Update Python version and refactor dataclass fields with installed packages list

README.md

@@ -30,7 +30,7 @@ For 2. follow the instructions below:
 
 ### Local Installation
 
-Install python >= 3.8 and <= 3.12.
+Install python >= 3.9 and <= 3.12.
 
 ```sh
 sudo apt-get update && sudo apt-get install -y python3.12 python3-pip

installed_packages.txt

@@ -0,0 +1,90 @@
+absl-py==2.1.0
+ale-py==0.10.1
+alembic==1.14.0
+annotated-types==0.7.0
+astroid==3.3.5
+certifi==2024.8.30
+charset-normalizer==3.4.0
+click==8.1.7
+cloudpickle==3.1.0
+colorlog==6.9.0
+contourpy==1.3.1
+cycler==0.12.1
+dill==0.3.9
+docker-pycreds==0.4.0
+Farama-Notifications==0.0.4
+filelock==3.16.1
+fonttools==4.55.0
+fsspec==2024.10.0
+gitdb==4.0.11
+GitPython==3.1.43
+grpcio==1.68.0
+gym==0.26.2
+gym-notices==0.0.8
+gymnasium==1.0.0
+idna==3.10
+iniconfig==2.0.0
+isort==5.13.2
+Jinja2==3.1.4
+kiwisolver==1.4.7
+llvmlite==0.43.0
+loguru==0.7.2
+Mako==1.3.6
+Markdown==3.7
+markdown-it-py==3.0.0
+MarkupSafe==3.0.2
+matplotlib==3.9.2
+mccabe==0.7.0
+mdurl==0.1.2
+mpmath==1.3.0
+networkx==3.4.2
+numba==0.60.0
+numpy==1.26.4
+opencv-python==4.10.0.84
+optuna==4.1.0
+packaging==24.2
+pandas==2.2.3
+pillow==11.0.0
+platformdirs==4.3.6
+pluggy==1.5.0
+protobuf==5.28.3
+psutil==6.1.0
+pydantic==2.9.2
+pydantic_core==2.23.4
+pygame==2.6.1
+Pygments==2.18.0
+pylint==3.3.1
+pyparsing==3.2.0
+-e git+https://github.com/ll7/pysocialforce-ll7@eebf30ed30893ae5628e3f123439af03de6402e1#egg=PySocialForce&subdirectory=../../fast-pysf
+pytest==8.3.3
+python-dateutil==2.9.0.post0
+pytz==2024.2
+PyYAML==6.0.2
+requests==2.32.3
+rich==13.9.4
+-e git+https://github.com/ll7/robot_sf_ll7.git@ebfcd90eae11699941580e2d0237fd6b4e7b5200#egg=robot_sf
+scalene==1.5.48
+scipy==1.14.1
+sentry-sdk==2.18.0
+setproctitle==1.3.4
+setuptools==75.5.0
+Shimmy==2.0.0
+six==1.16.0
+smmap==5.0.1
+SQLAlchemy==2.0.36
+stable_baselines3==2.4.0
+svgelements==1.9.6
+sympy==1.13.1
+tensorboard==2.18.0
+tensorboard-data-server==0.7.2
+tk==0.1.0
+toml==0.10.2
+tomlkit==0.13.2
+torch==2.5.1
+tqdm==4.67.0
+typing_extensions==4.12.2
+tzdata==2024.2
+urllib3==2.2.3
+wandb==0.18.7
+Werkzeug==3.1.3
+wheel==0.45.0

requirements.txt

@@ -1,101 +1,16 @@
-absl-py==2.1.0
-alembic==1.13.1
-appdirs==1.4.4
-astroid==3.0.3
-certifi==2024.2.2
-charset-normalizer==3.3.2
-click==8.1.7
-cloudpickle==3.0.0
-colorlog==6.8.2
-contourpy==1.2.0
-cycler==0.12.1
-dill==0.3.8
-docker-pycreds==0.4.0
-exceptiongroup==1.2.0
-Farama-Notifications==0.0.4
-filelock==3.13.1
-fonttools==4.49.0
-fsspec==2024.2.0
-gitdb==4.0.11
-GitPython==3.1.42
-greenlet==3.0.3
-grpcio==1.60.1
-gym==0.26.2
-gym-notices==0.0.8
-gymnasium==0.29.1
-idna==3.6
-iniconfig==2.0.0
-isort==5.13.2
-Jinja2==3.1.3
-kiwisolver==1.4.5
-llvmlite==0.42.0
-loguru==0.7.2
-Mako==1.3.2
-Markdown==3.5.2
-markdown-it-py==3.0.0
-MarkupSafe==2.1.5
-matplotlib==3.6.1
-mccabe==0.7.0
-mdurl==0.1.2
-mpmath==1.3.0
-networkx==3.2.1
-numba==0.59.0
-numpy==1.26.4
