hyperdrone 0.1.0__py3-none-any.whl

hyperdrone/_vendor/rl-tools/include/rl_tools/rl/environments/memory/operations_cpu.h

@@ -0,0 +1,46 @@
+#include "../../../version.h"
+#if (defined(RL_TOOLS_DISABLE_INCLUDE_GUARDS) || !defined(RL_TOOLS_RL_ENVIRONMENTS_MEMORY_OPERATIONS_CPU_H)) && (RL_TOOLS_USE_THIS_VERSION == 1)
+#pragma once
+#define RL_TOOLS_RL_ENVIRONMENTS_MEMORY_OPERATIONS_CPU_H
+#include "operations_generic.h"
+RL_TOOLS_NAMESPACE_WRAPPER_START
+namespace rl_tools{
+    template<typename DEVICE, typename SPEC>
+    std::string json(DEVICE& device, const rl::environments::Memory<SPEC>& env){
+        std::string json = "{";
+        json += "}";
+        return json;
+    }
+    template<typename DEVICE, typename SPEC>
+    std::string json(DEVICE& device, const rl::environments::Memory<SPEC>& env, typename rl::environments::Memory<SPEC>::Parameters& parameters){
+        std::string json = "{";
+        using TI = typename DEVICE::index_t;
+        json += "\"HORIZON\": " + std::to_string(SPEC::PARAMETERS::HORIZON) + ", ";
+        json += "\"INPUT_PROBABILITY\": " + std::to_string(SPEC::PARAMETERS::INPUT_PROBABILITY) + ", ";
+        json += "\"MODE\": " + std::to_string(static_cast<TI>(SPEC::PARAMETERS::MODE));
+        json += "}";
+        return json;
+    }
+    template<typename DEVICE, typename SPEC>
+    std::string json(DEVICE& device, const rl::environments::Memory<SPEC>& env, typename rl::environments::Memory<SPEC>::Parameters& parameters, typename rl::environments::Memory<SPEC>::State& state){
+        std::string json = "{";
+        using TI = typename DEVICE::index_t;
+        json += std::string("\"history\": ") + std::string("[");
+        for(TI step_i = 0; step_i < SPEC::PARAMETERS::HORIZON; step_i++){
+            json += std::to_string(state.history[step_i]);
+            if(step_i < SPEC::PARAMETERS::HORIZON - 1){
+                json += ", ";
+            }
+        }
+        json += "]}";
+        return json;
+    }
+    template <typename DEVICE, typename SPEC>
+    std::string get_description(DEVICE& device, rl::environments::Memory<SPEC>& env){
+        std::string description;
+        description += "Memory Environment.";
+        return description;
+    }
+}
+RL_TOOLS_NAMESPACE_WRAPPER_END
+#endif

hyperdrone/_vendor/rl-tools/include/rl_tools/rl/environments/memory/operations_generic.h

