hyperdrone 0.1.8__tar.gz → 0.1.9__tar.gz

{hyperdrone-0.1.8 → hyperdrone-0.1.9}/PKG-INFO

@@ -1,19 +1,18 @@
 Metadata-Version: 2.5
 Name: hyperdrone
-Version: 0.1.8
+Version: 0.1.9
 Summary: The fastest drone simulator: L2F multirotor dynamics and RL environments on the HyperLux raytracer.
 Author-email: Jonas Eschmann <jonas.eschmann@gmail.com>
 License: MIT
 Requires-Python: >=3.10
 Requires-Dist: conta>=0.0.1
-Requires-Dist: hyperlux==0.1.8
+Requires-Dist: hyperlux==0.1.9
 Requires-Dist: nanobind>=2.0
 Requires-Dist: numpy
 Provides-Extra: examples
 Requires-Dist: imageio; extra == 'examples'
 Requires-Dist: imageio-ffmpeg; extra == 'examples'
 Requires-Dist: matplotlib; extra == 'examples'
-Requires-Dist: scipy>=1.15; extra == 'examples'
 Provides-Extra: gym
 Requires-Dist: gymnasium>=1.0; extra == 'gym'
 Description-Content-Type: text/markdown
@@ -247,14 +246,16 @@ Entity wrappers share their own pose writes in `prepare_entity_poses`: `render`
 
 The target-frame task requires one agent and one selected observation camera; auxiliary physical cameras remain available. It pre-renders a bank of episode setups (drone, scene placement, cameras, brightness and target perturbations), one per instance, in one pass. A reset refreshes this bank when its age reaches `TARGET_BANK_REFRESH_STEPS` simulation steps (a compile-time task constant, default 32) or the scene changes. Otherwise, resets adopt setups in turn and copy the selected camera's target frame without rendering; resets beyond the instance count within one refresh reuse setups. Each episode's drone and cameras come from its setup, so `set_instance_parameters` rejects drone and camera overrides for this task; a replayed spawn re-renders its target frame.
 
+`Config` defaults to `fidelity="veryhigh"` and `anti_aliasing_grid=2` (2×2 AA); fidelity accepts `low`, `medium`, `high`, and `veryhigh`, and AA grids are 1 (disabled), 2, 3, or 4. Custom spec headers select `SHADING`, `ENABLE_ANTI_ALIASING`, and `ANTI_ALIASING_GRID_SIZE` directly.
+
 `Config(motion_blur_samples=8)` enables camera and propeller motion blur for presets and tasks; valid counts are 1 (default, disabled), 2, 4, 8, 16, and 32. Custom spec headers control `ENABLE_MOTION_BLUR` and `MOTION_BLUR_SAMPLES` directly.
 
 For repeatable shots, capture `points = env.spawn_points()` after a reset and save the returned dictionaries, then use `env.reset(mask, spawn_points=points)` with one entry per selected instance (a host mask). Each entry pins the active scene by content hash (the bare hash as recorded, or the constructor's reference form, `conta:HASH` or a store manifest entry), one drone-table index per agent in `"drone"`, scene translation/yaw, per-agent pose (`xyz, wxyz`), and shutter fraction. The reset uses constructor-supplied drone dynamics and camera mounts; velocity/motor initialization and task-specific randomization still follow their configured ranges. Scene changes remain explicit through `rotate_scene()`, which requires resetting every instance before further use; a shot for a different active scene is rejected.
 
 Manual composition of `Sim` and `HyperLux` (no MDP — rendering research, data
 generation) remains first-class: see `python -m hyperdrone.examples.drone_flythrough`
-for the wiring. `ClearanceSampler` lives in `hyperlux` — it rides the
-renderer's collision probes and is deterministic given a seed.
+for the wiring. `hyperlux.FreeSpace` provides spawn positions from the same
+free-space annotation table the environment uses, deterministic given a seed.
 
 ### Native spy
 

{hyperdrone-0.1.8 → hyperdrone-0.1.9}/README.md

@@ -227,14 +227,16 @@ Entity wrappers share their own pose writes in `prepare_entity_poses`: `render`
 
 The target-frame task requires one agent and one selected observation camera; auxiliary physical cameras remain available. It pre-renders a bank of episode setups (drone, scene placement, cameras, brightness and target perturbations), one per instance, in one pass. A reset refreshes this bank when its age reaches `TARGET_BANK_REFRESH_STEPS` simulation steps (a compile-time task constant, default 32) or the scene changes. Otherwise, resets adopt setups in turn and copy the selected camera's target frame without rendering; resets beyond the instance count within one refresh reuse setups. Each episode's drone and cameras come from its setup, so `set_instance_parameters` rejects drone and camera overrides for this task; a replayed spawn re-renders its target frame.
 
