Fix issues with docs, deployment and testing

Author: amacati

.github/workflows/test_solution.yml .github/workflows/kaggle.yml

@@ -14,6 +14,12 @@ jobs:
           architecture: 'x64'
       - name: Install dependencies
         run: pip install .
+      - name: Install cffirmware
+        run: |
+          git clone -b drone_racing https://github.com/utiasDSL/pycffirmware.git
+          cd pycffirmware
+          git submodule update --init --recursive
+          ./wrapper/build_linux.sh
       - name: Test with pytest
         run: |
           pip install pytest pytest-cov

.github/workflows/testing.yml

@@ -227,7 +227,8 @@ def step(
             ensures that the environment is running at the correct frequency during deployment.
         """
         tstart = time.perf_counter()
-        collective_thrust, rpy = action
+        assert action.shape == self.action_space.shape, f"Invalid action shape: {action.shape}"
+        collective_thrust, rpy = action[0], action[1:]
         rpy_deg = np.rad2deg(rpy)
         self.cf.cmdVel(*rpy_deg, collective_thrust)
         if (dt := time.perf_counter() - tstart) < 1 / self.config.env.freq:

lsy_drone_racing/envs/drone_racing_deploy_env.py

@@ -315,10 +315,10 @@ def __init__(self, config: dict):
     def step(
         self, action: NDArray[np.floating]
     ) -> tuple[dict[str, NDArray[np.floating]], float, bool, bool, dict]:
-        """Step the drone racing environment with a thrust command.
+        """Step the drone racing environment with a thrust and attitude command.
 
         Args:
-            action: Thrust command [roll, pitch, yaw, thrust].
+            action: Thrust command [thrust, roll, pitch, yaw].
         """
         assert action.shape == self.action_space.shape, f"Invalid action shape: {action.shape}"
         action = action.astype(np.float64)