@@ -0,0 +1,78 @@
+#include "../../../version.h"
+#if (defined(RL_TOOLS_DISABLE_INCLUDE_GUARDS) || !defined(RL_TOOLS_RL_ENVIRONMENTS_MEMORY_OPERATIONS_GENERIC_H)) && (RL_TOOLS_USE_THIS_VERSION == 1)
+#pragma once
+#define RL_TOOLS_RL_ENVIRONMENTS_MEMORY_OPERATIONS_GENERIC_H
+#include "environment.h"
+#include "../operations_generic.h"
+RL_TOOLS_NAMESPACE_WRAPPER_START
+namespace rl_tools{
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT static void malloc(DEVICE& device, const rl::environments::Memory<SPEC>& env){ }
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT static void free(DEVICE& device, const rl::environments::Memory<SPEC>& env){ }
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT static void init(DEVICE& device, const rl::environments::Memory<SPEC>& env){ }
+    template<typename DEVICE, typename SPEC, typename RNG>
+    RL_TOOLS_FUNCTION_PLACEMENT static void sample_initial_parameters(DEVICE& device, const rl::environments::Memory<SPEC>& env, typename rl::environments::Memory<SPEC>::Parameters& parameters, RNG& rng){ }
+    template<typename DEVICE, typename SPEC>
+    static void initial_parameters(DEVICE& device, const rl::environments::Memory<SPEC>& env, typename rl::environments::Memory<SPEC>::Parameters& parameters){ }
+    template<typename DEVICE, typename SPEC>
+    static void initial_state(DEVICE& device, const rl::environments::Memory<SPEC>& env, typename rl::environments::Memory<SPEC>::Parameters& parameters, typename rl::environments::Memory<SPEC>::State& state){
+        using TI = typename DEVICE::index_t;
+        for(TI step_i = 0; step_i < SPEC::PARAMETERS::HORIZON; step_i++){
+            state.history[step_i] = 0;
+        }
+    }
+    template<typename DEVICE, typename SPEC, typename RNG>
+    RL_TOOLS_FUNCTION_PLACEMENT static void sample_initial_state(DEVICE& device, const rl::environments::Memory<SPEC>& env, typename rl::environments::Memory<SPEC>::Parameters& parameters, typename rl::environments::Memory<SPEC>::State& state, RNG& rng){
+        using T = typename SPEC::T;
+        initial_state(device, env, parameters, state);
+        state.history[SPEC::PARAMETERS::HORIZON - 1] = random::uniform_real_distribution(device.random, (T)0, (T)1.0, rng) < SPEC::PARAMETERS::INPUT_PROBABILITY ? 1 : 0;
+    }
+    template<typename DEVICE, typename SPEC, typename ACTION_SPEC, typename RNG>
+    RL_TOOLS_FUNCTION_PLACEMENT typename SPEC::T step(DEVICE& device, const rl::environments::Memory<SPEC>& env, typename rl::environments::Memory<SPEC>::Parameters& parameters, const typename rl::environments::Memory<SPEC>::State& state, const Matrix<ACTION_SPEC>& action, typename rl::environments::Memory<SPEC>::State& next_state, RNG& rng) {
+        static_assert(ACTION_SPEC::ROWS == 1);
+        static_assert(ACTION_SPEC::COLS == 1);
+        using namespace rl::environments::memory;
+        using T = typename SPEC::T;
+        using TI = typename DEVICE::index_t;
+        if constexpr(SPEC::PARAMETERS::HORIZON > 1){
+            for(TI step_i = 0; step_i < SPEC::PARAMETERS::HORIZON - 1; step_i++){
+                next_state.history[step_i] = state.history[step_i + 1];
+            }
+        }
+        next_state.history[SPEC::PARAMETERS::HORIZON - 1] = random::uniform_real_distribution(device.random, (T)0, (T)1.0, rng) < SPEC::PARAMETERS::INPUT_PROBABILITY ? 1 : 0;
+        return 0;
+    }
+    template<typename DEVICE, typename SPEC, typename ACTION_SPEC, typename RNG>
+    RL_TOOLS_FUNCTION_PLACEMENT static typename SPEC::T reward(DEVICE& device, const rl::environments::Memory<SPEC>& env, typename rl::environments::Memory<SPEC>::Parameters& parameters, const typename rl::environments::Memory<SPEC>::State& state, const Matrix<ACTION_SPEC>& action, const typename rl::environments::Memory<SPEC>::State& next_state, RNG& rng){
+        using namespace rl::environments::memory;
+        using T = typename SPEC::T;
+        using TI = typename DEVICE::index_t;
+        T u_normalised = math::clamp(device.math, get(action, 0, 0), (T)-1, (T)1);
+        T count = 0;
+        for(TI step_i = 0; step_i < SPEC::PARAMETERS::HORIZON; step_i++){
+            if(state.history[step_i] == 1){
+                count++;
+            }
+        }
+        T target = count / 10; //(SPEC::PARAMETERS::HORIZON * SPEC::PARAMETERS::INPUT_PROBABILITY) / 5.0;
+        T diff = u_normalised - target;
+        return - math::abs(device.math, diff) * 10;
+    }
+
+    template<typename DEVICE, typename SPEC, typename OBS_TYPE_SPEC, typename OBS_SPEC, typename RNG>
+    RL_TOOLS_FUNCTION_PLACEMENT static void observe(DEVICE& device, const rl::environments::Memory<SPEC>& env, const typename rl::environments::Memory<SPEC>::Parameters& parameters, const typename rl::environments::Memory<SPEC>::State& state, const typename rl::environments::memory::Observation<OBS_TYPE_SPEC>&, Matrix<OBS_SPEC>& observation, RNG& rng){
+        static_assert(OBS_SPEC::ROWS == 1);
+        static_assert(OBS_SPEC::COLS == 1);
+        using T = typename SPEC::T;
+        using TI = typename DEVICE::index_t;
+        set(observation, 0, 0, state.history[SPEC::PARAMETERS::HORIZON - 1]);
+    }
+    template<typename DEVICE, typename SPEC, typename RNG>
+    RL_TOOLS_FUNCTION_PLACEMENT static bool terminated(DEVICE& device, const rl::environments::Memory<SPEC>& env, typename rl::environments::Memory<SPEC>::Parameters& parameters, const typename rl::environments::Memory<SPEC>::State state, RNG& rng){
+        return false;
+    }
+}
+RL_TOOLS_NAMESPACE_WRAPPER_END
+#endif

hyperdrone/_vendor/rl-tools/include/rl_tools/rl/environments/mujoco/ant/README.MD