+`Config` defaults to `fidelity="veryhigh"` and `anti_aliasing_grid=2` (2×2 AA); fidelity accepts `low`, `medium`, `high`, and `veryhigh`, and AA grids are 1 (disabled), 2, 3, or 4. Custom spec headers select `SHADING`, `ENABLE_ANTI_ALIASING`, and `ANTI_ALIASING_GRID_SIZE` directly.
+
 `Config(motion_blur_samples=8)` enables camera and propeller motion blur for presets and tasks; valid counts are 1 (default, disabled), 2, 4, 8, 16, and 32. Custom spec headers control `ENABLE_MOTION_BLUR` and `MOTION_BLUR_SAMPLES` directly.
 
 For repeatable shots, capture `points = env.spawn_points()` after a reset and save the returned dictionaries, then use `env.reset(mask, spawn_points=points)` with one entry per selected instance (a host mask). Each entry pins the active scene by content hash (the bare hash as recorded, or the constructor's reference form, `conta:HASH` or a store manifest entry), one drone-table index per agent in `"drone"`, scene translation/yaw, per-agent pose (`xyz, wxyz`), and shutter fraction. The reset uses constructor-supplied drone dynamics and camera mounts; velocity/motor initialization and task-specific randomization still follow their configured ranges. Scene changes remain explicit through `rotate_scene()`, which requires resetting every instance before further use; a shot for a different active scene is rejected.
 
 Manual composition of `Sim` and `HyperLux` (no MDP — rendering research, data
 generation) remains first-class: see `python -m hyperdrone.examples.drone_flythrough`
-for the wiring. `ClearanceSampler` lives in `hyperlux` — it rides the
-renderer's collision probes and is deterministic given a seed.
+for the wiring. `hyperlux.FreeSpace` provides spawn positions from the same
+free-space annotation table the environment uses, deterministic given a seed.
 
 ### Native spy
 

{hyperdrone-0.1.8 → hyperdrone-0.1.9}/hyperdrone/__init__.py

@@ -14,7 +14,7 @@ import hyperlux
 
 __all__ = ["Config", "HyperDrone", "ImageObservation", "Rotorcraft", "articulate"]
 
-__version__ = "0.1.8"
+__version__ = "0.1.9"
 
 if hyperlux.__version__ != __version__.split(".post")[0]:
     raise ImportError(f"hyperdrone {__version__} requires hyperlux {__version__.split('.post')[0]}, found hyperlux {hyperlux.__version__}: install the matching hyperlux release")

{hyperdrone-0.1.8 → hyperdrone-0.1.9}/hyperdrone/_environment.py

@@ -13,7 +13,8 @@ import numpy as np
 
 import conta
 
-from hyperlux import _jit as jit
+from hyperlux import FIDELITY, _jit as jit
+from hyperlux._config import VALID_ANTI_ALIASING_GRIDS
 from hyperlux._dlpack import is_cuda
 from hyperlux._outputs import VALID_MOTION_BLUR_SAMPLES
 from hyperlux.camera import CameraSpec, RGB, backend_requirement, validate_cameras
@@ -40,16 +41,13 @@ def component():
     return _components.component("environment", resolved.lower(), needs_cuda=resolved == "optix")
 
 
-_SHADING = {"low": 0, "medium": 1, "high": 2}
-
-
 @dataclass(frozen=True, kw_only=True)
 class Config:
     num_worlds: int = 1
     instances_per_world: int = 4
     width: int = 32
     height: int = 32
-    fidelity: str = "high"
+    fidelity: str = "veryhigh"
     preset: str = "crazyflie"
     task: str = None
     num_agents: int = 1
@@ -59,6 +57,7 @@ class Config:
     spec_header: str = None
     device: str = None
     motion_blur_samples: int = 1
+    anti_aliasing_grid: int = 2
     dataset: str = "glb"
     control: str = "motor"
     actuation: str = "rotors"
@@ -78,10 +77,12 @@ class Config:
             raise ValueError(f"hyperdrone: unknown preset {self.preset!r} (one of {sorted(PRESETS)})")
         if self.task not in TASKS:
             raise ValueError(f"hyperdrone: unknown task {self.task!r} (one of {sorted(k for k in TASKS if k)} or None)")
-        if self.fidelity not in _SHADING:
-            raise ValueError(f"hyperdrone: unknown fidelity {self.fidelity!r} (one of {sorted(_SHADING)})")
+        if self.fidelity not in FIDELITY:
+            raise ValueError(f"hyperdrone: unknown fidelity {self.fidelity!r} (one of {sorted(FIDELITY)})")
         if type(self.motion_blur_samples) is not int or self.motion_blur_samples not in VALID_MOTION_BLUR_SAMPLES:
             raise ValueError(f"hyperdrone: motion_blur_samples must be one of {VALID_MOTION_BLUR_SAMPLES}")
+        if type(self.anti_aliasing_grid) is not int or self.anti_aliasing_grid not in VALID_ANTI_ALIASING_GRIDS:
+            raise ValueError(f"hyperdrone: anti_aliasing_grid must be one of {VALID_ANTI_ALIASING_GRIDS}")
         if self.task is not None and self.num_agents > 1:
             raise ValueError(f"hyperdrone: task {self.task!r} is single-agent")
         if self.task == "target_frame" and len(observation_mounts) != 1:
@@ -132,8 +133,9 @@ class Config:
             "HYPERDRONE_ENVIRONMENT_INSTANCES": self.instances_per_world,
             "HYPERDRONE_ENVIRONMENT_CAM_WIDTH": self.width,
             "HYPERDRONE_ENVIRONMENT_CAM_HEIGHT": self.height,
-            "HYPERDRONE_ENVIRONMENT_SHADING": _SHADING[self.fidelity],
+            "HYPERDRONE_ENVIRONMENT_SHADING": FIDELITY.index(self.fidelity),
             "HYPERDRONE_ENVIRONMENT_MB_SAMPLES": self.motion_blur_samples,
+            "HYPERDRONE_ENVIRONMENT_AA_GRID": self.anti_aliasing_grid,
             "HYPERDRONE_ENVIRONMENT_PRESET": PRESETS[self.preset],
             "HYPERDRONE_ENVIRONMENT_TASK": TASKS[self.task],
             "HYPERDRONE_ENVIRONMENT_CONTROL": CONTROLS.index(self.control),

