Fixed circular imports by moving enums to separate file. Removed unec…

…essary imports
utiasDSL · Jun 8, 2022 · 28bafb3 · 28bafb3
1 parent 5634010
commit 28bafb3
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Showing 29 changed files with 66 additions and 84 deletions.
diff --git a/assignments/aer1216_fall2020_hw2_sim.py b/assignments/aer1216_fall2020_hw2_sim.py
@@ -21,7 +21,7 @@
 from gym_pybullet_drones.envs.CtrlAviary import CtrlAviary
 from gym_pybullet_drones.utils.Logger import Logger
 from gym_pybullet_drones.utils.utils import sync
-from gym_pybullet_drones.envs.BaseAviary import DroneModel
+from gym_pybullet_drones.utils.enums import DroneModel
 from aer1216_fall2020_hw2_ctrl import HW2Control
 
 DURATION = 10

diff --git a/examples/compare.py b/examples/compare.py
@@ -20,7 +20,7 @@
 import numpy as np
 
 from gym_pybullet_drones.utils.utils import sync, str2bool
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.CtrlAviary import CtrlAviary
 from gym_pybullet_drones.control.DSLPIDControl import DSLPIDControl
 from gym_pybullet_drones.utils.Logger import Logger

diff --git a/examples/downwash.py b/examples/downwash.py
@@ -16,7 +16,7 @@
 import numpy as np
 
 from gym_pybullet_drones.utils.utils import sync, str2bool
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.CtrlAviary import CtrlAviary
 from gym_pybullet_drones.control.DSLPIDControl import DSLPIDControl
 from gym_pybullet_drones.utils.Logger import Logger

diff --git a/examples/fly.py b/examples/fly.py
@@ -26,7 +26,7 @@
 import pybullet as p
 import matplotlib.pyplot as plt
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.CtrlAviary import CtrlAviary
 from gym_pybullet_drones.envs.VisionAviary import VisionAviary
 from gym_pybullet_drones.control.DSLPIDControl import DSLPIDControl

diff --git a/examples/groundeffect.py b/examples/groundeffect.py
@@ -24,7 +24,7 @@
 import pybullet as p
 import matplotlib.pyplot as plt
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.CtrlAviary import CtrlAviary
 from gym_pybullet_drones.envs.VisionAviary import VisionAviary
 from gym_pybullet_drones.control.DSLPIDControl import DSLPIDControl

diff --git a/examples/velocity.py b/examples/velocity.py
@@ -24,7 +24,7 @@
 import pybullet as p
 import matplotlib.pyplot as plt
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.CtrlAviary import CtrlAviary
 from gym_pybullet_drones.envs.VisionAviary import VisionAviary
 from gym_pybullet_drones.control.DSLPIDControl import DSLPIDControl

diff --git a/experiments/learning/multiagent.py b/experiments/learning/multiagent.py
@@ -48,7 +48,7 @@
 from ray.rllib.policy.sample_batch import SampleBatch
 from ray.rllib.env.multi_agent_env import ENV_STATE
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.multi_agent_rl.FlockAviary import FlockAviary
 from gym_pybullet_drones.envs.multi_agent_rl.LeaderFollowerAviary import LeaderFollowerAviary
 from gym_pybullet_drones.envs.multi_agent_rl.MeetupAviary import MeetupAviary

diff --git a/experiments/learning/test_multiagent.py b/experiments/learning/test_multiagent.py
@@ -38,7 +38,7 @@
 from ray.rllib.models import ModelCatalog
 from ray.rllib.policy.sample_batch import SampleBatch
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.multi_agent_rl.FlockAviary import FlockAviary
 from gym_pybullet_drones.envs.multi_agent_rl.LeaderFollowerAviary import LeaderFollowerAviary
 from gym_pybullet_drones.envs.multi_agent_rl.MeetupAviary import MeetupAviary

diff --git a/experiments/performance/script.py b/experiments/performance/script.py
@@ -14,7 +14,7 @@
 import pybullet as p
 import matplotlib.pyplot as plt
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.CtrlAviary import CtrlAviary
 from gym_pybullet_drones.envs.VisionAviary import VisionAviary
 from gym_pybullet_drones.control.DSLPIDControl import DSLPIDControl

diff --git a/gym_pybullet_drones/control/BaseControl.py b/gym_pybullet_drones/control/BaseControl.py
@@ -1,12 +1,8 @@
 import os
-import math
 import numpy as np
-import pybullet as p
-from enum import Enum
 import xml.etree.ElementTree as etxml
-from scipy.spatial.transform import Rotation
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, BaseAviary
+from gym_pybullet_drones.utils.enums import DroneModel
 
 class BaseControl(object):
     """Base class for control.

