From b9126d8e4f76e4066dbec1ab741788f3533e1cfc Mon Sep 17 00:00:00 2001 From: Martin Schuck Date: Sat, 9 May 2026 09:13:15 +0200 Subject: [PATCH] Update drone-controllers to 0.2.0 --- crazyflow/control/mellinger.py | 21 ++-- crazyflow/envs/drone_env.py | 7 +- crazyflow/sim/data.py | 2 +- crazyflow/sim/sim.py | 9 +- crazyflow/utils.py | 5 - pixi.lock | 147 ++++++++++++++------------- pyproject.toml | 2 +- submodules/drone-controllers | 2 +- submodules/drone-models | 2 +- tests/integration/test_interfaces.py | 2 +- tests/unit/test_sim.py | 13 +++ 11 files changed, 111 insertions(+), 101 deletions(-) diff --git a/crazyflow/control/mellinger.py b/crazyflow/control/mellinger.py index 2f0da88..262a3f6 100644 --- a/crazyflow/control/mellinger.py +++ b/crazyflow/control/mellinger.py @@ -1,12 +1,15 @@ from __future__ import annotations import jax.numpy as jnp -from drone_controllers.mellinger.params import AttitudeParams, ForceTorqueParams, StateParams +from drone_controllers.core import load_params +from drone_controllers.mellinger import ( + attitude2force_torque, + force_torque2rotor_vel, + state2attitude, +) from flax.struct import dataclass, field from jax import Array, Device -from crazyflow.utils import named_tuple2device - @dataclass class MellingerStateData: @@ -25,7 +28,7 @@ class MellingerStateData: pos_err_i: Array # (N, M, 3) """Integral errors of the state control command.""" # Parameters for the state controller - params: StateParams + params: dict[str, Array] @staticmethod def create( @@ -35,7 +38,7 @@ def create( cmd = jnp.zeros((n_worlds, n_drones, 13), device=device) steps = -jnp.ones((n_worlds, 1), dtype=jnp.int32, device=device) pos_err_i = jnp.zeros((n_worlds, n_drones, 3), device=device) - params = named_tuple2device(StateParams.load(drone_model), device) + params = load_params(state2attitude, drone_model, xp=jnp, device=device) return MellingerStateData( cmd=cmd, staged_cmd=cmd, steps=steps, freq=freq, pos_err_i=pos_err_i, params=params ) @@ -59,7 +62,7 @@ class MellingerAttitudeData: last_ang_vel: Array # (N, M, 3) """Last angular velocity of the drone.""" # Parameters for the attitude controller - params: AttitudeParams + params: dict[str, Array] @staticmethod def create( @@ -69,7 +72,7 @@ def create( cmd = jnp.zeros((n_worlds, n_drones, 4), device=device) steps = -jnp.ones((n_worlds, 1), dtype=jnp.int32, device=device) zeros_3d = jnp.zeros((n_worlds, n_drones, 3), device=device) - params = named_tuple2device(AttitudeParams.load(drone_model), device) + params = load_params(attitude2force_torque, drone_model, xp=jnp, device=device) return MellingerAttitudeData( cmd=cmd, staged_cmd=cmd, @@ -95,7 +98,7 @@ class MellingerForceTorqueData: freq: int = field(pytree_node=False) """Frequency of the force and torque control command.""" # Parameters for the force and torque controller - params: ForceTorqueParams + params: dict[str, Array] @staticmethod def create( @@ -103,7 +106,7 @@ def create( ) -> MellingerForceTorqueData: zero_4d = jnp.zeros((n_worlds, n_drones, 4), device=device) steps = -jnp.ones((n_worlds, 1), dtype=jnp.int32, device=device) - params = named_tuple2device(ForceTorqueParams.load(drone_model), device) + params = load_params(force_torque2rotor_vel, drone_model, xp=jnp, device=device) return MellingerForceTorqueData( cmd=zero_4d, staged_cmd=zero_4d, steps=steps, freq=freq, params=params ) diff --git a/crazyflow/envs/drone_env.py b/crazyflow/envs/drone_env.py index e97f65c..a69bd74 100644 --- a/crazyflow/envs/drone_env.py +++ b/crazyflow/envs/drone_env.py @@ -5,7 +5,8 @@ import jax import jax.numpy as