{hyperdrone-0.1.8 → hyperdrone-0.1.9}/hyperdrone/_native/environment/environment.h

@@ -39,7 +39,7 @@
 #include "device_leases.h"
 #endif
 
-#if !defined(HYPERDRONE_ENVIRONMENT_NUM_WORLDS) || !defined(HYPERDRONE_ENVIRONMENT_INSTANCES) || !defined(HYPERDRONE_ENVIRONMENT_CAM_WIDTH) || !defined(HYPERDRONE_ENVIRONMENT_CAM_HEIGHT) || !defined(HYPERDRONE_ENVIRONMENT_SHADING) || !defined(HYPERDRONE_ENVIRONMENT_MB_SAMPLES) || !defined(HYPERDRONE_ENVIRONMENT_PRESET) || !defined(HYPERDRONE_ENVIRONMENT_TASK) || !defined(HYPERDRONE_ENVIRONMENT_N_AGENTS) || !defined(HYPERDRONE_ENVIRONMENT_N_CAMERA_AGENTS) || !defined(HYPERLUX_CAMERA_CONFIG_HEADER) || !defined(HYPERDRONE_ENVIRONMENT_DEVICE_CUDA) || !defined(HYPERDRONE_ENVIRONMENT_CONTROL) || !defined(HYPERDRONE_ENVIRONMENT_ACTUATION)
+#if !defined(HYPERDRONE_ENVIRONMENT_NUM_WORLDS) || !defined(HYPERDRONE_ENVIRONMENT_INSTANCES) || !defined(HYPERDRONE_ENVIRONMENT_CAM_WIDTH) || !defined(HYPERDRONE_ENVIRONMENT_CAM_HEIGHT) || !defined(HYPERDRONE_ENVIRONMENT_SHADING) || !defined(HYPERDRONE_ENVIRONMENT_MB_SAMPLES) || !defined(HYPERDRONE_ENVIRONMENT_AA_GRID) || !defined(HYPERDRONE_ENVIRONMENT_PRESET) || !defined(HYPERDRONE_ENVIRONMENT_TASK) || !defined(HYPERDRONE_ENVIRONMENT_N_AGENTS) || !defined(HYPERDRONE_ENVIRONMENT_N_CAMERA_AGENTS) || !defined(HYPERLUX_CAMERA_CONFIG_HEADER) || !defined(HYPERDRONE_ENVIRONMENT_DEVICE_CUDA) || !defined(HYPERDRONE_ENVIRONMENT_CONTROL) || !defined(HYPERDRONE_ENVIRONMENT_ACTUATION)
 #error "every HYPERDRONE_ENVIRONMENT_* configuration define must be set (hyperdrone.Config.defines())"
 #endif
 #if HYPERDRONE_ENVIRONMENT_DEVICE_CUDA && !defined(HYPERDRONE_ENVIRONMENT_CUDA)
@@ -130,10 +130,13 @@ namespace HYPERLUX_MODULE_NAME {
         static constexpr TI CAM_HEIGHT = HYPERDRONE_ENVIRONMENT_CAM_HEIGHT;
         static constexpr bool ENABLE_MOTION_BLUR = HYPERDRONE_ENVIRONMENT_MB_SAMPLES > 1;
         static constexpr TI MOTION_BLUR_SAMPLES = HYPERDRONE_ENVIRONMENT_MB_SAMPLES;
+        static constexpr bool ENABLE_ANTI_ALIASING = HYPERDRONE_ENVIRONMENT_AA_GRID > 1;
+        static constexpr TI ANTI_ALIASING_GRID_SIZE = HYPERDRONE_ENVIRONMENT_AA_GRID;
         static constexpr TI MAX_DRONES = 8;
         using SHADING = rlt::utils::typing::conditional_t<HYPERDRONE_ENVIRONMENT_SHADING == 0, rlt::hyperlux::Low,
                         rlt::utils::typing::conditional_t<HYPERDRONE_ENVIRONMENT_SHADING == 1, rlt::hyperlux::Medium,
-                                                                                      rlt::hyperlux::High>>;
+                        rlt::utils::typing::conditional_t<HYPERDRONE_ENVIRONMENT_SHADING == 2, rlt::hyperlux::High,
+                                                                                      rlt::hyperlux::VeryHigh>>>;
     };
     using BASE_WORLD = rlt::rl::environments::hyperdrone::World<WORLD_SPEC>;
 #if HYPERDRONE_ENVIRONMENT_TASK == 0

