Move examples to package.

Added unit test script for build testing.
Added bash file for building and testing package.
Changed paths to be user controlled, results are not to be saved in package path.

.gitignore

@@ -6,6 +6,7 @@ examples/test.py
 # NumPy saves and videos
 files/logs/*.npy
 files/videos/*.mp4
+results/
 
 # Learning results
 experiments/learning/results/save-*

build_project.sh

@@ -0,0 +1,7 @@
+echo "Y" | pip uninstall gym_pybullet_drones
+rm -rf dist/
+poetry build 
+pip install dist/gym_pybullet_drones-1.0.0-py3-none-any.whl
+cd tests
+python test_build.py
+cd ..

examples/compare.py → gym_pybullet_drones/examples/compare.py

@@ -13,6 +13,7 @@
 The comparison is along a 2D trajectory in the X-Z plane, between x == +1 and -1.
 
 """
+from filecmp import DEFAULT_IGNORES
 import os
 import time
 import argparse
@@ -25,18 +26,22 @@
 from gym_pybullet_drones.control.DSLPIDControl import DSLPIDControl
 from gym_pybullet_drones.utils.Logger import Logger
 
-if __name__ == "__main__":
-
-    #### Define and parse (optional) arguments for the script ##
-    parser = argparse.ArgumentParser(description='Trace comparison script using CtrlAviary and DSLPIDControl')
-    parser.add_argument('--physics',        default="pyb",               type=Physics,       help='Physics updates (default: PYB)', metavar='', choices=Physics)
-    parser.add_argument('--gui',            default=False,               type=str2bool,      help='Whether to use PyBullet GUI (default: False)', metavar='')
-    parser.add_argument('--record_video',   default=False,               type=str2bool,      help='Whether to record a video (default: False)', metavar='')
-    parser.add_argument('--trace_file',     default="example_trace.pkl", type=str,           help='Pickle file with the trace to compare to (default: "example_trace.pkl")', metavar='')
-    ARGS = parser.parse_args()
-
+DEFAULT_PHYICS = Physics('pyb')
+DEFAULT_GUI = False
+DEFAULT_RECORD_VIDEO = False
+DEFAULT_TRACE_FILE = os.path.dirname(os.path.abspath(__file__))+"/../assets/example_trace.pkl"
+DEFAULT_OUTPUT_FOLDER = 'results'
+
+def run(
+        physics=DEFAULT_PHYICS, 
+        gui=DEFAULT_GUI, 
+        record_video=DEFAULT_RECORD_VIDEO, 
+        trace_file=DEFAULT_TRACE_FILE, 
+        output_folder=DEFAULT_OUTPUT_FOLDER,
+        plot=True
+        ):
     #### Load a trace and control reference from a .pkl file ###
-    with open(os.path.dirname(os.path.abspath(__file__))+"/../files/"+ARGS.trace_file, 'rb') as in_file:
+    with open(trace_file, 'rb') as in_file:
         TRACE_TIMESTAMPS, TRACE_DATA, TRACE_CTRL_REFERENCE, _, _, _ = pickle.load(in_file)
 
     #### Compute trace's parameters ############################
@@ -47,10 +52,10 @@
     env = CtrlAviary(drone_model=DroneModel.CF2X,
                      num_drones=1,
                      initial_xyzs=np.array([0, 0, .1]).reshape(1, 3),
-                     physics=ARGS.physics,
+                     physics=physics,
                      freq=SIMULATION_FREQ_HZ,
-                     gui=ARGS.gui,
-                     record=ARGS.record_video,
+                     gui=gui,
+                     record=record_video,
                      obstacles=False
                      )
     INITIAL_STATE = env.reset()
@@ -63,7 +68,8 @@
     #### Initialize the logger #################################
     logger = Logger(logging_freq_hz=SIMULATION_FREQ_HZ,
                     num_drones=2,
-                    duration_sec=DURATION_SEC
+                    duration_sec=DURATION_SEC,
+                    output_folder=output_folder
                     )
 
