AER1216 files

utiasDSL · Nov 18, 2020 · dc32880 · dc32880
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diff --git a/assignments/README.md b/assignments/README.md
@@ -1,6 +1,6 @@
 # On Ubuntu or macOS
 
-The repo was written using *Python 3.7* on *macOS 10.15* and tested on *Ubuntu 18.04*
+The repo was written using *Python 3.7* on *macOS 10.15* and tested on *macOS 11*, *Ubuntu 18.04*
 
 ## Requirements
 In a terminal, type
@@ -14,45 +14,45 @@ $ pip install --upgrade 'ray[rllib]'
 ## Installation
 In a terminal, type
 ```
-$ wget https://github.com/JacopoPan/gym-pybullet-drones/archive/v0.5.0.zip
-$ unzip v0.5.0.zip
-$ cd gym-pybullet-drones-0.5.0/
+$ wget https://github.com/JacopoPan/gym-pybullet-drones/archive/v0.5.1.zip
+$ unzip v0.5.1.zip
+$ cd gym-pybullet-drones-0.5.1/
 $ pip install -e .
 ```
 
 ## Use
 In a terminal, type
 ```
 $ cd assignments/
-$ python hw_simulation.py
+$ python aer1216_fall2020_hw1_sim.py    #### e.g., for hw1
 ```
 
 # On Windows
 
 ## Requirements
 
-Download [C++ 14.0](https://visualstudio.microsoft.com/downloads/)
+Download Visual Studio and [C++ 14.0](https://visualstudio.microsoft.com/downloads/)
 - We recommend the free Community version
 - Select "Desktop development with C++"
 
 Download [Python 3](https://www.python.org/downloads/release/python-390/)
 - Note: we used the [Windows x86-64 installer](https://www.python.org/ftp/python/3.9.0/python-3.9.0-amd64.exe) on Windows 10 Home
 
-Download a Python IDE. 
+Download a Python IDE
 - We recommend [PyCharm Community](https://www.jetbrains.com/pycharm/download/#section=windows)
 - Select all the options in the installer and reboot
 
 ## Installation
 
 Download the code
 - Go to https://github.com/JacopoPan/gym-pybullet-drones/releases
-- Under version `TBD`, click on "Assets" and download the source code (zip or tar.gz)
+- Under "Release", `v0.5.1`, click on "Assets" and download the source code (zip or tar.gz)
 
 <img src="../files/readme_images/assignment_img1.png" alt="source code" width="800">
 
-Open the `gym-pybullet-drones-v.TBD` folder in PyCharm 
+Unzip and open folder `gym-pybullet-drones-v0.5.1` in PyCharm 
 
-Open `hw1_simulation.py` in PyCharm
+Open `aer1216_fall2020_hw1_sim.py` in PyCharm
 
 To run code you may need to configure PyCharm. 
 - Go to `File->Settings` and Select `Project:gym-pybullet-drones.py->Python Interpreter`
@@ -75,16 +75,16 @@ To run code you may need to configure PyCharm.
 
 ## Use
 
-As you did not install the `gym_pybullet_drones` module add lines
+If (as) you did not install the `gym_pybullet_drones` module, uncomment lines 17-18
 ```
 import sys
 sys.path.append('../')
 ```
-to files `hw1_simulation.py` and `hw1_control.py`
+in file `aer1216_fall2020_hw1_sim.py`
 
 Go to the "Run" drop down menu and select "Run" 
 
 <img src="../files/readme_images/assignment_img3.png" alt="run" width="800">
 
-- Select `hw1_simulation.py` to start the simulation
+- Select `aer1216_fall2020_hw1_sim.py` to start the simulation
 
diff --git a/assignments/aer1216_fall2020_hw1_ctrl.py b/assignments/aer1216_fall2020_hw1_ctrl.py
@@ -2,11 +2,12 @@
 The script is used the simulation in file "aer1216_fall2020_hw1_sim.py".
 
 Example:
-    To run the simulation, type in a terminal
+    To run the simulation, type in a terminal:
 
         $ python aer1216_fall2020_hw1_sim.py
 
 Todo:
+
     * Tune the PD coefficients in HW1Control.__init__()
 """
 import numpy as np
@@ -108,11 +109,11 @@ def compute_control(self,
 
         #### Print relevant output #################################
         if self.control_counter%(1/self.timestep) == 0:
-            print(current_position)
-            print(current_velocity)
-            print(target_position)
-            print(target_velocity)
-            print(target_acceleration)
+            print("current_position", current_position)
+            print("current_velocity", current_velocity)
+            print("target_position", target_position)
+            print("target_velocity", target_velocity)
+            print("target_acceleration", target_acceleration)
 
         return np.array([propellers_0_and_3_rpm, propellers_1_and_2_rpm,
                          propellers_1_and_2_rpm, propellers_0_and_3_rpm])
diff --git a/assignments/aer1216_fall2020_hw1_sim.py b/assignments/aer1216_fall2020_hw1_sim.py
@@ -2,7 +2,7 @@
 The script uses the control defined in file "aer1216_fall2020_hw1_ctrl.py".
 
 Example:
-    To run the simulation, type in a terminal
+    To run the simulation, type in a terminal:
 
         $ python aer1216_fall2020_hw1_sim.py
 """
@@ -20,10 +20,10 @@
 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 hw1_control import HW1Control
+from aer1216_fall2020_hw1_ctrl import HW1Control
 
-DURATION = 10  # int: the duration of the simulation in seconds
-GUI = True  # bool: whether to use PyBullet graphical interface
+DURATION = 10 # int: the duration of the simulation in seconds
+GUI = True # bool: whether to use PyBullet graphical interface
 RECORD = False # bool: whether to save a video under /files/videos
                # requires to have ffmpeg installed
 

diff --git a/gym_pybullet_drones/utils/Logger.py b/gym_pybullet_drones/utils/Logger.py
@@ -5,7 +5,7 @@
 import numpy as np
 import matplotlib.pyplot as plt
 
-os.environ['KMP_DUPLICATE_LIB_OK']='True'
+#os.environ['KMP_DUPLICATE_LIB_OK']='True'
 
 ######################################################################################################################################################
 #### Logger class ####################################################################################################################################