Fix docs and formatting

crazyflow/gymnasium_envs/crazyflow.py

@@ -66,7 +66,9 @@ def __init__(
         Args:
             num_envs: The number of environments to run in parallel.
             time_horizon_in_seconds: The time horizon after which episodes are truncated.
-            **kwargs: Takes arguments that are passed to the Crazyfly simulation.
+            physics: The crazyflow physics simulation model.
+            freq: The frequency at which the environment is run.
+            device: The device of the environment and the simulation.
         """
         self.num_envs = num_envs
         self.device = jax.devices(device)[0]
@@ -530,21 +532,3 @@ def actions(self, actions: Array) -> Array:
         # Ensure actions are within the valid range of the simulation action space
         rescaled_actions = np.clip(rescaled_actions, self.action_sim_low, self.action_sim_high)
         return rescaled_actions
-
-
-def render_trajectory(viewer: MujocoRenderer | None, pos: Array) -> None:
-    """Render trajectory."""
-    if viewer is None:
-        return
-
-    pos = np.array(pos[0]).transpose(1, 0, 2)
-    n_trace, n_drones = len(pos) - 1, len(pos[0])
-
-    for i in range(n_trace):
-        for j in range(n_drones):
-            viewer.viewer.add_marker(
-                type=mujoco.mjtGeom.mjGEOM_SPHERE,
-                size=np.array([0.02, 0.02, 0.02]),
-                pos=pos[i][j],
-                rgba=np.array([1, 0, 0, 0.8]),
-            )

pyproject.toml

@@ -1,7 +1,7 @@
 [build-system]
 requires = ["setuptools>=61.0.0", "wheel", "numpy"]
 build-backend = "setuptools.build_meta"
-requires-python = "3.11" # tested in python 3.11
+requires-python = "3.11"                            # tested in python 3.11
 
 [project]
 name = "crazyflow"
@@ -81,6 +81,7 @@ unfixable = []
 "benchmark/*" = ["D100", "D103"]
 "tests/*" = ["D100", "D103", "D104"]
 "examples/*" = ["D100", "D103"]
+"tutorials/*" = ["D", "ANN"]
 # TODO: Remove once everything is stable and document
 "crazyflow/*" = ["D100", "D101", "D102", "D104", "D107"]
 

tutorials/ppo/test.py

@@ -1,5 +1,6 @@
 import logging
 import random
+from pathlib import Path
 
 import gymnasium
 import gymnasium.wrappers.vector.jax_to_torch
@@ -43,7 +44,7 @@
 test_env = gymnasium.wrappers.vector.jax_to_torch.JaxToTorch(norm_test_env, device=device)
 
 # Load checkpoint
-checkpoint = torch.load("ppo_checkpoint.pt")
+checkpoint = torch.load(Path(__file__).parent / "ppo_checkpoint.pt")
 
 # Create agent and load state
 agent = Agent(test_env).to(device)