How to use 3D Quadrotor with one of the MPC algorithms?

[hedaniel7]

In the examples folder there are no suitable examples for running a MPC algorithm on a 3D drone.

I tried to create my own following the tutorial as a copy of the PID and run

python3 pid/pid_experiment.py     --algo linear_mpc     --task quadrotor     --overrides         ./pid/config_overrides/quadrotor_3D/quadrotor_3D_tracking.yaml

but it doesn't work. Could you please explain this more to me and in the tutorial?

Thank you very much

Daniel

[adamhall]

Hi Dan,

Thanks for your interest in the repo! To help us help you, can you paste the output you see along with your operating system, a list of your environment (using something like pip3 list or conda list), and the branch you are working on?

Best,

Adam

[adamhall]

You might also want to take a look at discussion #121, and modify it for the 3D quadrotor.

[hedaniel7]

Hi,

thank you for your reply. I am working on the main branch

This is the terminal output:

(safe) dan@SurfBoard3:~/Projects/safe-control-gym/examples$ python3 pid/pid_experiment.py     --algo linear_mpc     --task quadrotor     --overrides         ./pid/config_overrides/quadrotor_3D/quadrotor_3D_tracking.yaml
pybullet build time: Nov 28 2023 23:45:17
/home/dan/anaconda3/envs/safe/lib/python3.10/site-packages/gymnasium/spaces/box.py:130: UserWarning: WARN: Box bound precision lowered by casting to float32
  gym.logger.warn(f"Box bound precision lowered by casting to {self.dtype}")
startThreads creating 1 threads.
starting thread 0
started thread 0 
argc=2
argv[0] = --unused
argv[1] = --start_demo_name=Physics Server
ExampleBrowserThreadFunc started
X11 functions dynamically loaded using dlopen/dlsym OK!
X11 functions dynamically loaded using dlopen/dlsym OK!
Creating context
Created GL 3.3 context
Direct GLX rendering context obtained
Making context current
GL_VENDOR=Intel
GL_RENDERER=Mesa Intel(R) Iris(R) Plus Graphics (ICL GT2)
GL_VERSION=4.6 (Core Profile) Mesa 21.2.6
GL_SHADING_LANGUAGE_VERSION=4.60
pthread_getconcurrency()=0
Version = 4.6 (Core Profile) Mesa 21.2.6
Vendor = Intel
Renderer = Mesa Intel(R) Iris(R) Plus Graphics (ICL GT2)
b3Printf: Selected demo: Physics Server
startThreads creating 1 threads.
starting thread 0
started thread 0 
MotionThreadFunc thread started
ven = Intel
Workaround for some crash in the Intel OpenGL driver on Linux/Ubuntu
CasADi - 2024-01-25 14:10:12 WARNING("The options 't0', 'tf', 'grid' and 'output_t0' have been deprecated.
The same functionality is provided by providing additional input arguments to the 'integrator' function, in particular:
 * Call integrator(..., t0, tf, options) for a single output time, or
 * Call integrator(..., t0, grid, options) for multiple grid points.
The legacy 'output_t0' option can be emulated by including or excluding 't0' in 'grid'.
Backwards compatibility is provided in this release only.") [.../casadi/core/integrator.cpp:515]
Traceback (most recent call last):
  File "/home/dan/Projects/safe-control-gym/examples/pid/pid_experiment.py", line 132, in <module>
    run()
  File "/home/dan/Projects/safe-control-gym/examples/pid/pid_experiment.py", line 46, in run
    ctrl = make(config.algo,
  File "/home/dan/Projects/safe-control-gym/safe_control_gym/utils/registration.py", line 125, in make
    return registry.make(idx, *args, **kwargs)
  File "/home/dan/Projects/safe-control-gym/safe_control_gym/utils/registration.py", line 88, in make
    obj = spec.make(*args, **kwargs)
  File "/home/dan/Projects/safe-control-gym/safe_control_gym/utils/registration.py", line 69, in make
    obj = cls(*args, **kwargs)
  File "/home/dan/Projects/safe-control-gym/safe_control_gym/controllers/mpc/linear_mpc.py", line 60, in __init__
    super().__init__(
  File "/home/dan/Projects/safe-control-gym/safe_control_gym/controllers/mpc/mpc.py", line 69, in __init__
    self.constraints, self.state_constraints_sym, self.input_constraints_sym = reset_constraints(self.env.constraints.constraints)
AttributeError: 'NoneType' object has no attribute 'constraints'
ven = Intel
Workaround for some crash in the Intel OpenGL driver on Linux/Ubuntu
numActiveThreads = 0
stopping threads
Thread with taskId 0 exiting
Thread TERMINATED
destroy semaphore
semaphore destroyed
destroy main semaphore
main semaphore destroyed
finished
numActiveThreads = 0
btShutDownExampleBrowser stopping threads
Thread with taskId 0 exiting
Thread TERMINATED
destroy semaphore
semaphore destroyed
destroy main semaphore
main semaphore destroyed

