├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── Sol ├── Model │ ├── Algorithms │ │ ├── __init__.py │ │ ├── cleanRLPPO.py │ │ ├── sb3_ppo.py │ │ └── utils.py │ ├── Environments │ │ ├── DroneEnvironment.py │ │ ├── HerPBDroneEnv.py │ │ ├── PBDroneEnv.py │ │ ├── Rewarder.py │ │ ├── ThrustEnv.py │ │ ├── __init__.py │ │ ├── dummy_env.py │ │ └── normalize.py │ ├── PBDroneSimulator.py │ ├── Policies │ │ ├── SBActorCritic.py │ │ ├── SoftActorCritic.py │ │ ├── __init__.py │ │ ├── alt_methods.py │ │ ├── object_detector.py │ │ └── value_func.py │ ├── __init__.py │ ├── env_utils.py │ ├── learn_cp.py │ ├── parameter_directory │ │ ├── __init__.py │ │ ├── parameter_manager.py │ │ └── parameters.yml │ ├── simulation_controller.py │ └── tf_agent_controller.py ├── PyBullet │ ├── BaseAviary.py │ ├── BaseControl.py │ ├── BaseSingleAgentAviary.py │ ├── DSLPIDControl.py │ ├── FlyThruGateAviary.py │ ├── GymPybulletDronesMain │ │ ├── .github │ │ │ └── workflows │ │ │ │ ├── push.yml │ │ │ │ └── release.yml │ │ ├── .gitignore │ │ ├── CITATION.cff │ │ ├── LICENSE │ │ ├── README.md │ │ ├── __init__.py │ │ ├── build_project.sh │ │ ├── files │ │ │ ├── logs │ │ │ │ └── foo.txt │ │ │ ├── readme_images │ │ │ │ ├── 2020.gif │ │ │ │ ├── dep.gif │ │ │ │ ├── downwash.gif │ │ │ │ ├── downwash.png │ │ │ │ ├── helix.gif │ │ │ │ ├── helix.png │ │ │ │ ├── rgb.gif │ │ │ │ └── seg.gif │ │ │ └── videos │ │ │ │ └── ffmpeg_png2mp4.sh │ │ ├── gym_pybullet_drones │ │ │ ├── __init__.py │ │ │ ├── assets │ │ │ │ ├── architrave.urdf │ │ │ │ ├── beta.csv │ │ │ │ ├── beta.txt │ │ │ │ ├── box.urdf │ │ │ │ ├── cf2.dae │ │ │ │ ├── cf2p.urdf │ │ │ │ ├── cf2x.urdf │ │ │ │ ├── clone_bfs.sh │ │ │ │ ├── eeprom.bin │ │ │ │ └── racer.urdf │ │ │ ├── control │ │ │ │ ├── BaseControl.py │ │ │ │ ├── CTBRControl.py │ │ │ │ ├── DSLPIDControl.py │ │ │ │ └── __init__.py │ │ │ ├── envs │ │ │ │ ├── BaseAviary.py │ │ │ │ ├── BetaAviary.py │ │ │ │ ├── CtrlAviary.py │ │ │ │ ├── RLAviary.py │ │ │ │ ├── VelocityAviary.py │ │ │ │ ├── __init__.py │ │ │ │ ├── multi_agent_rl │ │ │ │ │ ├── BaseMultiagentAviary.py │ │ │ │ │ ├── FlockAviary.py │ │ │ │ │ ├── LeaderFollowerAviary.py │ │ │ │ │ └── __init__.py │ │ │ │ └── single_agent_rl │ │ │ │ │ ├── BaseSingleAgentAviary.py │ │ │ │ │ ├── FlyThruGateAviary.py │ │ │ │ │ ├── HoverAviary.py │ │ │ │ │ └── __init__.py │ │ │ ├── examples │ │ │ │ ├── __init__.py │ │ │ │ ├── beta.py │ │ │ │ ├── debug.py │ │ │ │ ├── downwash.py │ │ │ │ ├── learn.py │ │ │ │ ├── pid.py │ │ │ │ └── pid_velocity.py │ │ │ └── utils │ │ │ │ ├── Logger.py │ │ │ │ ├── __init__.py │ │ │ │ ├── enums.py │ │ │ │ ├── race-track.py │ │ │ │ └── utils.py │ │ ├── pypi_description.md │ │ └── tests │ │ │ ├── test_build.py │ │ │ └── test_examples.py │ ├── Logger.py │ ├── __init__.py │ └── enums.py ├── Utilities │ ├── ArgParser.py │ ├── Callbacks.py │ ├── Plotter.py │ ├── Printer.py │ ├── Profiler.py │ ├── TensorboardManager.py │ ├── TrajectoryVisualizer.py │ ├── Waypoints.py │ ├── __init__.py │ ├── boundary.py │ ├── plt.py │ ├── position_generator.py │ └── video_recorder.py ├── __init__.py ├── pyfly │ ├── ppo_quadx_waypoints.zip │ ├── pyfly.py │ └── quadx_waypoints_env.py ├── resources │ ├── architrave.urdf │ ├── cf2.dae │ ├── cf2p.urdf │ ├── cf2x.urdf │ ├── racer.urdf │ ├── safegym │ │ ├── cf2.dae │ │ ├── cf2x.urdf │ │ ├── gate.obj │ │ ├── gate.urdf │ │ └── sphere.urdf │ └── target.urdf └── setup.py ├── assets ├── all_path.png ├── comb.png ├── example1.gif ├── gifs │ ├── example-speed.gif │ └── example.gif ├── model_architecture.png └── upturn_seq.png ├── requirements.txt ├── setup.py └── uv.lock /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eRGiBi/DRL-DroneNavigation/HEAD/.gitattributes -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 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