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Pierce/vmas multiple motion models #8

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Additions

  • navigation supports multiple motion dynamics: holonomic, differential drive, and bicycle dynamics.
    • robots are loaded in on environment creation using a robot configuration dictionary. This dictionary is composed from hydra "robots" configuration group in the het-mamp repository

Notes

  • Once robots are loaded on environment creation, they cannot be changed. This is a result of the design of VMAS...VMAS does not support adding, removing, or editing agents after a scenario is created. When we want to change agents during training, our current best course of action is to initialize multiple environments with different robot team compositions.
  • Each agents u_range is set to be [-1, 1]. Use the u_multiplier parameter to set the true force range for unique agents.

matteobettini and others added 16 commits December 26, 2023 13:54
@matteobettini
[BugFix] dtype in simple_crypto observations
884e75b
@matteobettini
[Docs] TODOs
aaec599
@gy2256 @matteobettini
Added an HeuristicPolicy with Control Lyapunov Controller (proroklab#74)
127a9ec 
* Added an HeuristicPolicy with Control Lyapunov Controller for the navigation scenario.

* Update vmas/scenarios/navigation.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* Update vmas/scenarios/navigation.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* Update vmas/scenarios/navigation.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* Update vmas/scenarios/navigation.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* Update vmas/scenarios/navigation.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* Control parameters are defined in constructor

* Improve readability of the Lyapunov function

* Remove unused parameters

* Update vmas/scenarios/navigation.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* Formatted with black 23.1.0

* The control parameters are separated and can be defined individually.

---------

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>
@matteobettini
[Feature] Actions detached from physics and allow any number of actio…
f09a406 
…ns (proroklab#76)

* First

* Amend

* Amend

* Amend

* Amend

* Amend

* Amend

* Amend

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* Amend
@matteobettini
[Scenario] Update transport to never spawn package on goal
b434185
@matteobettini
[Feature] Optionally clamp input actions
b41c141
@matteobettini
[Feature] Update scenarios (proroklab#78)
6bf27db 
* Amend

* Amend

* Amend
@matteobettini
VMAS-1.3.4
54c4d1e
@kfu02
add waypoint tracker
a0c8f42
@piercehowell
WIP: Added motion models, but untested since I need to use a differen…
d35c33d 
…t computer.
@piercehowell
untested, but runnable instantiation of multiple dynamic models for n…
a82c6a5 
…avigation.
@piercehowell
robots with different motion models loaded for navigation using robot…
2c0a114 
… file.
@piercehowell
Merge branch 'pierce/VMAS_multiple_motion_models' of https://github.c…
16ced93 
…om/GT-STAR-Lab/VectorizedMultiAgentSimulator into pierce/VMAS_multiple_motion_models
@kfu02
velocity controller in nav scenario
d485dd1
@piercehowell
navigation scenario loads robots from kwargs.
c2e1b2f
@piercehowell
Merge branch 'main' into pierce/VMAS_multiple_motion_models
dadcfb7
@piercehowell piercehowell requested a review from kfu02 February 9, 2024 15:23
@kfu02 kfu02 changed the base branch from main to update-vmas-1.3.4 February 9, 2024 16:29
@kfu02 kfu02 changed the base branch from update-vmas-1.3.4 to main February 9, 2024 16:29
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4 participants
@piercehowell @matteobettini @gy2256 @kfu02