[WIP] Refactor envs to prepare for single sim

utiasDSL · Jun 19, 2024 · 2a385ea · 2a385ea
1 parent 6f68927
commit 2a385ea
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Showing 9 changed files with 410 additions and 860 deletions.
diff --git a/safe_control_gym/envs/__init__.py b/safe_control_gym/envs/__init__.py
@@ -1,15 +1,14 @@
 """Register environments."""
 
-from safe_control_gym.utils.registration import register
+from gymnasium import register
 
 register(
     id="quadrotor",
     entry_point="safe_control_gym.envs.quadrotor:Quadrotor",
-    config_entry_point="safe_control_gym.envs:quadrotor.yaml",
 )
 
 register(
     id="firmware",
     entry_point="safe_control_gym.envs.firmware_wrapper:FirmwareWrapper",
-    config_entry_point="safe_control_gym.controllers.firmware:firmware.yaml",
+    max_episode_steps=900,  # 30 seconds * 30 Hz
 )
diff --git a/safe_control_gym/envs/base_aviary.py b/safe_control_gym/envs/base_aviary.py
diff --git a/safe_control_gym/envs/benchmark_env.py b/safe_control_gym/envs/benchmark_env.py
diff --git a/safe_control_gym/envs/constants.py b/safe_control_gym/envs/constants.py
@@ -12,15 +12,10 @@ class SimConstants: ...
 class DroneConstants:
     firmware_freq: int = 500  # Firmware frequency in Hz
     supply_voltage: float = 3.0  # Power supply voltage
-    min_pwm: int = 20000  # Minimum PWM signal
-    max_pwm: int = 65535  # Maximum PWM signal
     thrust_curve_a: float = -0.0006239  # Thrust curve parameters for brushed motors
     thrust_curve_b: float = 0.088  # Thrust curve parameters for brushed motors
     tumble_threshold: float = -0.5  # Vertical acceleration threshold for tumbling detection
     tumble_duration: int = 30  # Number of consecutive steps before tumbling is detected
     # TODO: acc and gyro were swapped in original implementation. Possible bug?
     acc_lpf_cutoff: int = 80  # Low-pass filter cutoff freq
     gyro_lpf_cutoff: int = 30  # Low-pass filter cutoff freq
-    KF: float = 3.16e-10  # Motor force factor
-    pwm2rpm_scale: float = 0.2685  # mapping factor from PWM to RPM
-    pwm2rpm_const: float = 4070.3  # mapping constant from PWM to RPM
diff --git a/safe_control_gym/envs/constraints.py b/safe_control_gym/envs/constraints.py
@@ -58,11 +58,11 @@ def __init__(
         self.rounding = rounding
         self.constrained_variable = ConstrainedVariableType(constrained_variable)
         if self.constrained_variable == ConstrainedVariableType.STATE:
-            self.dim = env.state_dim
+            self.dim = env.state_space.shape[0]
         elif self.constrained_variable == ConstrainedVariableType.INPUT:
-            self.dim = env.action_dim
+            self.dim = env.action_space.shape[0]
         elif self.constrained_variable == ConstrainedVariableType.INPUT_AND_STATE:
-            self.dim = env.state_dim + env.action_dim
+            self.dim = env.state_space.shape[0] + env.action_space.shape[0]
         else:
             raise NotImplementedError(
                 "[ERROR] invalid constrained_variable (use STATE, INPUT or INPUT_AND_STATE)."