     #### Initialize the controller #############################
@@ -105,7 +111,7 @@
             env.render()
 
         #### Sync the simulation ###################################
-        if ARGS.gui: 
+        if gui: 
             sync(i, START, env.TIMESTEP)
 
     #### Close the environment #################################
@@ -115,4 +121,17 @@
     logger.save()
 
     #### Plot the simulation results ###########################
-    logger.plot(pwm=True)
+    if plot:
+        logger.plot(pwm=True)
+
+if __name__ == "__main__":
+    #### Define and parse (optional) arguments for the script ##
+    parser = argparse.ArgumentParser(description='Trace comparison script using CtrlAviary and DSLPIDControl')
+    parser.add_argument('--physics',        default=DEFAULT_PHYICS,               type=Physics,       help='Physics updates (default: PYB)', metavar='', choices=Physics)
+    parser.add_argument('--gui',            default=DEFAULT_GUI,               type=str2bool,      help='Whether to use PyBullet GUI (default: False)', metavar='')
+    parser.add_argument('--record_video',   default=DEFAULT_RECORD_VIDEO,               type=str2bool,      help='Whether to record a video (default: False)', metavar='')
+    parser.add_argument('--trace_file',     default=DEFAULT_TRACE_FILE, type=str,           help='Pickle file with the trace to compare to (default: "example_trace.pkl")', metavar='')
+    parser.add_argument('--output_folder',     default=DEFAULT_OUTPUT_FOLDER, type=str,           help='Folder where to save logs (default: "results")', metavar='')
+    ARGS = parser.parse_args()
+
+    run(**vars(ARGS))

examples/downwash.py → gym_pybullet_drones/examples/downwash.py

@@ -21,56 +21,64 @@
 from gym_pybullet_drones.control.DSLPIDControl import DSLPIDControl
 from gym_pybullet_drones.utils.Logger import Logger
 
-if __name__ == "__main__":
-
-    #### Define and parse (optional) arguments for the script ##
-    parser = argparse.ArgumentParser(description='Downwash example script using CtrlAviary and DSLPIDControl')
-    parser.add_argument('--drone',              default="cf2x",     type=DroneModel,    help='Drone model (default: CF2X)', metavar='', choices=DroneModel)
-    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('--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('--aggregate',          default=True,       type=str2bool,      help='Whether to aggregate physics steps (default: False)', metavar='')
-    parser.add_argument('--duration_sec',       default=12,         type=int,           help='Duration of the simulation in seconds (default: 10)', metavar='')
-    ARGS = parser.parse_args()
-
+DEFAULT_DRONE = DroneModel('cf2x')
+DEFAULT_GUI = True
+DEFAULT_RECORD_VIDEO = False
+DEFAULT_SIMULATION_FREQ_HZ = 240
+DEFAULT_CONTROL_FREQ_HZ = 48
+DEFAULT_AGGREGATE = True
+DEFAULT_DURATION_SEC = 12
+DEFAULT_OUTPUT_FOLDER = 'results'
+
+def run(
+        drone=DEFAULT_DRONE, 
+        gui=DEFAULT_GUI, 
+        record_video=DEFAULT_RECORD_VIDEO, 
+        simulation_freq_hz=DEFAULT_SIMULATION_FREQ_HZ, 
+        control_freq_hz=DEFAULT_CONTROL_FREQ_HZ, 
+        aggregate=DEFAULT_AGGREGATE, 
+        duration_sec=DEFAULT_DURATION_SEC,
+        output_folder=DEFAULT_OUTPUT_FOLDER,
+        plot=True
+    ):
     #### Initialize the simulation #############################
     INIT_XYZS = np.array([[.5, 0, 1],[-.5, 0, .5]])
-    AGGR_PHY_STEPS = int(ARGS.simulation_freq_hz/ARGS.control_freq_hz) if ARGS.aggregate else 1
-    env = CtrlAviary(drone_model=ARGS.drone,
+    AGGR_PHY_STEPS = int(simulation_freq_hz/control_freq_hz) if aggregate else 1
+    env = CtrlAviary(drone_model=drone,
                      num_drones=2,
                      initial_xyzs=INIT_XYZS,
                      physics=Physics.PYB_DW,
                      neighbourhood_radius=10,
-                     freq=ARGS.simulation_freq_hz,
+                     freq=simulation_freq_hz,
                      aggregate_phy_steps=AGGR_PHY_STEPS,
-                     gui=ARGS.gui,
-                     record=ARGS.record_video,
+                     gui=gui,
+                     record=record_video,
                      obstacles=True
                      )
 