diff --git a/gym_pybullet_drones/control/DSLPIDControl.py b/gym_pybullet_drones/control/DSLPIDControl.py
@@ -4,7 +4,7 @@
 from scipy.spatial.transform import Rotation
 
 from gym_pybullet_drones.control.BaseControl import BaseControl
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, BaseAviary
+from gym_pybullet_drones.utils.enums import DroneModel
 
 class DSLPIDControl(BaseControl):
     """PID control class for Crazyflies.

diff --git a/gym_pybullet_drones/control/SimplePIDControl.py b/gym_pybullet_drones/control/SimplePIDControl.py
@@ -1,9 +1,8 @@
-import math
 import numpy as np
 import pybullet as p
 
 from gym_pybullet_drones.control.BaseControl import BaseControl
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, BaseAviary
+from gym_pybullet_drones.utils.enums import DroneModel
 from gym_pybullet_drones.utils.utils import nnlsRPM
 
 class SimplePIDControl(BaseControl):

diff --git a/gym_pybullet_drones/envs/BaseAviary.py b/gym_pybullet_drones/envs/BaseAviary.py
@@ -3,7 +3,6 @@
 import time
 import collections
 from datetime import datetime
-from enum import Enum
 import xml.etree.ElementTree as etxml
 from PIL import Image
 # import pkgutil
@@ -12,37 +11,9 @@
 import pybullet as p
 import pybullet_data
 import gym
+from gym_pybullet_drones.utils.enums import DroneModel, Physics, ImageType
 
-class DroneModel(Enum):
-    """Drone models enumeration class."""
 
-    CF2X = "cf2x"   # Bitcraze Craziflie 2.0 in the X configuration
-    CF2P = "cf2p"   # Bitcraze Craziflie 2.0 in the + configuration
-    HB = "hb"       # Generic quadrotor (with AscTec Hummingbird inertial properties)
-
-################################################################################
-
-class Physics(Enum):
-    """Physics implementations enumeration class."""
-
-    PYB = "pyb"                         # Base PyBullet physics update
-    DYN = "dyn"                         # Update with an explicit model of the dynamics
-    PYB_GND = "pyb_gnd"                 # PyBullet physics update with ground effect
-    PYB_DRAG = "pyb_drag"               # PyBullet physics update with drag
-    PYB_DW = "pyb_dw"                   # PyBullet physics update with downwash
-    PYB_GND_DRAG_DW = "pyb_gnd_drag_dw" # PyBullet physics update with ground effect, drag, and downwash
-
-################################################################################
-
-class ImageType(Enum):
-    """Camera capture image type enumeration class."""
-
-    RGB = 0     # Red, green, blue (and alpha)
-    DEP = 1     # Depth
-    SEG = 2     # Segmentation by object id
-    BW = 3      # Black and white
-
-################################################################################
 
 class BaseAviary(gym.Env):
     """Base class for "drone aviary" Gym environments."""

diff --git a/gym_pybullet_drones/envs/CtrlAviary.py b/gym_pybullet_drones/envs/CtrlAviary.py
@@ -1,7 +1,8 @@
 import numpy as np
 from gym import spaces
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics, BaseAviary
+from gym_pybullet_drones.envs.BaseAviary import BaseAviary
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 
 class CtrlAviary(BaseAviary):
     """Multi-drone environment class for control applications."""