jnp import numpy as np -from drone_controllers.mellinger.params import ForceTorqueParams +from drone_controllers.core import load_params +from drone_controllers.mellinger import force_torque2rotor_vel from gymnasium import spaces from gymnasium.vector import AutoresetMode, VectorEnv from gymnasium.vector.utils import batch_space @@ -31,8 +32,8 @@ def action_space(control_type: Control, drone_model: str) -> spaces.Box: """ match control_type: case Control.attitude: - params = ForceTorqueParams.load(drone_model) - thrust_min, thrust_max = params.thrust_min * 4, params.thrust_max * 4 + params = load_params(force_torque2rotor_vel, drone_model) + thrust_min, thrust_max = params["thrust_min"] * 4, params["thrust_max"] * 4 return spaces.Box( np.array([-np.pi / 2, -np.pi / 2, -np.pi / 2, thrust_min], dtype=np.float32), np.array([np.pi / 2, np.pi / 2, np.pi / 2, thrust_max], dtype=np.float32), diff --git a/crazyflow/sim/data.py b/crazyflow/sim/data.py index 2b4e020..c6b07b6 100644 --- a/crazyflow/sim/data.py +++ b/crazyflow/sim/data.py @@ -97,7 +97,7 @@ class ControlData(typing.Protocol): freq: int """Frequency of the state control command.""" # Parameters for the controller - params: tuple[typing.Any, ...] + params: dict[str, Array] @dataclass diff --git a/crazyflow/sim/sim.py b/crazyflow/sim/sim.py index c298514..644f62b 100644 --- a/crazyflow/sim/sim.py +++ b/crazyflow/sim/sim.py @@ -533,11 +533,10 @@ def step_state_controller(data: SimData) -> SimData: states.pos, states.quat, states.vel, - states.ang_vel, state_ctrl.cmd, ctrl_errors=(state_ctrl.pos_err_i,), ctrl_freq=state_ctrl.freq, - **state_ctrl.params._asdict(), + **state_ctrl.params, ) state_ctrl = leaf_replace(state_ctrl, mask, steps=data.core.steps, pos_err_i=pos_err_i) attitude_ctrl = leaf_replace(data.controls.attitude, mask, staged_cmd=rpyt) @@ -552,15 +551,13 @@ def step_attitude_controller(data: SimData) -> SimData: mask = controllable(data.core.steps, data.core.freq, attitude_ctrl.steps, attitude_ctrl.freq) attitude_ctrl = leaf_replace(attitude_ctrl, mask, cmd=attitude_ctrl.staged_cmd) force, torque, r_int_error = attitude2force_torque( - states.pos, states.quat, - states.vel, states.ang_vel, attitude_ctrl.cmd, ctrl_errors=(attitude_ctrl.r_int_error,), ctrl_freq=attitude_ctrl.freq, prev_ang_vel=attitude_ctrl.last_ang_vel, - **attitude_ctrl.params._asdict(), + **attitude_ctrl.params, ) attitude_ctrl = leaf_replace( attitude_ctrl, @@ -592,7 +589,7 @@ def step_force_torque_controller(data: SimData) -> SimData: mask = controllable(data.core.steps, data.core.freq, ft_ctrl.steps, ft_ctrl.freq) ft_ctrl = leaf_replace(ft_ctrl, mask, cmd=ft_ctrl.staged_cmd) rotor_vel = force_torque2rotor_vel( - 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httpx ; extra == 'testing' - grain ; extra == 'testing' + - grpcio-tools>=1.80.0 ; extra == 'tiering-service' requires_python: '>=3.10' - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-25.0-pyh29332c3_1.conda sha256: 289861ed0c13a15d7bbb408796af4de72c2fe67e2bcb0de98f4c3fce259d7991 @@ -6255,26 +6256,26 @@ packages: - pkg:pypi/six?source=hash-mapping size: 18455 timestamp: 1753199211006 -- pypi: https://files.pythonhosted.org/packages/3b/8f/570fb1069b9789b47376bdc8129371bd3dc62bbaf57054816527e79ff88a/tensorstore-0.1.82-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl +- pypi: https://files.pythonhosted.org/packages/a1/9a/289ac8c4ec3b88e39baec40149cd29cfa03904957a45460865df7ffa5749/tensorstore-0.1.83-cp313-cp313-macosx_11_0_arm64.whl name: tensorstore - version: 0.1.82 - sha256: 9f2c51d0c40a3a4e49590a1ec07494c518c46905c8f3ec1f5583120cfba3b2cf + version: 0.1.83 + sha256: cb6a5d29b02f77fac2ae56854846ded8c19ae18b99b6b9e1c3920478e3b07035 requires_dist: - numpy>=1.22.0 - 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version: 0.1.82 - sha256: d4182300d8ffa172e961e79c6bd89e38ce6bc5cd3abf1a7dacb22c2396ce40b7 + version: 0.1.83 + sha256: 5ca8a5aaff3dcf2a0981f1a94e7c3659ccc7c54da429eb06556735706707e6b9 requires_dist: - numpy>=1.22.0 - ml-dtypes>=0.5.0 diff --git a/pyproject.toml b/pyproject.toml index ecd58bf..8345521 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -31,7 +31,7 @@ dependencies = [ "ml_collections", "casadi", "drone-models==0.1.0", # from PyPI (regular install) or submodules folder (pixi install) - "drone-controllers==0.1.0", # from PyPI (regular install) or submodules folder (pixi install) + "drone-controllers==0.2.0", # from PyPI (regular install) or submodules folder (pixi install) ] requires-python = ">=3.11,<3.14" # MuJoCo has no wheels for python 14 diff --git a/submodules/drone-controllers b/submodules/drone-controllers index 2a6fddd..fe01635 160000 --- a/submodules/drone-controllers +++ b/submodules/drone-controllers @@ -1 +1 @@ -Subproject commit 2a6fddd7d49af0cf66ffc9556f172ca6ff9d4e75 +Subproject commit fe016354cfe051ab8a731328d09b6bd9e4647983 diff --git a/submodules/drone-models b/submodules/drone-models index b3f9f5a..712d467 160000 --- a/submodules/drone-models +++ b/submodules/drone-models @@ -1 +1 @@ -Subproject commit b3f9f5a483cfe27e30c4be86c915b2bc3d4929de +Subproject commit 712d4673da65db09855aa6696178092ec4f3d425 diff --git a/tests/integration/test_interfaces.py b/tests/integration/test_interfaces.py index 9d99af3..fdaba7e 100644 --- a/tests/integration/test_interfaces.py +++ b/tests/integration/test_interfaces.py @@ -44,7 +44,7 @@ def test_attitude_interface(physics: Physics): for _ in range(int(2 * sim.control_freq)): # Run simulation for 2 seconds pos, vel, quat = sim.data.states.pos, sim.data.states.vel, sim.data.states.quat - rpyt, i_error = jit_state2attitude(pos, quat, vel, None, cmd, (i_error,), ctrl_freq=100) + rpyt, i_error = jit_state2attitude(pos, quat, vel, cmd, (i_error,), ctrl_freq=100) sim.attitude_control(rpyt) sim.step(sim.freq // sim.control_freq) diff --git a/tests/unit/test_sim.py b/tests/unit/test_sim.py index 3c80227..a965e07 100644 --- a/tests/unit/test_sim.py +++ b/tests/unit/test_sim.py @@ -424,6 +424,9 @@ def assert_committed(obj0: Array | Any, path: str = "data"): assert_committed(item0, f"{path}[{i}]") elif isinstance(obj0, type(sim.data.core.device)): # Device objects pass # Devices themselves don't have committed attribute + elif isinstance(obj0, dict): # Handle dictionaries + for key, value0 in obj0.items(): + assert_committed(value0, f"{path}[{repr(key)}]") else: raise TypeError(f"Could not handle type {type(obj0)} at {path}") @@ -438,6 +441,7 @@ def test_compile(physics: Physics, device: str): sim.step(1) sim.step(1) assert sim._step._cache_size() == 1, "Step function should not be recompiled" + sim.close() @pytest.mark.unit @@ -519,3 +523,12 @@ def test_build_data(control: Control): assert isinstance(data, SimData), "build_data() must return a SimData instance" default_data = sim.build_default_data() assert isinstance(default_data, SimData), "build_default_data() must return a SimData instance" + + +@pytest.mark.unit +@pytest.mark.parametrize("drone_model", ["cf2x_L250", "cf2x_P250", "cf2x_T350", "cf21B_500"]) +def test_fused_model(device: str, drone_model: str): + sim = Sim(drone_model=drone_model, fused_mjx_model=True, device=device) + sim.reset() + sim.step(1) + sim.close()