Make sensor range optional with default 0.5

Author: amacati

config/level0.toml

@@ -32,7 +32,7 @@ id = "DroneRacing-v0"   # "DroneRacing-v0" for single races, "MultiDroneRacing-v
 random_resets = false   # Whether to re-seed the random number generator between episodes
 seed = 1337             # Random seed
 freq = 50               # Frequency of the environment's step function, in Hz
-sensor_range = 0.45     # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position.
+sensor_range = 0.5     # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position.
 action_space = "state"  # Action space of the environment. Can be either "state" or "attitude"
 
 [env.track]

config/level1.toml

@@ -28,7 +28,7 @@ id = "DroneRacing-v0"   # "DroneRacing-v0" for single races, "MultiDroneRacing-v
 random_resets = false   # Whether to re-seed the random number generator between episodes
 seed = 1337             # Random seed
 freq = 50               # Frequency of the environment's step function, in Hz
-sensor_range = 0.45     # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position.
+sensor_range = 0.5     # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position.
 action_space = "state"  # Action space of the environment. Can be either "state" or "attitude"
 
 [env.track]

config/level2.toml

@@ -28,7 +28,7 @@ id = "DroneRacing-v0"   # "DroneRacing-v0" for single races, "MultiDroneRacing-v
 random_resets = false   # Whether to re-seed the random number generator between episodes
 seed = 1337             # Random seed
 freq = 50               # Frequency of the environment's step function, in Hz
-sensor_range = 0.45     # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position.
+sensor_range = 0.5     # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position.
 action_space = "state"  # Action space of the environment. Can be either "state" or "attitude"
 
 [env.track]

config/level3.toml

@@ -28,7 +28,7 @@ id = "DroneRacing-v0"   # "DroneRacing-v0" for single races, "MultiDroneRacing-v
 random_resets = true    # Whether to re-seed the random number generator between episodes
 seed = 1337             # Random seed
 freq = 50               # Frequency of the environment's step function, in Hz
-sensor_range = 0.45     # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position.
+sensor_range = 0.5     # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position.
 action_space = "state"  # Action space of the environment. Can be either "state" or "attitude"
 
 [env.track]

config/multi_level0.toml

@@ -33,7 +33,7 @@ n_drones = 2            # Number of drones has to match the track configuration
 random_resets = false   # Whether to re-seed the random number generator between episodes
 seed = 1337             # Random seed
 freq = 50               # Frequency of the environment's step function, in Hz
-sensor_range = 0.45     # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position.
+sensor_range = 0.5     # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position.
 action_space = "state"  # Action space of the environment. Can be either "state" or "attitude"
 
 [env.track]

config/multi_level3.toml

@@ -33,7 +33,7 @@ n_drones = 2            # Number of drones has to match the track configuration
 random_resets = true    # Whether to re-seed the random number generator between episodes
 seed = 1337             # Random seed
 freq = 50               # Frequency of the environment's step function, in Hz
-sensor_range = 0.45     # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position.
+sensor_range = 0.5     # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position.
 action_space = "state"  # Action space of the environment. Can be either "state" or "attitude"
 
 [env.track]

lsy_drone_racing/envs/drone_race.py

@@ -23,7 +23,7 @@ def __init__(
         self,
         freq: int,
         sim_config: ConfigDict,
-        sensor_range: float,
+        sensor_range: float = 0.5,
         action_space: Literal["state", "attitude"] = "state",
         track: ConfigDict | None = None,
         disturbances: ConfigDict | None = None,
@@ -106,7 +106,7 @@ def __init__(
         num_envs: int,
         freq: int,
         sim_config: ConfigDict,
-        sensor_range: float,
+        sensor_range: float = 0.5,
         action_space: Literal["state", "attitude"] = "state",
         track: ConfigDict | None = None,
         disturbances: ConfigDict | None = None,

lsy_drone_racing/envs/multi_drone_race.py

@@ -24,7 +24,7 @@ def __init__(
         n_drones: int,
         freq: int,
         sim_config: ConfigDict,
-        sensor_range: float,
+        sensor_range: float = 0.5,
         action_space: Literal["state", "attitude"] = "state",
         track: ConfigDict | None = None,
         disturbances: ConfigDict | None = None,
@@ -116,7 +116,7 @@ def __init__(
         n_drones: int,
         freq: int,
         sim_config: ConfigDict,
-        sensor_range: float,
+        sensor_range: float = 0.5,
         action_space: Literal["state", "attitude"] = "state",
         track: ConfigDict | None = None,
         disturbances: ConfigDict | None = None,