{hyperdrone-0.1.8 → hyperdrone-0.1.9}/hyperdrone/examples/__init__.py

@@ -3,12 +3,7 @@
 Invoke a module with ``python -m hyperdrone.examples.<name>``.
 """
 
-__all__ = ["procthor_scene_path", "rigged_model_path"]
-
-
-def procthor_scene_path():
-    from .data import procthor_scene_path as resolve
-    return resolve()
+__all__ = ["rigged_model_path"]
 
 
 def rigged_model_path(name):

{hyperdrone-0.1.8 → hyperdrone-0.1.9}/hyperdrone/examples/data.py

@@ -1,9 +1,11 @@
-"""Shared data resolution and download helpers for runnable examples."""
+"""Rigged drone assets for runnable examples."""
+
+import os
+from pathlib import Path
 
 import conta
-from hyperlux.examples.data import PROCTHOR_SCENE, override_path, procthor_scene_path
 
-__all__ = ["PROCTHOR_SCENE", "RIGGED_MODELS", "procthor_scene_path", "rigged_model_path"]
+__all__ = ["RIGGED_MODELS", "rigged_model_path"]
 
 # body/prop_* assemblies, each a drone table asset (hyperdrone.HyperDrone(drones=...))
 RIGGED_MODELS = {
@@ -23,5 +25,11 @@ def rigged_model_path(name):
     """
     if name not in RIGGED_MODELS:
         raise KeyError(f"hyperdrone: unknown rigged model {name!r} (one of {sorted(RIGGED_MODELS)})")
-    override = override_path(f"HYPERDRONE_{name.upper()}_PATH")
-    return override if override is not None else conta.resolve(RIGGED_MODELS[name])
+    override_variable = f"HYPERDRONE_{name.upper()}_PATH"
+    override = os.environ.get(override_variable)
+    if override:
+        path = Path(override).expanduser().resolve()
+        if not path.is_file():
+            raise FileNotFoundError(f"hyperdrone: {override_variable} does not exist: {path}")
+        return path
+    return conta.resolve(RIGGED_MODELS[name])

{hyperdrone-0.1.8 → hyperdrone-0.1.9}/hyperdrone/examples/drone_flythrough.py

@@ -92,8 +92,7 @@ def world_step(actions):
 print(f"backend={renderer.backend} dynamics={sim.device} drones={arguments.drones} "
       f"device_handoff={'yes' if device_handoff else 'no (host cameras)'}")
 
-sampler = hyperlux.ClearanceSampler(scene, clearance=0.5)
-positions = sampler.sample(arguments.drones, seed=0)
+positions = hyperlux.FreeSpace(scene).sample(arguments.drones, seed=0)
 sim.reset()
 sim.state["position"] = positions
 update_cameras()

hyperdrone-0.1.9/hyperdrone/examples/hyperdrone_videos/my_world_preview.h

@@ -0,0 +1,17 @@
+#pragma once
+#include <rl_tools/rl/environments/hyperdrone/presets.h>
+#include <cstddef>
+
+namespace hyperdrone_user {
+    struct SPEC: rl_tools::rl::environments::hyperdrone::presets::X500FPV<float, std::size_t> {
+        static constexpr std::size_t INSTANCES_PER_ENVIRONMENT = 1;
+        static constexpr std::size_t CAM_WIDTH = 1920;
+        static constexpr std::size_t CAM_HEIGHT = 1080;
+        using SHADING = rl_tools::rendering::raytracing::High;
+        static constexpr bool ENABLE_MOTION_BLUR = true;
+        static constexpr std::size_t MOTION_BLUR_SAMPLES = 2;
+        static constexpr bool ENABLE_ANTI_ALIASING = true;
+        static constexpr std::size_t ANTI_ALIASING_GRID_SIZE = 1;
+    };
+    using WORLD = rl_tools::rl::environments::hyperdrone::World<SPEC>;
+}

