local airsim client -> airsimdroneracingvae

datagen/action_generator/src/soccer_datagen.py

@@ -6,13 +6,9 @@
 import threading
 
 import os,sys
-curr_dir = os.path.dirname(os.path.abspath(__file__))
-airsim_path = os.path.join(curr_dir, '..', '..', '..', 'airsim')
-sys.path.insert(0, airsim_path)
-import setup_path
-import airsim
-import airsim.types
-import airsim.utils
+import airsimdroneracingvae
+import airsimdroneracingvae.types
+import airsimdroneracingvae.utils
 
 # import utils
 models_path = os.path.join(curr_dir, '..', 'racing_utils')
@@ -76,7 +72,7 @@ def __init__(self,
         self.acc_max = acc_max
 
         # todo encapsulate in function
-        self.client = airsim.MultirotorClient()
+        self.client = airsimdroneracingvae.MultirotorClient()
         self.client.confirmConnection()
         self.client.enableApiControl(True, vehicle_name=self.drone_name)
         time.sleep(0.05)
@@ -146,7 +142,7 @@ def set_current_track_gate_poses_from_default_track_in_binary(self):
         #     print(gate_pose.position.x_val, gate_pose.position.y_val,gate_pose.position.z_val)
 
     def takeoff_with_moveOnSpline(self, takeoff_height, vel_max, acc_max):
-        self.client.moveOnSplineAsync(path=[airsim.Vector3r(4, -2, takeoff_height)],
+        self.client.moveOnSplineAsync(path=[airsimdroneracingvae.Vector3r(4, -2, takeoff_height)],
                                       vel_max=vel_max, acc_max=acc_max,
                                       add_curr_odom_position_constraint=True,
                                       add_curr_odom_velocity_constraint=True,
@@ -297,7 +293,7 @@ def start_training_data_generator(self, num_training_laps=100, level_name='Socce
         time.sleep(0.01)
         self.client.armDisarm(True, vehicle_name=self.drone_name)
         time.sleep(0.01)
-        self.client.setTrajectoryTrackerGains(airsim.TrajectoryTrackerGains().to_list(), vehicle_name=self.drone_name)
+        self.client.setTrajectoryTrackerGains(airsimdroneracingvae.TrajectoryTrackerGains().to_list(), vehicle_name=self.drone_name)
         time.sleep(0.01)
         self.takeoff_with_moveOnSpline(takeoff_height=-2, vel_max=self.vel_max, acc_max=self.acc_max)
         self.set_num_training_laps(num_training_laps)

imitation_learning/bc_navigation.py

@@ -7,13 +7,9 @@
 import tensorflow as tf
 
 import os, sys
-curr_dir = os.path.dirname(os.path.abspath(__file__))
-airsim_path = os.path.join(curr_dir, '..', 'airsim')
-sys.path.insert(0, airsim_path)
-import setup_path
-import airsim
-import airsim.types
-import airsim.utils
+import airsimdroneracingvae
+import airsimdroneracingvae.types
+import airsimdroneracingvae.utils
 
 # import utils
 models_path = os.path.join(curr_dir, '..', 'racing_utils')
@@ -32,7 +28,7 @@
 ###########################################
 
 def process_image(client, img_res):
-    image_response = client.simGetImages([airsim.ImageRequest('0', airsim.ImageType.Scene, False, False)])[0]
+    image_response = client.simGetImages([airsimdroneracingvae.ImageRequest('0', airsimdroneracingvae.ImageType.Scene, False, False)])[0]
     img_1d = np.fromstring(image_response.image_data_uint8, dtype=np.uint8)  # get numpy array
     img_bgr = img_1d.reshape(image_response.height, image_response.width, 3)  # reshape array to 4 channel image array H X W X 3
     img_resized = cv2.resize(img_bgr, (img_res, img_res)).astype(np.float32)
@@ -48,11 +44,11 @@ def move_drone(client, vel_cmd):
     vel_cmd[0:2] = vel_cmd[0:2] *1.0  # usually base speed is 3/ms
     vel_cmd[3] = vel_cmd[3] * 1.0
     # yaw rate is given in deg/s!! not rad/s
-    yaw_mode = airsim.YawMode(is_rate=True, yaw_or_rate=vel_cmd[3]*180.0/np.pi)
+    yaw_mode = airsimdroneracingvae.YawMode(is_rate=True, yaw_or_rate=vel_cmd[3]*180.0/np.pi)
     client.moveByVelocityAsync(vel_cmd[0], vel_cmd[1], vel_cmd[2], duration=0.1, yaw_mode=yaw_mode)
 