diff --git a/gym_pybullet_drones/envs/DynAviary.py b/gym_pybullet_drones/envs/DynAviary.py
@@ -1,7 +1,8 @@
 import numpy as np
 from gym import spaces
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics, BaseAviary
+from gym_pybullet_drones.envs.BaseAviary import BaseAviary
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.utils.utils import nnlsRPM
 
 class DynAviary(BaseAviary):

diff --git a/gym_pybullet_drones/envs/VelocityAviary.py b/gym_pybullet_drones/envs/VelocityAviary.py
@@ -2,7 +2,8 @@
 import numpy as np
 from gym import spaces
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics, BaseAviary
+from gym_pybullet_drones.envs.BaseAviary import BaseAviary
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.control.DSLPIDControl import DSLPIDControl
 from gym_pybullet_drones.control.SimplePIDControl import SimplePIDControl
 

diff --git a/gym_pybullet_drones/envs/VisionAviary.py b/gym_pybullet_drones/envs/VisionAviary.py
@@ -2,7 +2,8 @@
 import numpy as np
 from gym import spaces
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics, ImageType, BaseAviary
+from gym_pybullet_drones.envs.BaseAviary import BaseAviary
+from gym_pybullet_drones.utils.enums import DroneModel, Physics, ImageType
 
 class VisionAviary(BaseAviary):
     """Multi-drone environment class for control applications using vision."""

diff --git a/gym_pybullet_drones/envs/multi_agent_rl/BaseMultiagentAviary.py b/gym_pybullet_drones/envs/multi_agent_rl/BaseMultiagentAviary.py
@@ -1,11 +1,11 @@
 import os
-from datetime import datetime
 import numpy as np
 import pybullet as p
 from gym import spaces
-from ray.rllib.env.multi_agent_env import MultiAgentEnv, ENV_STATE
+from ray.rllib.env.multi_agent_env import MultiAgentEnv
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics, BaseAviary
+from gym_pybullet_drones.envs.BaseAviary import BaseAviary
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.single_agent_rl.BaseSingleAgentAviary import ActionType, ObservationType
 from gym_pybullet_drones.utils.utils import nnlsRPM
 from gym_pybullet_drones.control.DSLPIDControl import DSLPIDControl

diff --git a/gym_pybullet_drones/envs/multi_agent_rl/FlockAviary.py b/gym_pybullet_drones/envs/multi_agent_rl/FlockAviary.py
@@ -1,11 +1,7 @@
 import math
 import numpy as np
-from gym import spaces
-from ray.rllib.env.multi_agent_env import MultiAgentEnv, ENV_STATE
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics, BaseAviary
-
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics, BaseAviary
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.single_agent_rl.BaseSingleAgentAviary import ActionType, ObservationType
 from gym_pybullet_drones.envs.multi_agent_rl.BaseMultiagentAviary import BaseMultiagentAviary
 

diff --git a/gym_pybullet_drones/envs/multi_agent_rl/LeaderFollowerAviary.py b/gym_pybullet_drones/envs/multi_agent_rl/LeaderFollowerAviary.py
@@ -1,11 +1,6 @@
-import math
 import numpy as np
-from gym import spaces
-from ray.rllib.env.multi_agent_env import MultiAgentEnv, ENV_STATE
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics, BaseAviary
-
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics, BaseAviary
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.single_agent_rl.BaseSingleAgentAviary import ActionType, ObservationType
 from gym_pybullet_drones.envs.multi_agent_rl.BaseMultiagentAviary import BaseMultiagentAviary
 

diff --git a/gym_pybullet_drones/envs/multi_agent_rl/MeetupAviary.py b/gym_pybullet_drones/envs/multi_agent_rl/MeetupAviary.py
@@ -1,11 +1,6 @@
-import math
 import numpy as np
-from gym import spaces
-from ray.rllib.env.multi_agent_env import MultiAgentEnv, ENV_STATE
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics, BaseAviary
-
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics, BaseAviary
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.single_agent_rl.BaseSingleAgentAviary import ActionType, ObservationType
 from gym_pybullet_drones.envs.multi_agent_rl.BaseMultiagentAviary import BaseMultiagentAviary
 

diff --git a/gym_pybullet_drones/envs/single_agent_rl/BaseSingleAgentAviary.py b/gym_pybullet_drones/envs/single_agent_rl/BaseSingleAgentAviary.py
@@ -1,12 +1,11 @@
 import os
-from datetime import datetime
 from enum import Enum
 import numpy as np
 from gym import spaces
 import pybullet as p
-import pybullet_data
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics, ImageType, BaseAviary
+from gym_pybullet_drones.envs.BaseAviary import BaseAviary
+from gym_pybullet_drones.utils.enums import DroneModel, Physics, ImageType
 from gym_pybullet_drones.utils.utils import nnlsRPM
 from gym_pybullet_drones.control.DSLPIDControl import DSLPIDControl
 from gym_pybullet_drones.control.SimplePIDControl import SimplePIDControl

diff --git a/gym_pybullet_drones/envs/single_agent_rl/FlyThruGateAviary.py b/gym_pybullet_drones/envs/single_agent_rl/FlyThruGateAviary.py
@@ -1,9 +1,8 @@
 import os
 import numpy as np
-from gym import spaces
 import pybullet as p
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics, BaseAviary
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.single_agent_rl.BaseSingleAgentAviary import ActionType, ObservationType, BaseSingleAgentAviary
 