hyperdrone-0.1.9/hyperdrone/examples/my_world.h

@@ -0,0 +1,17 @@
+#pragma once
+#include <rl_tools/rl/environments/hyperdrone/presets.h>
+#include <cstddef>
+
+namespace hyperdrone_user {
+    struct SPEC: rl_tools::rl::environments::hyperdrone::presets::X500FPV<float, std::size_t> {
+        static constexpr std::size_t INSTANCES_PER_ENVIRONMENT = 1;
+        static constexpr std::size_t CAM_WIDTH = 1920;
+        static constexpr std::size_t CAM_HEIGHT = 1080;
+        using SHADING = rl_tools::rendering::raytracing::High;
+        static constexpr bool ENABLE_MOTION_BLUR = true;
+        static constexpr std::size_t MOTION_BLUR_SAMPLES = 8;
+        static constexpr bool ENABLE_ANTI_ALIASING = true;
+        static constexpr std::size_t ANTI_ALIASING_GRID_SIZE = 2;
+    };
+    using WORLD = rl_tools::rl::environments::hyperdrone::World<SPEC>;
+}

{hyperdrone-0.1.8 → hyperdrone-0.1.9}/hyperdrone/examples/shots.py

@@ -2,13 +2,13 @@
 
 HYPERDRONE_SHOTS = {
     "flight": [
-        {"scene": "75d1d67a17ecd16bc3a214baa895240da8060df7", "drone": [0],
+        {"scene": "07b9d8e44f3891573b6292f8cc47bf7725a43b89", "drone": [0],
          "scene_translation": [-13.922904968261719, -15.025325775146484, 1.3523533344268799], "scene_yaw": [0.4156714379787445, -0.909514844417572],
          "poses": [[0.02483123540878296, 0.2238653004169464, -0.03233879804611206, 0.999871551990509, -0.015748994424939156, 0.0015137703157961369, 0.002552392892539501]],
          "shutter_fraction": 0.26944467425346375},
     ],
     "models": [
-        {"scene": "75d1d67a17ecd16bc3a214baa895240da8060df7", "drone": [0, 0, 1, 2, 3, 4, 5],
+        {"scene": "07b9d8e44f3891573b6292f8cc47bf7725a43b89", "drone": [0, 0, 1, 2, 3, 4, 5],
          "scene_translation": [-3.92, -5.67, 1.15], "scene_yaw": [1.0, 0.0],
          "poses": [[-3.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0],
                    [0.9, 1.15, 0.0, 1.0, 0.0, 0.0, 0.0],
@@ -22,37 +22,37 @@ HYPERDRONE_SHOTS = {
     "python_task": [
         [
             [
-                {"scene": "75d1d67a17ecd16bc3a214baa895240da8060df7", "drone": [0],
+                {"scene": "07b9d8e44f3891573b6292f8cc47bf7725a43b89", "drone": [0],
                  "scene_translation": [-9.681112289428711, -13.087503433227539, 1.1176472902297974], "scene_yaw": [0.6632893085479736, 0.7483630776405334],
                  "poses": [[-0.00762544572353363, -0.03981609642505646, -0.08973178267478943, 0.9999476671218872, -0.0035761925391852856, 0.006472778040915728, 0.007071986794471741]],
                  "shutter_fraction": 0.26944467425346375},
-                {"scene": "75d1d67a17ecd16bc3a214baa895240da8060df7", "drone": [0],
+                {"scene": "07b9d8e44f3891573b6292f8cc47bf7725a43b89", "drone": [0],
                  "scene_translation": [-1.8501107692718506, -12.506155967712402, 1.0338236093521118], "scene_yaw": [-0.9994587302207947, -0.03289758414030075],
                  "poses": [[0.03288257122039795, -0.13699400424957275, -0.1390824168920517, 0.9999393224716187, 0.007283095736056566, 0.005793328862637281, -0.005892877001315355]],
                  "shutter_fraction": 0.32239818572998047},
-                {"scene": "75d1d67a17ecd16bc3a214baa895240da8060df7", "drone": [0],
+                {"scene": "07b9d8e44f3891573b6292f8cc47bf7725a43b89", "drone": [0],
                  "scene_translation": [-14.249197006225586, -13.475068092346191, 1.4864710569381714], "scene_yaw": [0.017734983935952187, 0.9998427033424377],
                  "poses": [[-0.016078755259513855, 0.01780208945274353, -0.11291337013244629, 0.9996297955513, 0.02092280052602291, -0.0062583512626588345, -0.016226304695010185]],
                  "shutter_fraction": 0.5706594586372375},
-                {"scene": "75d1d67a17ecd16bc3a214baa895240da8060df7", "drone": [0],
+                {"scene": "07b9d8e44f3891573b6292f8cc47bf7725a43b89", "drone": [0],
                  "scene_translation": [-12.073918342590332, -1.8481298685073853, 1.598235845565796], "scene_yaw": [0.2934693396091461, -0.9559684991836548],