 
-print(os.path.abspath(airsim.__file__))
+print(os.path.abspath(airsimdroneracingvae.__file__))
 
 os.environ['TF_CPP_MIN_LOG_LEVEL'] = '1'
 os.environ['TF_FORCE_GPU_ALLOW_GROWTH'] = 'true'
@@ -64,7 +60,7 @@ def move_drone(client, vel_cmd):
 
 if __name__ == "__main__":
     # set airsim client
-    client = airsim.MultirotorClient()
+    client = airsimdroneracingvae.MultirotorClient()
     client.confirmConnection()
     # client.simLoadLevel('Soccer_Field_Easy')
     client.simLoadLevel('Soccer_Field_Easy')
@@ -76,7 +72,7 @@ def move_drone(client, vel_cmd):
     time.sleep(0.01)
     client.armDisarm(True, vehicle_name=drone_name)
     time.sleep(0.01)
-    client.setTrajectoryTrackerGains(airsim.TrajectoryTrackerGains().to_list(), vehicle_name=drone_name)
+    client.setTrajectoryTrackerGains(airsimdroneracingvae.TrajectoryTrackerGains().to_list(), vehicle_name=drone_name)
     time.sleep(0.01)
 
     # destroy all previous gates in map
@@ -93,22 +89,22 @@ def move_drone(client, vel_cmd):
 
     time.sleep(1.0)
 
-    # takeoff_position = airsim.Vector3r(25, 7, -1.5)
-    # takeoff_orientation = airsim.Vector3r(.2, -0.9, 0)
+    # takeoff_position = airsimdroneracingvae.Vector3r(25, 7, -1.5)
+    # takeoff_orientation = airsimdroneracingvae.Vector3r(.2, -0.9, 0)
     #
-    # takeoff_position = airsim.Vector3r(25, -7, -1.5)
-    # takeoff_orientation = airsim.Vector3r(-.2, 0.9, 0)
+    # takeoff_position = airsimdroneracingvae.Vector3r(25, -7, -1.5)
+    # takeoff_orientation = airsimdroneracingvae.Vector3r(-.2, 0.9, 0)
 
-    takeoff_position = airsim.Vector3r(5.5, -4, -1.5+offset[2])
-    takeoff_orientation = airsim.Vector3r(0.4, 0.9, 0)
+    takeoff_position = airsimdroneracingvae.Vector3r(5.5, -4, -1.5+offset[2])
+    takeoff_orientation = airsimdroneracingvae.Vector3r(0.4, 0.9, 0)
 
-    # takeoff_position = airsim.Vector3r(0, 0, -2)
-    # takeoff_position = airsim.Vector3r(0, 0, 10)
-    # takeoff_orientation = airsim.Vector3r(1, 0, 0)
+    # takeoff_position = airsimdroneracingvae.Vector3r(0, 0, -2)
+    # takeoff_position = airsimdroneracingvae.Vector3r(0, 0, 10)
+    # takeoff_orientation = airsimdroneracingvae.Vector3r(1, 0, 0)
     # client.plot_tf([takeoff_pose], duration=20.0, vehicle_name=drone_name)
-    # client.moveOnSplineAsync([airsim.Vector3r(0, 0, -3)], vel_max=15.0, acc_max=5.0, vehicle_name=drone_name, viz_traj=True).join()
+    # client.moveOnSplineAsync([airsimdroneracingvae.Vector3r(0, 0, -3)], vel_max=15.0, acc_max=5.0, vehicle_name=drone_name, viz_traj=True).join()
     client.moveOnSplineVelConstraintsAsync([takeoff_position], [takeoff_orientation], vel_max=vel_max, acc_max=acc_max, vehicle_name=drone_name, viz_traj=False).join()
-    # client.moveOnSplineVelConstraintsAsync([airsim.Vector3r(1, 0, 8)], [airsim.Vector3r(1, 0, 0)], vel_max=vel_max, acc_max=acc_max, vehicle_name=drone_name, viz_traj=True)
+    # client.moveOnSplineVelConstraintsAsync([airsimdroneracingvae.Vector3r(1, 0, 8)], [airsimdroneracingvae.Vector3r(1, 0, 0)], vel_max=vel_max, acc_max=acc_max, vehicle_name=drone_name, viz_traj=True)
 