     #### Initialize the trajectories ###########################
     PERIOD = 5
-    NUM_WP = ARGS.control_freq_hz*PERIOD
+    NUM_WP = 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),
+    logger = Logger(logging_freq_hz=int(simulation_freq_hz/AGGR_PHY_STEPS),
                     num_drones=2,
-                    duration_sec=ARGS.duration_sec
+                    duration_sec=duration_sec,
+                    output_folder=output_folder
                     )
 
     #### Initialize the controllers ############################
-    ctrl = [DSLPIDControl(drone_model=ARGS.drone) for i in range(2)]
+    ctrl = [DSLPIDControl(drone_model=drone) for i in range(2)]
 
     #### Run the simulation ####################################
-    CTRL_EVERY_N_STEPS = int(np.floor(env.SIM_FREQ/ARGS.control_freq_hz))
+    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(2)}
     START = time.time()
-    for i in range(0, int(ARGS.duration_sec*env.SIM_FREQ), AGGR_PHY_STEPS):
+    for i in range(0, int(duration_sec*env.SIM_FREQ), AGGR_PHY_STEPS):
 
         #### Step the simulation ###################################
         obs, reward, done, info = env.step(action)
@@ -102,7 +110,7 @@
             env.render()
 
         #### Sync the simulation ###################################
-        if ARGS.gui:
+        if gui:
             sync(i, START, env.TIMESTEP)
 
     #### Close the environment #################################
@@ -113,4 +121,21 @@
     logger.save_as_csv("dw") # Optional CSV save
 
     #### Plot the simulation results ###########################
-    logger.plot()
+    if plot:
+        logger.plot()
+
+
+if __name__ == "__main__":
+    #### Define and parse (optional) arguments for the script ##
+    parser = argparse.ArgumentParser(description='Downwash example script using CtrlAviary and DSLPIDControl')
+    parser.add_argument('--drone',              default=DEFAULT_DRONE,     type=DroneModel,    help='Drone model (default: CF2X)', metavar='', choices=DroneModel)
+    parser.add_argument('--gui',                default=DEFAULT_GUI,       type=str2bool,      help='Whether to use PyBullet GUI (default: True)', metavar='')
+    parser.add_argument('--record_video',       default=DEFAULT_RECORD_VIDEO,      type=str2bool,      help='Whether to record a video (default: False)', metavar='')
+    parser.add_argument('--simulation_freq_hz', default=DEFAULT_SIMULATION_FREQ_HZ,        type=int,           help='Simulation frequency in Hz (default: 240)', metavar='')
+    parser.add_argument('--control_freq_hz',    default=DEFAULT_CONTROL_FREQ_HZ,         type=int,           help='Control frequency in Hz (default: 48)', metavar='')
+    parser.add_argument('--aggregate',          default=DEFAULT_AGGREGATE,       type=str2bool,      help='Whether to aggregate physics steps (default: False)', metavar='')
+    parser.add_argument('--duration_sec',       default=DEFAULT_DURATION_SEC,         type=int,           help='Duration of the simulation in seconds (default: 10)', metavar='')
+    parser.add_argument('--output_folder',     default=DEFAULT_OUTPUT_FOLDER, type=str,           help='Folder where to save logs (default: "results")', metavar='')
+    ARGS = parser.parse_args()
+
+    run(**vars(ARGS))