                  "poses": [[0.008715391159057617, 0.0020002126693725586, 0.1922357976436615, 0.9999156594276428, -0.005756211932748556, 0.01155786495655775, -0.0013930725399404764]],
                  "shutter_fraction": 0.28425922989845276},
             ],
             [
-                {"scene": "75d1d67a17ecd16bc3a214baa895240da8060df7", "drone": [0],
+                {"scene": "07b9d8e44f3891573b6292f8cc47bf7725a43b89", "drone": [0],
                  "scene_translation": [-4.677972316741943, -7.4678168296813965, 1.1567648649215698], "scene_yaw": [-0.2356981486082077, 0.9718263149261475],
                  "poses": [[0.006789058446884155, 0.043398499488830566, -0.15778006613254547, 0.9999164938926697, -0.0020048420410603285, -0.010422294028103352, -0.007375652901828289]],
                  "shutter_fraction": 0.9607979655265808},
-                {"scene": "75d1d67a17ecd16bc3a214baa895240da8060df7", "drone": [0],
+                {"scene": "07b9d8e44f3891573b6292f8cc47bf7725a43b89", "drone": [0],
                  "scene_translation": [-12.073918342590332, -1.8481298685073853, 1.598235845565796], "scene_yaw": [-0.3988626301288605, 0.9170106649398804],
                  "poses": [[-0.0565536767244339, 0.056514859199523926, 0.14681872725486755, 0.9999821782112122, 0.005887492559850216, -0.00033877594978548586, -0.0009559224126860499]],
                  "shutter_fraction": 0.6207172870635986},
-                {"scene": "75d1d67a17ecd16bc3a214baa895240da8060df7", "drone": [0],
+                {"scene": "07b9d8e44f3891573b6292f8cc47bf7725a43b89", "drone": [0],
                  "scene_translation": [-12.508974075317383, -6.498904705047607, 1.2405885457992554], "scene_yaw": [-0.4420495629310608, 0.8969905972480774],
                  "poses": [[-0.21642781794071198, 0.1941518783569336, 0.24692600965499878, 0.9996837377548218, 0.007925396785140038, -0.00306935072876513, -0.02366827242076397]],
                  "shutter_fraction": 0.5152565240859985},
-                {"scene": "75d1d67a17ecd16bc3a214baa895240da8060df7", "drone": [0],
+                {"scene": "07b9d8e44f3891573b6292f8cc47bf7725a43b89", "drone": [0],
                  "scene_translation": [-3.807861328125, -11.731026649475098, 1.1008825302124023], "scene_yaw": [-0.6806778311729431, -0.7325828671455383],
                  "poses": [[-0.11530560255050659, -0.06898629665374756, 0.04134243726730347, 0.9998350143432617, 0.004136775620281696, -0.00396867236122489, 0.017237015068531036]],
                  "shutter_fraction": 0.7834129333496094},
@@ -60,45 +60,45 @@ HYPERDRONE_SHOTS = {
         ],
         [
             [
-                {"scene": "28d17959b463626d64257f0d9ea8e47daae68409", "drone": [0],
+                {"scene": "3ee4771c22b54fa7bb57022ac2eb5a015f387b4d", "drone": [0],
                  "scene_translation": [-4.6484375, -2.122901201248169, 2.764207124710083], "scene_yaw": [0.17507365345954895, -0.9845553636550903],
                  "poses": [[0.07350710034370422, 0.11919987201690674, 0.22892284393310547, 0.999942421913147, -0.00468216510489583, -0.0071291266940534115, -0.006513042841106653]],
                  "shutter_fraction": 0.3345821499824524},
-                {"scene": "28d17959b463626d64257f0d9ea8e47daae68409", "drone": [0],
+                {"scene": "3ee4771c22b54fa7bb57022ac2eb5a015f387b4d", "drone": [0],
                  "scene_translation": [-4.507343769073486, -1.857880711555481, 1.7516262531280518], "scene_yaw": [0.02631618268787861, 0.999653697013855],
                  "poses": [[0.20885935425758362, 0.05422109365463257, -0.22999438643455505, 0.9995139837265015, 0.012717027217149734, -0.024481365457177162, -0.01451560016721487]],
                  "shutter_fraction": 0.9354366064071655},
-                {"scene": "28d17959b463626d64257f0d9ea8e47daae68409", "drone": [0],
+                {"scene": "3ee4771c22b54fa7bb57022ac2eb5a015f387b4d", "drone": [0],
                  "scene_translation": [-2.814218759536743, -1.476913571357727, 2.0680577754974365], "scene_yaw": [-0.051781363785266876, -0.9986584186553955],
                  "poses": [[0.18485429883003235, 0.1725565493106842, -0.11228106915950775, 0.9999970197677612, 0.0017171987565234303, -0.00012418960977811366, 0.0017337874742224813]],
