Create custom simulation environment to train UAV collision avoidance

[Astik-2002]

Hello. I'm using gym-pybuller-drones as my simulation platform to design and test collision avoidance algorithms for agile drones. I would like to create a custom simulation environment filled with cluttered obstacles (both static and dynamic), as well as multiple drones (later on). Can someone please share how to design a simulation environment where obstacles can be spawned at different locations and orientations? Here are two examples of environment that i'd like to create here (https://github.com/USTC-AIS-Lab/PE-Planner/blob/master/gif/github_video5.gif) and (https://github.com/HKUST-Aerial-Robotics/Fast-Planner/blob/master/files/icra20_3.gif).

[abdul-mannan-khan]

You can do this by modify environments in the folder env. The obstacles you want to add as you mentioned can be done. For reference, I have attached the file which I have created.
FlyThruObstaclesAviary.zip

Also register that environment in __init__.py (outside env folder). The content that file should be like this.

from gymnasium.envs.registration import register

register(
    id='ctrl-aviary-v0',
    entry_point='gym_pybullet_drones.envs:CtrlAviary',
)

register(
    id='velocity-aviary-v0',
    entry_point='gym_pybullet_drones.envs:VelocityAviary',
)

register(
    id='hover-aviary-v0',
    entry_point='gym_pybullet_drones.envs:HoverAviary',
)

register(
    id='multihover-aviary-v0',
    entry_point='gym_pybullet_drones.envs:MultiHoverAviary',
)

register(
    id='flythrugate-aviary-v0',
    entry_point='gym_pybullet_drones.envs:FlyThruGateAviary',
)

register(
    id='flythruobstacles-aviary-v0',
    entry_point='gym_pybullet_drones.envs:FlyThruObstaclesAviary',
)

One thing I would like to mention that RL-algorithms have not beaten so far FAST Planner algorithm. All it can do is to memorize the path like a blind man memorizes the path. I think. For detail, please go through this paper by Davide Scaramuzza.

[Astik-2002]

@abdul-mannan-khan thanks for this. Can you share an example of how this aviary can be used?

[abdul-mannan-khan]

This is pretty standard as the same FlyThruGateAviary just add this into right a place and it would work. Let me know if it does not.

[Astik-2002]

I don't have the code for Flythrugateaviary. I tried modifying the PID example in main branch, but got this error [ERROR] invalid initial_xyzs in BaseAviary.__init__(), try initial_xyzs.reshape(NUM_DRONES,3) [ERROR] invalid initial_rpys in BaseAviary.__init__(), try initial_rpys.reshape(NUM_DRONES,3) Traceback (most recent call last): File "/home/astik/gym-pybullet-drones/gym_pybullet_drones/examples/fly_flythrough.py", line 201, in <module> run(**vars(ARGS)) File "/home/astik/gym-pybullet-drones/gym_pybullet_drones/examples/fly_flythrough.py", line 115, in run env = FlyThruObstaclesAviary(drone_model=drone, File "/home/astik/anaconda3/envs/drones/lib/python3.10/site-packages/gym_pybullet_drones/envs/FlyThruObstaclesAviary.py", line 32, in __init__ super().__init__(drone_model=drone_model, File "/home/astik/anaconda3/envs/drones/lib/python3.10/site-packages/gym_pybullet_drones/envs/BaseRLAviary.py", line 79, in __init__ super().__init__(drone_model=drone_model, File "/home/astik/anaconda3/envs/drones/lib/python3.10/site-packages/gym_pybullet_drones/envs/BaseAviary.py", line 212, in __init__ self._housekeeping() File "/home/astik/anaconda3/envs/drones/lib/python3.10/site-packages/gym_pybullet_drones/envs/BaseAviary.py", line 486, in _housekeeping self.DRONE_IDS = np.array([p.loadURDF(pkg_resources.resource_filename('gym_pybullet_drones', 'assets/'+self.URDF), File "/home/astik/anaconda3/envs/drones/lib/python3.10/site-packages/gym_pybullet_drones/envs/BaseAviary.py", line 487, in <listcomp> self.INIT_XYZS[i,:], AttributeError: 'FlyThruObstaclesAviary' object has no attribute 'INIT_XYZS' numActiveThreads = 0 stopping threads Thread with taskId 0 exiting destroy semaphore semaphore destroyed Thread TERMINATED 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

[abdul-mannan-khan]

FlyThruGateAviary is available in the master branch. By the way, it would be a lot easier to start with master branch using

git clone -b master https://github.com/utiasDSL/gym-pybullet-drones.git

just modify the following line in the

from stable_baselines3.common.cmd_util import make_vec_env

to this

from stable_baselines3.common.env_util import make_vec_env

and it should work flawlessly.

I did nothing special. Just copy the file I sent you and paste it where all other files are env files are placed, modify the __init__.py file as I mentioned previously and add the environment using

from gym_pybullet_drones.envs.FlyThruObstaclesAviary import FlyThruObstaclesAviary

Thanks.

[Astik-2002]

Its working now, thanks.