@@ -0,0 +1,5 @@
+Creating the model file to be included in the binary
+```
+xxd -i ../../../../../../lib/gymnasium/gymnasium/envs/mujoco/assets/ant.xml model.h
+```
+Renaming `__________________lib_gymnasium_gymnasium_envs_mujoco_assets_ant_xml` and `__________________lib_gymnasium_gymnasium_envs_mujoco_assets_ant_xml_len` to `model_xml` and `model_xml_len` respectively.

hyperdrone/_vendor/rl-tools/include/rl_tools/rl/environments/mujoco/ant/ant.h

@@ -0,0 +1,77 @@
+#include "../../../../version.h"
+#if (defined(RL_TOOLS_DISABLE_INCLUDE_GUARDS) || !defined(RL_TOOLS_RL_ENVIRONMENTS_MUJOCO_ANT_ANT_H)) && (RL_TOOLS_USE_THIS_VERSION == 1)
+#pragma once
+#define RL_TOOLS_RL_ENVIRONMENTS_MUJOCO_ANT_ANT_H
+
+#include "../../../../utils/generic/typing.h"
+#include "../../environments.h"
+#include "../../observation.h"
+
+#include <mujoco/mujoco.h>
+
+RL_TOOLS_NAMESPACE_WRAPPER_START
+namespace rl_tools::rl::environments::mujoco{
+    namespace ant{
+        template <typename T_T, typename T_TI>
+        struct DefaultParameters{
+            using T = T_T;
+            using TI = T_TI;
+            constexpr static T RESET_NOISE_SCALE = 0.1;
+            constexpr static T CONTROL_COST_WEIGHT = 0.5;
+            constexpr static T HEALTY_Z_MIN = 0.2;
+            constexpr static T HEALTY_Z_MAX = 1.0;
+            constexpr static bool TERMINATE_WHEN_UNHEALTHY = true;
+            constexpr static T HEALTHY_REWARD = 1.0;
+            constexpr static T DT = 0.01;
+            constexpr static TI FRAME_SKIP = 5;
+        };
+
+        template <typename T_T, typename T_TI, typename T_PARAMETERS>
+        struct Specification{
+            using T = T_T;
+            using TI = T_TI;
+            using PARAMETERS = T_PARAMETERS;
+            constexpr static TI STATE_DIM_Q = 15;
+            constexpr static TI STATE_DIM_Q_DOT = 14;
+            constexpr static TI STATE_DIM = STATE_DIM_Q + STATE_DIM_Q_DOT;
+            constexpr static TI ACTION_DIM = 8;
+
+        };
+        template <typename SPEC>
+        struct State{
+            using T = typename SPEC::T;
+            using TI = typename SPEC::TI;
+            static constexpr TI DIM = SPEC::STATE_DIM_Q + SPEC::STATE_DIM_Q_DOT;
+            T q[SPEC::STATE_DIM_Q];
+            T q_dot[SPEC::STATE_DIM_Q_DOT];
+        };
+        template <typename SPEC>
+        struct Observation{
+            using TI = typename SPEC::TI;
+            static constexpr TI DIM = SPEC::STATE_DIM_Q - 2 + SPEC::STATE_DIM_Q_DOT;
+            using SHAPE = tensor::Shape<TI, DIM>;
+        };
+    }
+    template <typename T_SPEC>
+    struct Ant: Environment<typename T_SPEC::T, typename T_SPEC::TI>{
+        using SPEC = T_SPEC;
+        using T = typename SPEC::T;
+        static_assert(rl_tools::utils::typing::is_same_v<T, mjtNum>);
+        using TI = typename SPEC::TI;
+        using State = ant::State<SPEC>;
+        using Parameters = ant::DefaultParameters<T, TI>;
+        mjModel* model;
+        mjData* data;
+        T init_q[SPEC::STATE_DIM_Q];
+        T init_q_dot[SPEC::STATE_DIM_Q_DOT];
+        TI torso_id;
+        T last_reward;
+        bool last_terminated;
+        using Observation = ant::Observation<SPEC>;
+        using ObservationPrivileged = Observation;
+        static constexpr TI ACTION_DIM = SPEC::ACTION_DIM;
+        static constexpr TI EPISODE_STEP_LIMIT = 1000;
+    };
+}
+RL_TOOLS_NAMESPACE_WRAPPER_END
+#endif

hyperdrone/_vendor/rl-tools/include/rl_tools/rl/environments/mujoco/ant/model.h

@@ -0,0 +1,415 @@
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+};
+unsigned int model_xml_len = 4934;