                  "shutter_fraction": 0.46420279145240784},
-                {"scene": "28d17959b463626d64257f0d9ea8e47daae68409", "drone": [0],
+                {"scene": "3ee4771c22b54fa7bb57022ac2eb5a015f387b4d", "drone": [0],
                  "scene_translation": [-3.237499952316284, -1.8744444847106934, 1.0554769039154053], "scene_yaw": [-0.9471279978752136, 0.3208560049533844],
                  "poses": [[-0.24050743877887726, 0.08421352505683899, -0.024986639618873596, 0.9990403652191162, 0.0048219277523458, 0.014237398281693459, 0.04113909602165222]],
                  "shutter_fraction": 0.29924774169921875},
-                {"scene": "28d17959b463626d64257f0d9ea8e47daae68409", "drone": [0],
+                {"scene": "3ee4771c22b54fa7bb57022ac2eb5a015f387b4d", "drone": [0],
                  "scene_translation": [-3.801875114440918, -1.2781480550765991, 2.3212027549743652], "scene_yaw": [0.998591423034668, 0.0530577190220356],
                  "poses": [[-0.12841659784317017, -0.08406314253807068, 0.09001362323760986, 0.9993000030517578, -0.03474640101194382, 0.004066430032253265, -0.013253585435450077]],
                  "shutter_fraction": 0.8328272700309753},
             ],
             [
-                {"scene": "28d17959b463626d64257f0d9ea8e47daae68409", "drone": [0],
+                {"scene": "3ee4771c22b54fa7bb57022ac2eb5a015f387b4d", "drone": [0],
                  "scene_translation": [-5.212812423706055, -1.5266048908233643, 0.9921906590461731], "scene_yaw": [-0.941856861114502, -0.3360143303871155],
                  "poses": [[-0.1830228865146637, -0.011578291654586792, 0.18445831537246704, 0.99955153465271, -0.022850843146443367, 0.012350345030426979, -0.01489906758069992]],
                  "shutter_fraction": 0.9718446731567383},
-                {"scene": "28d17959b463626d64257f0d9ea8e47daae68409", "drone": [0],
+                {"scene": "3ee4771c22b54fa7bb57022ac2eb5a015f387b4d", "drone": [0],
                  "scene_translation": [-1.7324998378753662, -2.7688889503479004, 2.110248565673828], "scene_yaw": [0.2168676257133484, -0.9762009978294373],
                  "poses": [[-0.1566864252090454, -0.018128693103790283, -0.1947084218263626, 0.9999434351921082, 0.00568796694278717, -0.007596616167575121, 0.00480719143524766]],
                  "shutter_fraction": 0.9832250475883484},
-                {"scene": "28d17959b463626d64257f0d9ea8e47daae68409", "drone": [0],
+                {"scene": "3ee4771c22b54fa7bb57022ac2eb5a015f387b4d", "drone": [0],
                  "scene_translation": [-1.121093511581421, -1.7088066339492798, 1.4351948499679565], "scene_yaw": [0.8465277552604675, -0.5323445796966553],
                  "poses": [[0.07651025056838989, 0.06163617968559265, 0.14944276213645935, 0.9991743564605713, -0.0031939048785716295, 0.013771872036159039, 0.03808886557817459]],
                  "shutter_fraction": 0.26978811621665955},
-                {"scene": "28d17959b463626d64257f0d9ea8e47daae68409", "drone": [0],
+                {"scene": "3ee4771c22b54fa7bb57022ac2eb5a015f387b4d", "drone": [0],
                  "scene_translation": [-4.930624961853027, -1.1290737390518188, 1.498481035232544], "scene_yaw": [0.9980378150939941, 0.06261434406042099],
                  "poses": [[-0.14647507667541504, 0.1865636706352234, -0.037316352128982544, 0.9993084073066711, -0.03679252415895462, 0.0034653746988624334, 0.004121959209442139]],
                  "shutter_fraction": 0.518680214881897},
-                {"scene": "28d17959b463626d64257f0d9ea8e47daae68409", "drone": [0],
+                {"scene": "3ee4771c22b54fa7bb57022ac2eb5a015f387b4d", "drone": [0],
                  "scene_translation": [-2.2498435974121094, -2.305102825164795, 2.700920820236206], "scene_yaw": [0.12369344383478165, -0.9923204779624939],
                  "poses": [[-0.23739929497241974, 0.16372668743133545, 0.2202252447605133, 0.999843180179596, -0.010392934083938599, -0.0026474292390048504, 0.014090439304709435]],
                  "shutter_fraction": 0.8863464593887329},

