavar='')
parser.add_argument(
'--plot',
default=False,
type=str2bool,
help='Whether to plot the simulation results (default: True)',
metavar='')
parser.add_argument(
'--user_debug_gui',
default=False,
type=str2bool,
help=
'Whether to add debug lines and parameters to the GUI (default: False)',
metavar='')
parser.add_argument(
'--aggregate',
default=False,
type=str2bool,
help='Whether to aggregate physics steps (default: False)',
metavar='')
parser.add_argument(
'--obstacles',
default=False,
type=str2bool,
help='Whether to add obstacles to the environment (default: True)',
metavar='')
parser.add_argument('--simulation_freq_hz',
default=240,
type=int,
help='Simulation frequency in Hz (default: 240)',
metavar='')
parser.add_argument('--control_freq_hz',
default=48,
type=int,
help='Control frequency in Hz (default: 48)',
metavar='')
parser.add_argument(
'--duration_sec',
default=1000,
type=int,
help='Duration of the simulation in seconds (default: 5)',
metavar='')
self.ARGS = parser.parse_args()
H = .1
H_STEP = .05
R = .3
INIT_XYZS = np.array([[
R * np.cos((i / 6) * 2 * np.pi + np.pi / 2),
R * np.sin((i / 6) * 2 * np.pi + np.pi / 2) - R, H + i * H_STEP
] for i in range(self.ARGS.num_drones)])
INIT_RPYS = np.array([[0, 0, i * (np.pi / 2) / self.ARGS.num_drones]
for i in range(self.ARGS.num_drones)])
AGGR_PHY_STEPS = int(
self.ARGS.simulation_freq_hz /
self.ARGS.control_freq_hz) if self.ARGS.aggregate else 1
if self.ARGS.vision:
self.env = VisionAviary(drone_model=self.ARGS.drone,
num_drones=self.ARGS.num_drones,
initial_xyzs=INIT_XYZS,
initial_rpys=INIT_RPYS,
physics=self.ARGS.physics,
neighbourhood_radius=10,
freq=self.ARGS.simulation_freq_hz,
aggregate_phy_steps=AGGR_PHY_STEPS,
gui=self.ARGS.gui,
record=self.ARGS.record_video,
obstacles=self.ARGS.obstacles)
else:
self.env = CtrlAviary(drone_model=self.ARGS.drone,
num_drones=self.ARGS.num_drones,
initial_xyzs=INIT_XYZS,
initial_rpys=INIT_RPYS,
physics=self.ARGS.physics,
neighbourhood_radius=10,
freq=self.ARGS.simulation_freq_hz,
aggregate_phy_steps=AGGR_PHY_STEPS,
gui=self.ARGS.gui,
record=self.ARGS.record_video,
obstacles=self.ARGS.obstacles,
user_debug_gui=self.ARGS.user_debug_gui)
PYB_CLIENT = self.env.getPyBulletClient()
if self.ARGS.drone in [DroneModel.CF2X, DroneModel.CF2P]:
self.ctrl = [
DSLPIDControl(self.env) for i in range(self.ARGS.num_drones)
]
elif self.ARGS.drone in [DroneModel.HB]:
self.ctrl = [
SimplePIDControl(self.env) for i in range(self.ARGS.num_drones)
]
self.CTRL_EVERY_N_STEPS = int(
np.floor(self.env.SIM_FREQ / self.ARGS.control_freq_hz))
self.action = {
str(i): np.array([0, 0, 0, 0])
for i in range(self.ARGS.num_drones)
}
self.START = time.time()
freq=simulation_freq_hz,
aggregate_phy_steps=AGGR_PHY_STEPS,
gui=False,
record=False,
obstacles=False,
user_debug_gui=False)
#### Obtain the PyBullet Client ID from the environment ####
PYB_CLIENT = env.getPyBulletClient()
#### Initialize the logger #################################
logger = Logger(logging_freq_hz=int(simulation_freq_hz / AGGR_PHY_STEPS),
num_drones=1)
#### Initialize the controllers ############################
PID = DSLPIDControl(env)
flip = Flip()
# params = flip.get_initial_parameters()
# params = np.abs(params)
# params = np.array([18.774, 0.1, 0.11096576, 18.774, 0.1])
params = np.array([
18.78215108032221, 0.08218741361206124, 0.12091343074644069,
17.951940703885207, 0.05507561729533186
])
# U1, T1, T3, U5 = params[0:4]
# disturb = np.linspace(-5, 5, 10)
pbounds = {
'U1': (12, 20),