 

diff --git a/gym_pybullet_drones/envs/single_agent_rl/HoverAviary.py b/gym_pybullet_drones/envs/single_agent_rl/HoverAviary.py
@@ -1,7 +1,6 @@
 import numpy as np
-from gym import spaces
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics, BaseAviary
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.single_agent_rl.BaseSingleAgentAviary import ActionType, ObservationType, BaseSingleAgentAviary
 
 class HoverAviary(BaseSingleAgentAviary):

diff --git a/gym_pybullet_drones/envs/single_agent_rl/TakeoffAviary.py b/gym_pybullet_drones/envs/single_agent_rl/TakeoffAviary.py
@@ -1,7 +1,6 @@
 import numpy as np
-from gym import spaces
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics, BaseAviary
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.single_agent_rl.BaseSingleAgentAviary import ActionType, ObservationType, BaseSingleAgentAviary
 
 class TakeoffAviary(BaseSingleAgentAviary):

diff --git a/gym_pybullet_drones/envs/single_agent_rl/TuneAviary.py b/gym_pybullet_drones/envs/single_agent_rl/TuneAviary.py
@@ -1,7 +1,6 @@
 import numpy as np
-from gym import spaces
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics, BaseAviary
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.single_agent_rl.BaseSingleAgentAviary import ActionType, ObservationType, BaseSingleAgentAviary
 
 class TuneAviary(BaseSingleAgentAviary):

diff --git a/gym_pybullet_drones/utils/Logger.py b/gym_pybullet_drones/utils/Logger.py
@@ -1,5 +1,4 @@
 import os
-import time
 from datetime import datetime
 from cycler import cycler
 import numpy as np

diff --git a/gym_pybullet_drones/utils/enums.py b/gym_pybullet_drones/utils/enums.py
@@ -0,0 +1,32 @@
+from enum import Enum
+
+class DroneModel(Enum):
+    """Drone models enumeration class."""
+
+    CF2X = "cf2x"   # Bitcraze Craziflie 2.0 in the X configuration
+    CF2P = "cf2p"   # Bitcraze Craziflie 2.0 in the + configuration
+    HB = "hb"       # Generic quadrotor (with AscTec Hummingbird inertial properties)
+
+################################################################################
+
+class Physics(Enum):
+    """Physics implementations enumeration class."""
+
+    PYB = "pyb"                         # Base PyBullet physics update
+    DYN = "dyn"                         # Update with an explicit model of the dynamics
+    PYB_GND = "pyb_gnd"                 # PyBullet physics update with ground effect
+    PYB_DRAG = "pyb_drag"               # PyBullet physics update with drag
+    PYB_DW = "pyb_dw"                   # PyBullet physics update with downwash
+    PYB_GND_DRAG_DW = "pyb_gnd_drag_dw" # PyBullet physics update with ground effect, drag, and downwash
+
+################################################################################
+
+class ImageType(Enum):
+    """Camera capture image type enumeration class."""
+
+    RGB = 0     # Red, green, blue (and alpha)
+    DEP = 1     # Depth
+    SEG = 2     # Segmentation by object id
+    BW = 3      # Black and white
+
+################################################################################
diff --git a/ros2/src/ros2_gym_pybullet_drones/ros2_gym_pybullet_drones/aviary_wrapper.py b/ros2/src/ros2_gym_pybullet_drones/ros2_gym_pybullet_drones/aviary_wrapper.py
@@ -13,7 +13,7 @@
 from rclpy.node import Node
 from std_msgs.msg import Float32MultiArray
 
-from gym_pybullet_drones.envs.BaseAviary import DroneModel, Physics
+from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.CtrlAviary import CtrlAviary
 
 class AviaryWrapper(Node):