     time.sleep(1.0)
     img_res = 64
@@ -152,7 +148,7 @@ def move_drone(client, vel_cmd):
         img_batch_1, cam_pos, cam_orientation = process_image(client, img_res)
         elapsed_time_net = time.time() - start_time
         times_net[count] = elapsed_time_net
-        p_o_b = airsim.types.Pose(cam_pos, cam_orientation)
+        p_o_b = airsimdroneracingvae.types.Pose(cam_pos, cam_orientation)
         vel_cmd = vel_regressor.predict_velocities(img_batch_1, p_o_b)
         # print(vel_cmd)
         # print('Before sending vel cmd')

imitation_learning/vel_regressor.py

@@ -3,12 +3,7 @@
 
 import os
 import sys
-curr_dir = os.path.dirname(os.path.abspath(__file__))
-
-airsim_path = os.path.join(curr_dir, '..', 'airsim')
-sys.path.insert(0, airsim_path)
-import setup_path
-import airsim
+import airsimdroneracingvae
 
 # import model
 models_path = os.path.join(curr_dir, '..', 'racing_models')
@@ -57,6 +52,6 @@ def predict_velocities(self, img, p_o_b):
         predictions = predictions.numpy()
         predictions = racing_utils.dataset_utils.de_normalize_v(predictions)
         # print('Predicted body vel: \n {}'.format(predictions[0]))
-        v_xyz_world = racing_utils.geom_utils.convert_t_body_2_world(airsim.Vector3r(predictions[0,0], predictions[0,1], predictions[0,2]), p_o_b.orientation)
+        v_xyz_world = racing_utils.geom_utils.convert_t_body_2_world(airsimdroneracingvae.Vector3r(predictions[0,0], predictions[0,1], predictions[0,2]), p_o_b.orientation)
         return np.array([v_xyz_world.x_val, v_xyz_world.y_val, v_xyz_world.z_val, predictions[0,3]])
 

racing_utils/geom_utils.py

@@ -2,16 +2,9 @@
 import sys
 from scipy.spatial.transform import Rotation
 import math
-curr_dir = os.path.dirname(os.path.abspath(__file__))
-
-airsim_path = os.path.join(curr_dir, '..', 'airsim')
-sys.path.insert(0, airsim_path)
-import setup_path
-import airsim
-
-from airsim.utils import to_eularian_angles, to_quaternion
+from airsimdroneracingvae.utils import to_eularian_angles, to_quaternion
 import numpy as np
-from airsim.types import Pose, Vector3r, Quaternionr
+from airsimdroneracingvae.types import Pose, Vector3r, Quaternionr
 
 
 def interp_vector(a, b, n):
@@ -146,9 +139,9 @@ def get_gate_facing_vector_from_quaternion(airsim_quat, direction, scale=1.0,):
                                 [                0.0,                 0.0,                 0.0, 1.0]])
     gate_facing_vector = rotation_matrix[:-1, 1]
     if direction == 0:
-        return airsim.Vector3r(scale*gate_facing_vector[0], scale*gate_facing_vector[1], scale*gate_facing_vector[2])
+        return airsimdroneracingvae.Vector3r(scale*gate_facing_vector[0], scale*gate_facing_vector[1], scale*gate_facing_vector[2])
     else:
-        return airsim.Vector3r(-scale*gate_facing_vector[0], -scale*gate_facing_vector[1], scale*gate_facing_vector[2])
+        return airsimdroneracingvae.Vector3r(-scale*gate_facing_vector[0], -scale*gate_facing_vector[1], scale*gate_facing_vector[2])
 
 
 

racing_utils/trajectory_utils.py

@@ -3,18 +3,10 @@
 import random
 import math
 import time
-
-import os, sys
-curr_dir = os.path.dirname(os.path.abspath(__file__))
-airsim_path = os.path.join(curr_dir, '..', 'airsim')
-sys.path.insert(0, airsim_path)
-import setup_path
-import airsim
-import airsim.types
-import airsim.utils
-from airsim.types import Pose, Vector3r, Quaternionr
-from airsim.utils import to_eularian_angles, to_quaternion
-
+import airsimdroneracingvae.types
+import airsimdroneracingvae.utils
+from airsimdroneracingvae.types import Pose, Vector3r, Quaternionr
+from airsimdroneracingvae.utils import to_eularian_angles, to_quaternion
 
 def MoveCheckeredGates(client):
     gate_names_sorted = sorted(client.simListSceneObjects("Gate.*"))
@@ -25,13 +17,11 @@ def MoveCheckeredGates(client):
         client.simSetObjectPose(gate, pose_far)
         # time.sleep(0.05)
 