-nvidia-cublas-cu12==12.1.3.1
-nvidia-cuda-cupti-cu12==12.1.105
-nvidia-cuda-nvrtc-cu12==12.1.105
-nvidia-cuda-runtime-cu12==12.1.105
-nvidia-cudnn-cu12==8.9.2.26
-nvidia-cufft-cu12==11.0.2.54
-nvidia-curand-cu12==10.3.2.106
-nvidia-cusolver-cu12==11.4.5.107
-nvidia-cusparse-cu12==12.1.0.106
-nvidia-nccl-cu12==2.19.3
-nvidia-nvjitlink-cu12==12.3.101
-nvidia-nvtx-cu12==12.1.105
-optuna==3.5.0
-packaging==23.2
-pandas==2.2.0
-Pillow==9.2.0
-platformdirs==4.2.0
-pluggy==1.4.0
-protobuf==4.25.3
-psutil==5.9.8
-pyarrow==15.0.0
-pygame==2.1.2
-Pygments==2.17.2
-pylint==3.0.3
-pynvml==11.4.1
-pyparsing==3.1.1
-pytest==8.0.1
-python-dateutil==2.8.2
-pytz==2024.1
-PyYAML==6.0.1
-requests==2.31.0
-rich==13.7.0
-scalene==1.5.34
-scipy==1.12.0
-sentry-sdk==1.40.6
-setproctitle==1.3.3
-Shimmy==1.3.0
-six==1.16.0
-smmap==5.0.1
-SQLAlchemy==2.0.27
-stable-baselines3==2.2.1
-sympy==1.12
-tensorboard==2.16.2
-tensorboard-data-server==0.7.2
-tk==0.1.0
-toml==0.10.2
-tomli==2.0.1
-tomlkit==0.12.3
-torch==2.2.0
-tqdm==4.66.2
-triton==2.2.0
-typing_extensions==4.9.0
-tzdata==2024.1
-urllib3==2.2.1
-wandb==0.16.4
-Werkzeug==3.0.1
-loguru==0.7.2
-svgelements==1.9.6
+gymnasium
+gym
+loguru
+numba
+numpy
+optuna
+psutil
+pygame
+pytest
+scalene
+torch
+tqdm
+wandb
+svgelements
+stable-baselines3[extra]
+shimmy

robot_sf/gym_env/env_config.py

@@ -19,7 +19,7 @@
 """
 
 from typing import Union
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 
 from robot_sf.nav.map_config import MapDefinitionPool
 from robot_sf.sensor.range_sensor import LidarScannerSettings
@@ -36,11 +36,11 @@ class EnvSettings:
     """
     Data class to hold environment settings for a simulation.
     """
-    sim_config: SimulationSettings = SimulationSettings()
-    lidar_config: LidarScannerSettings = LidarScannerSettings()
-    robot_config: Union[DifferentialDriveSettings, BicycleDriveSettings] = \
-        DifferentialDriveSettings()
-    map_pool: MapDefinitionPool = MapDefinitionPool()
+    sim_config: SimulationSettings = field(default_factory=SimulationSettings)
+    lidar_config: LidarScannerSettings = field(default_factory=LidarScannerSettings)
+    robot_config: Union[DifferentialDriveSettings, BicycleDriveSettings] = field(
+        default_factory=DifferentialDriveSettings)
+    map_pool: MapDefinitionPool = field(default_factory=MapDefinitionPool)
 
     def __post_init__(self):
         """
@@ -72,7 +72,7 @@ class PedEnvSettings(EnvSettings):
     """
     Data class to hold environment settings for a simulation that includes an ego pedestrian.
     """
-    ego_ped_config: UnicycleDriveSettings = UnicycleDriveSettings()
+    ego_ped_config: UnicycleDriveSettings = field(default_factory=UnicycleDriveSettings)
 
     def __post_init__(self):
         """

robot_sf/ped_ego/unicycle_drive.py

@@ -38,8 +38,8 @@ def min_velocity(self) -> float:
 @dataclass
 class UnicycleDriveState:
     """A class that represents the state of a unicycle drive pedestrian."""