This is my Conda environment:

(safe) dan@SurfBoard3:~/Projects/safe-control-gym/examples$ conda list
# packages in environment at /home/dan/anaconda3/envs/safe:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                        main  
_openmp_mutex             5.1                       1_gnu  
absl-py                   2.1.0                    pypi_0    pypi
bzip2                     1.0.8                h7b6447c_0  
ca-certificates           2023.08.22           h06a4308_0    anaconda
cachetools                5.3.2                    pypi_0    pypi
casadi                    3.6.4                    pypi_0    pypi
certifi                   2023.11.17               pypi_0    pypi
cfgv                      3.4.0                    pypi_0    pypi
charset-normalizer        3.3.2                    pypi_0    pypi
clarabel                  0.6.0                    pypi_0    pypi
cloudpickle               3.0.0                    pypi_0    pypi
contourpy                 1.2.0                    pypi_0    pypi
cvxpy                     1.4.2                    pypi_0    pypi
cycler                    0.12.1                   pypi_0    pypi
dict-deep                 4.1.2                    pypi_0    pypi
distlib                   0.3.8                    pypi_0    pypi
ecos                      2.0.12                   pypi_0    pypi
exceptiongroup            1.2.0                    pypi_0    pypi
farama-notifications      0.0.4                    pypi_0    pypi
filelock                  3.13.1                   pypi_0    pypi
fonttools                 4.47.2                   pypi_0    pypi
gmp                       6.2.1                h295c915_3    anaconda
google-auth               2.26.2                   pypi_0    pypi
google-auth-oauthlib      1.2.0                    pypi_0    pypi
gpytorch                  1.11                     pypi_0    pypi
grpcio                    1.60.0                   pypi_0    pypi
gymnasium                 0.28.1                   pypi_0    pypi
identify                  2.5.33                   pypi_0    pypi
idna                      3.6                      pypi_0    pypi
imageio                   2.33.1                   pypi_0    pypi
iniconfig                 2.0.0                    pypi_0    pypi
jax-jumpy                 1.0.0                    pypi_0    pypi
jaxtyping                 0.2.25                   pypi_0    pypi
joblib                    1.3.2                    pypi_0    pypi
kiwisolver                1.4.5                    pypi_0    pypi
ld_impl_linux-64          2.38                 h1181459_1  
libffi                    3.4.4                h6a678d5_0  
libgcc-ng                 11.2.0               h1234567_1  
libgomp                   11.2.0               h1234567_1  
libstdcxx-ng              11.2.0               h1234567_1  
libuuid                   1.41.5               h5eee18b_0  
linear-operator           0.5.2                    pypi_0    pypi
markdown                  3.5.2                    pypi_0    pypi
markupsafe                2.1.4                    pypi_0    pypi
matplotlib                3.8.2                    pypi_0    pypi
mosek                     10.1.22                  pypi_0    pypi
munch                     2.5.0                    pypi_0    pypi
ncurses                   6.4                  h6a678d5_0  
nodeenv                   1.8.0                    pypi_0    pypi
numpy                     1.26.3                   pypi_0    pypi
nvidia-cublas-cu11        11.10.3.66               pypi_0    pypi
nvidia-cuda-nvrtc-cu11    11.7.99                  pypi_0    pypi
nvidia-cuda-runtime-cu11  11.7.99                  pypi_0    pypi
nvidia-cudnn-cu11         8.5.0.96                 pypi_0    pypi