{hyperdrone-0.1.8 → hyperdrone-0.1.9}/hyperdrone/examples/spy.py

@@ -5,8 +5,9 @@ import time
 
 import numpy as np
 
+import hyperlux
 from hyperdrone import Config, HyperDrone
-from hyperdrone.examples.data import RIGGED_MODELS, procthor_scene_path
+from hyperdrone.examples.data import RIGGED_MODELS
 
 
 def position_targets(env):
@@ -18,13 +19,13 @@ def position_targets(env):
 
 def main():
     parser = argparse.ArgumentParser(description=__doc__)
-    parser.add_argument("scene", nargs="?", type=Path, help="local GLB (default: cached/downloaded ProcTHOR scene)")
+    parser.add_argument("scene", nargs="?", type=Path, help="local GLB (default: ProcTHOR-Train-1 from Train200)")
     arguments = parser.parse_args()
     if arguments.scene is not None and not arguments.scene.is_file():
         parser.error("scene must be an existing local GLB file")
 
     env = HyperDrone(
-        arguments.scene or procthor_scene_path(),
+        arguments.scene or hyperlux.datasets.procthor.Train200()["ProcTHOR-Train-1"].reference,
         config=Config(instances_per_world=4, width=64, height=64, preset="x500_fpv", control="position"),
         drone_asset=RIGGED_MODELS["x500"],
         parameters={"dynamics": {"mdp": {"init": {"guidance": 1}}}},

{hyperdrone-0.1.8 → hyperdrone-0.1.9}/hyperdrone/examples/visual_inertial_localization.py

@@ -12,11 +12,11 @@ import time
 
 import numpy as np
 
+import hyperlux
 from hyperdrone import Config, HyperDrone
-from hyperdrone.examples.data import procthor_scene_path
 
 parser = argparse.ArgumentParser()
-parser.add_argument("-m", "--model", default=None, help="GLB scene (default: the ProcTHOR test scene)")
+parser.add_argument("-m", "--model", default=None, help="GLB scene (default: ProcTHOR-Train-1 from Train200)")
 parser.add_argument("--instances", type=int, default=2)
 parser.add_argument("--width", type=int, default=160)
 parser.add_argument("--height", type=int, default=120)
@@ -28,9 +28,9 @@ arguments = parser.parse_args()
 GRAVITY = np.array([0.0, 0.0, -9.81])
 
 env = HyperDrone(
-    [arguments.model or procthor_scene_path()],
+    [arguments.model or hyperlux.datasets.procthor.Train200()["ProcTHOR-Train-1"].reference],
     config=Config(instances_per_world=arguments.instances, width=arguments.width, height=arguments.height,
-                  fidelity="high", preset="x500_fpv_imu", task="visual_inertial_localization"),
+                  fidelity="high", anti_aliasing_grid=1, preset="x500_fpv_imu", task="visual_inertial_localization"),
     seed=arguments.seed,
 )
 steps = arguments.steps or env.episode_step_limit

{hyperdrone-0.1.8 → hyperdrone-0.1.9}/pyproject.toml

@@ -10,10 +10,10 @@ license = {text = "MIT"}
 description = "The fastest drone simulator: L2F multirotor dynamics and RL environments on the HyperLux raytracer."
 readme = "README.md"
 requires-python = ">=3.10"
-dependencies = ["numpy", "nanobind>=2.0", "conta>=0.0.1", "hyperlux==0.1.8"]
+dependencies = ["numpy", "nanobind>=2.0", "conta>=0.0.1", "hyperlux==0.1.9"]
 
 [project.optional-dependencies]
-examples = ["scipy>=1.15", "matplotlib", "imageio", "imageio-ffmpeg"]
+examples = ["matplotlib", "imageio", "imageio-ffmpeg"]
 gym = ["gymnasium>=1.0"]
 
 [tool.hatch.build]

hyperdrone-0.1.8/hyperdrone/examples/my_world.h

@@ -1,17 +0,0 @@
-#pragma once
-#include <rl_tools/rl/environments/hyperdrone/presets.h>
-#include <cstddef>
-
-namespace hyperdrone_env_user {
-    using T = float;
-    using TI = std::size_t;
-    struct SPEC: rl_tools::rl::environments::hyperdrone::presets::X500FPV<T, TI> {
-        static constexpr TI INSTANCES_PER_ENVIRONMENT = 4;
-        static constexpr TI CAM_WIDTH = 640;
-        static constexpr TI CAM_HEIGHT = 640;
-        using SHADING = rl_tools::rendering::raytracing::Medium;
-        static constexpr bool ENABLE_MOTION_BLUR = true;
-        static constexpr TI MOTION_BLUR_SAMPLES = 8;
-    };
-    using WORLD = rl_tools::rl::environments::hyperdrone::World<SPEC>;
-}