Small renamings

Author: amacati

lsy_drone_racing/envs/multi_drone_race.py

@@ -19,6 +19,7 @@
 from crazyflow import Sim
 from crazyflow.sim.symbolic import symbolic_attitude
 from gymnasium import spaces
+from jax.scipy.spatial.transform import Rotation as JaxR
 from scipy.spatial.transform import Rotation as R
 
 from lsy_drone_racing.envs.randomize import (
@@ -302,7 +303,7 @@ def obs(self) -> dict[str, NDArray[np.floating]]:
     @staticmethod
     @jax.jit
     def _obs_gates(
-        gates_visited: NDArray,
+        visited: NDArray,
         drone_pos: Array,
         mocap_pos: Array,
         mocap_quat: Array,
@@ -312,14 +313,12 @@ def _obs_gates(
         nominal_rpy: NDArray,
     ) -> tuple[Array, Array, Array]:
         """Get the nominal or real gate positions and orientations depending on the sensor range."""
-        real_quat = mocap_quat[mocap_ids][..., [1, 2, 3, 0]]
-        real_rpy = jax.scipy.spatial.transform.Rotation.from_quat(real_quat).as_euler("xyz")
+        real_rpy = JaxR.from_quat(mocap_quat[mocap_ids][..., [1, 2, 3, 0]]).as_euler("xyz")
         dpos = drone_pos[..., None, :2] - mocap_pos[mocap_ids, :2]
-        in_range = jp.linalg.norm(dpos, axis=-1) < sensor_range
-        gates_visited = jp.logical_or(gates_visited, in_range)
-        gates_pos = jp.where(gates_visited[..., None], mocap_pos[mocap_ids], nominal_pos)
-        gates_rpy = jp.where(gates_visited[..., None], real_rpy, nominal_rpy)
-        return gates_visited, gates_pos, gates_rpy
+        visited = jp.logical_or(visited, jp.linalg.norm(dpos, axis=-1) < sensor_range)
+        gates_pos = jp.where(visited[..., None], mocap_pos[mocap_ids], nominal_pos)
+        gates_rpy = jp.where(visited[..., None], real_rpy, nominal_rpy)
+        return visited, gates_pos, gates_rpy
 
     @staticmethod
     @jax.jit
@@ -332,8 +331,7 @@ def _obs_obstacles(
         nominal_pos: NDArray,
     ) -> tuple[Array, Array]:
         dpos = drone_pos[..., None, :2] - mocap_pos[mocap_ids, :2]
-        in_range = jp.linalg.norm(dpos, axis=-1) < sensor_range
-        visited = jp.logical_or(visited, in_range)
+        visited = jp.logical_or(visited, jp.linalg.norm(dpos, axis=-1) < sensor_range)
         return visited, jp.where(visited[..., None], mocap_pos[mocap_ids], nominal_pos)
 
     def reward(self) -> float:
@@ -375,7 +373,7 @@ def _disabled_drones(
         contacts: Array,
         contact_masks: NDArray,
     ) -> Array:
-        rpy = jax.scipy.spatial.transform.Rotation.from_quat(quat).as_euler("xyz")
+        rpy = JaxR.from_quat(quat).as_euler("xyz")
         disabled = jp.logical_or(disabled_drones, jp.all(pos < pos_low, axis=-1))
         disabled = jp.logical_or(disabled, jp.all(pos > pos_high, axis=-1))
         disabled = jp.logical_or(disabled, jp.all(rpy < rpy_low, axis=-1))
@@ -480,8 +478,7 @@ def _gate_passed(
         # TODO: Test. Cover cases with no gates.
         ids = mocap_ids[target_gate % n_gates]
         gate_pos = mocap_pos[ids]
-        gate_quat = mocap_quat[ids][..., [1, 2, 3, 0]]
-        gate_rot = jax.scipy.spatial.transform.Rotation.from_quat(gate_quat)
+        gate_rot = JaxR.from_quat(mocap_quat[ids][..., [1, 2, 3, 0]])
         gate_size = (0.45, 0.45)
         last_pos_local = gate_rot.apply(last_drone_pos - gate_pos, inverse=True)
         pos_local = gate_rot.apply(drone_pos - gate_pos, inverse=True)