oauthlib                  3.2.2                    pypi_0    pypi
openssl                   3.0.12               h7f8727e_0    anaconda
osqp                      0.6.3                    pypi_0    pypi
packaging                 23.2                     pypi_0    pypi
pillow                    10.2.0                   pypi_0    pypi
pip                       23.3.2                   pypi_0    pypi
platformdirs              4.1.0                    pypi_0    pypi
pluggy                    1.3.0                    pypi_0    pypi
pre-commit                3.6.0                    pypi_0    pypi
protobuf                  4.23.4                   pypi_0    pypi
pyaml                     23.12.0                  pypi_0    pypi
pyasn1                    0.5.1                    pypi_0    pypi
pyasn1-modules            0.3.0                    pypi_0    pypi
pybind11                  2.11.1                   pypi_0    pypi
pybullet                  3.2.6                    pypi_0    pypi
pycddlib                  2.1.7                    pypi_0    pypi
pyparsing                 3.1.1                    pypi_0    pypi
pytest                    7.4.4                    pypi_0    pypi
python                    3.10.13              h955ad1f_0  
python-dateutil           2.8.2                    pypi_0    pypi
pytope                    0.0.4                    pypi_0    pypi
pyyaml                    6.0.1                    pypi_0    pypi
qdldl                     0.1.7.post0              pypi_0    pypi
readline                  8.2                  h5eee18b_0  
requests                  2.31.0                   pypi_0    pypi
requests-oauthlib         1.3.1                    pypi_0    pypi
rsa                       4.9                      pypi_0    pypi
safe-control-gym          2.0.0                    pypi_0    pypi
scikit-learn              1.4.0                    pypi_0    pypi
scikit-optimize           0.9.0                    pypi_0    pypi
scipy                     1.12.0                   pypi_0    pypi
scs                       3.2.4.post1              pypi_0    pypi
setuptools                68.2.2          py310h06a4308_0  
six                       1.16.0                   pypi_0    pypi
sqlite                    3.41.2               h5eee18b_0  
tensorboard               2.15.1                   pypi_0    pypi
tensorboard-data-server   0.7.2                    pypi_0    pypi
termcolor                 1.1.0                    pypi_0    pypi
threadpoolctl             3.2.0                    pypi_0    pypi
tk                        8.6.12               h1ccaba5_0  
tomli                     2.0.1                    pypi_0    pypi
torch                     1.13.1                   pypi_0    pypi
typeguard                 2.13.3                   pypi_0    pypi
typing-extensions         4.9.0                    pypi_0    pypi
tzdata                    2023d                h04d1e81_0  
urllib3                   2.1.0                    pypi_0    pypi
virtualenv                20.25.0                  pypi_0    pypi
werkzeug                  3.0.1                    pypi_0    pypi
wheel                     0.41.2          py310h06a4308_0  
xz                        5.4.5                h5eee18b_0  
zlib                      1.2.13               h5eee18b_0  

I work on Ubuntu 20.04

uname -a Linux SurfBoard3 6.5.6-surface #3 SMP PREEMPT_DYNAMIC Sun Oct 15 20:52:00 UTC 2023 x86_64 x86_64 x86_64 GNU/Linux

[Federico-PizarroBejarano]

@adamhall just added some great example code for MPC to the repo: #148. Let us know if you can run the examples!

[adamhall]

Hi @hedaniel7,
Did this work for you? We will close the issue if yes.

[adamhall]

Closed for inactivity.