-    pose: PedPose
-    velocity: float = field(default=0)
+    pose: PedPose = field(default_factory=lambda: ((0.0, 0.0), 0.0))
+    velocity: PolarVec2D = field(default_factory=lambda: (0.0, 0.0))
 
     @property
     def pos(self) -> Vec2D:
@@ -121,11 +121,11 @@ def _norm_angle(self, angle: float) -> float:
 
 
 @dataclass
-class UnicycleDrivePedestrian():
+class UnicycleDrivePedestrian:
     """Representing a pedestrian with unicycle driving behavior"""
 
     config: UnicycleDriveSettings
-    state: UnicycleDriveState = field(default=UnicycleDriveState(((0, 0), 0), 0))
+    state: UnicycleDriveState = field(default_factory=UnicycleDriveState)
     movement: UnicycleMotion = field(init=False)
 
     def __post_init__(self):

robot_sf/render/sim_view.py

@@ -86,7 +86,7 @@ class SimulationView:
     screen: pygame.surface.Surface = field(init=False)
     font: pygame.font.Font = field(init=False)
     redraw_needed: bool = field(init=False, default=False)
-    offset: np.array = field(init=False, default=np.array([0, 0]))
+    offset: np.array = field(default_factory=np.array([0, 0]))
     caption: str = 'RobotSF Simulation'
     focus_on_robot: bool = False
     focus_on_ego_ped: bool = False

robot_sf/robot/bicycle_drive.py

@@ -122,11 +122,11 @@ def _norm_angle(self, angle: float) -> float:
 
 
 @dataclass
-class BicycleDriveRobot():
+class BicycleDriveRobot:
     """Representing a robot with bicycle driving behavior"""
 
     config: BicycleDriveSettings
-    state: BicycleDriveState = field(default=BicycleDriveState(((0, 0), 0), 0))
+    state: BicycleDriveState = field(default_factory=lambda: BicycleDriveState(pose=((0.0, 0.0), 0.0)))
     movement: BicycleMotion = field(init=False)
 
     def __post_init__(self):

robot_sf/robot/differential_drive.py

@@ -56,10 +56,10 @@ def __post_init__(self):
 
 @dataclass
 class DifferentialDriveState:
-    pose: RobotPose
-    velocity: PolarVec2D = field(default=(0, 0))
-    last_wheel_speeds: WheelSpeedState = field(default=(0, 0))
-    wheel_speeds: WheelSpeedState = field(default=(0, 0))
+    pose: RobotPose = ((0.0, 0.0), 0.0)
+    velocity: PolarVec2D = (0.0, 0.0)
+    last_wheel_speeds: WheelSpeedState = (0.0, 0.0)
+    wheel_speeds: WheelSpeedState = (0.0, 0.0)
 
 
 DifferentialDriveAction = Tuple[float, float]  # (linear velocity, angular velocity)
@@ -193,7 +193,7 @@ class DifferentialDriveRobot():
 
     config: DifferentialDriveSettings  # Configuration settings for the robot
     # Default state of the robot on initialization
-    state: DifferentialDriveState = field(default=DifferentialDriveState(((0, 0), 0)))
+    state: DifferentialDriveState = field(default_factory=DifferentialDriveState)
     # Movement logic for the robot based on the config; initialized post-creation
     movement: DifferentialDriveMotion = field(init=False)
 

robot_sf/sim/sim_config.py

@@ -8,16 +8,7 @@
 @dataclass
 class SimulationSettings:
     """
-    Class to hold the settings for a simulation.
-
-    This class contains various settings that control the behavior of the simulation,
-    such as the simulation time, the time per step, the pedestrian speed multiplier, the
-    difficulty level, the maximum number of pedestrians per group, the pedestrian radius,
-    the goal radius, the number of steps to stack in observations, whether to use the next
-    goal in the path as the current goal, the pedestrian-robot force configuration, and the
-    pedestrian density by difficulty level.
-
-    After initialization, the `__post_init__` method is called to validate the settings.
+    Configuration settings for the simulation.
     """
 
     # Simulation time in seconds
@@ -40,9 +31,11 @@ class SimulationSettings:
     # Whether to use the next goal in the path as the current goal
     use_next_goal: bool = True
     # Pedestrian-robot force configuration
-    prf_config: PedRobotForceConfig = PedRobotForceConfig(is_active=True)
+    prf_config: PedRobotForceConfig = field(default_factory=PedRobotForceConfig)
     # Pedestrian density by difficulty level
-    ped_density_by_difficulty: List[float] = field(default_factory=lambda: [0.01, 0.02, 0.04, 0.08])
+    ped_density_by_difficulty: List[float] = field(
+        default_factory=lambda: [0.01, 0.02, 0.04, 0.08]
+    )
 
     def __post_init__(self):
         """
@@ -53,7 +46,9 @@ def __post_init__(self):
         """
         # Check that the simulation time is positive
         if self.sim_time_in_secs <= 0:
-            raise ValueError("Simulation length for episodes mustn't be negative or zero!")
+            raise ValueError(
+                "Simulation length for episodes mustn't be negative or zero!"
+            )
         # Check that the time per step is positive
         if self.time_per_step_in_secs <= 0:
             raise ValueError("Step time mustn't be negative or zero!")
@@ -62,7 +57,9 @@ def __post_init__(self):
             raise ValueError("Pedestrian speed mustn't be negative or zero!")
         # Check that the maximum number of pedestrians per group is positive
         if self.max_peds_per_group <= 0:
-            raise ValueError("Maximum pedestrians per group mustn't be negative or zero!")
+            raise ValueError(
+                "Maximum pedestrians per group mustn't be negative or zero!"
+            )
         # Check that the pedestrian radius is positive
         if self.ped_radius <= 0:
             raise ValueError("Pedestrian radius mustn't be negative or zero!")
@@ -71,7 +68,9 @@ def __post_init__(self):
             raise ValueError("Goal radius mustn't be negative or zero!")
         # Check that the difficulty level is within the valid range
         if not 0 <= self.difficulty < len(self.ped_density_by_difficulty):
-            raise ValueError("No pedestrian density registered for selected difficulty level!")
+            raise ValueError(
+                "No pedestrian density registered for selected difficulty level!"
+            )
         # Check that the pedestrian-robot force configuration is specified
         if not self.prf_config:
             raise ValueError("Pedestrian-Robot-Force settings need to be specified!")