-
 def AllGatesDestroyer(client):
     for gate_object in client.simListSceneObjects(".*[Gg]ate.*"):
         client.simDestroyObject(gate_object)
         time.sleep(0.05)
 
-
 def RedGateSpawner(client, num_gates, noise_amp):
     gate_poses=[]
     for idx in range(num_gates):
@@ -42,15 +32,13 @@ def RedGateSpawner(client, num_gates, noise_amp):
         time.sleep(0.05)
     return gate_poses
 
-
 def RedGateSpawnerCircle(client, num_gates, radius, radius_noise, height_range, track_offset=[0, 0, 0]):
     track = generate_gate_poses(num_gates=num_gates, race_course_radius=radius, radius_noise=radius_noise, height_range=height_range, direction=0, offset=track_offset)
     for idx in range(num_gates):
         # client.simSpawnObject("gate_" + str(idx), "RedGate16x16", track[idx], 1.5)
         client.simSpawnObject("gate_" + str(idx), "RedGate16x16", track[idx], 0.75)
         time.sleep(0.05)
 
-
 def RedGateSpawnerTrack(client, num_gates, radius, radius_noise, height_range, num_ignore = 0, track_offset=[0, 0, 0]):
     offset_0 = [sum(x) for x in zip(track_offset, [radius, 0, 0])]
     track_0 = generate_gate_poses(num_gates=num_gates, race_course_radius=radius, radius_noise=radius_noise, height_range=height_range, direction=0, offset=offset_0)
@@ -68,16 +56,15 @@ def RedGateSpawnerTrack(client, num_gates, radius, radius_noise, height_range, n
             client.simSpawnObject("gate_" + str(idx) + "track_1", "RedGate16x16", track_1[idx], 0.75)
             time.sleep(0.05)
 
-
 def generate_gate_poses(num_gates, race_course_radius, radius_noise, height_range, direction, offset=[0,0,0], type_of_segment="circle"):
     if type_of_segment == "circle":
         (x_t, y_t, z_t) = tuple([generate_circle(i, num_gates, race_course_radius, radius_noise, direction) for i in range(3)])
         # todo unreadable code
         # todo un-hardcode
-        # airsim.Vector3r((x_t[t_i][0] - x_t[0][0]), (y_t[t_i][0] - y_t[0][0]), random.uniform(height_range[0], height_range[1])), \
+        # airsimdroneracingvae.Vector3r((x_t[t_i][0] - x_t[0][0]), (y_t[t_i][0] - y_t[0][0]), random.uniform(height_range[0], height_range[1])), \
         gate_poses = [
-                        airsim.Pose(
-                            airsim.Vector3r((x_t[t_i][0]+offset[0]),
+                        airsimdroneracingvae.Pose(
+                            airsimdroneracingvae.Vector3r((x_t[t_i][0]+offset[0]),
                                         (y_t[t_i][0]+offset[1]),
                                         random.uniform(height_range[0], height_range[1])+offset[2]),
                             quaternionFromUnitGradient(x_t[t_i][1], y_t[t_i][1], z_t[t_i][1])
@@ -86,11 +73,10 @@ def generate_gate_poses(num_gates, race_course_radius, radius_noise, height_rang
     # elif type_of_segment == "cubic":
     return gate_poses
 
-
 def quaternionFromUnitGradient(dx_dt, dy_dt, dz_dt):
     default_gate_facing_vector = type("", (), dict(x=0, y=1, z=0))()
     r0 = default_gate_facing_vector
-    q = airsim.Quaternionr(
+    q = airsimdroneracingvae.Quaternionr(
             r0.y * dz_dt - r0.z * dy_dt,
             r0.z * dx_dt - r0.x * dz_dt,
             r0.x * dy_dt - r0.y * dx_dt,
@@ -107,7 +93,6 @@ def quaternionFromUnitGradient(dx_dt, dy_dt, dz_dt):
         q.z_val /= length
     return q
 
-
 def generate_circle(i, num_gates, race_course_radius, radius_amp, direction):
     ts = [t / (num_gates) for t in range(0, num_gates)]
     samples = [0 for t in ts]
@@ -147,9 +132,3 @@ def generate_circle(i, num_gates, race_course_radius, radius_amp, direction):
             samples[idx] = 0.
             derivatives[idx] = 0.
     return list(zip(samples, derivatives))
-
-
-
-
-
-