pyproject.toml

[project]
name = "crazyflow_experiments"
version = "0.1.0"
description = "Experiments to assess the Crazyflow simulator."
readme = "README.md"
license = { file = "LICENSE" }
requires-python = ">=3.8,<3.14"
classifiers = [
    "License :: OSI Approved :: MIT License",
    "Programming Language :: Python",
    "Programming Language :: Python :: 3",
    "Intended Audience :: Developers",
    "Intended Audience :: Education",
    "Intended Audience :: Science/Research",
]

dependencies = [
    "matplotlib",
]

[project.optional-dependencies]
racing = [
    "lsy_drone_racing"
]
crazyflow = [
    "crazyflow @ git+https://github.com/learnsyslab/crazyflow.git@d28ec70", # pinned to what is essentially 0.4
    "numpy>=2.0.0,<3",
    "jax[cuda]>=0.7.2,!=0.10.2", # 0.10.2 XLA:GPU miscompiles for larger swarms
    "mujoco==3.3.7",
    "fire>=0.7.1,<0.8",
    "ml-collections",
    "polars>=1.35.0,<2",
    "array-api-compat",
    "array-api-extra",
    "toml>=0.10.2",
    "imageio[ffmpeg]>=2.37.0",
    "tqdm",
]
deploy = [
    "drone-estimators",
    "cflib @ git+https://github.com/bitcraze/crazyflie-lib-python.git@2df6f85",
    "lark>=1.1.8",      # to remove warning created by cfclient using old version of lark
]
mppi = ["dppy"]
rl = [
    "flax",
    "optax",
    "gymnasium",
    "jax[cuda]>=0.7.2",
]
# Gaussian splat rendering. Only the vision experiments need it, and splax rasterizes with CUDA
# kernels only, so it is kept out of the environments that have to run on CPU.
vision = [
    "crazyflow[splats] @ git+https://github.com/learnsyslab/crazyflow.git@d28ec70", # pinned to what is essentially 0.4
    "splax>=0.2.2",
    "pycolmap==4.1.1", # must match the COLMAP build
    "dm-pix", # used for structural splat loss
    "wandb",
    "opencv-python", 
    "imageio[ffmpeg]",
    "pygame"
]

[tool.pixi.workspace]
channels = ["conda-forge", "https://prefix.dev/conda-forge"]
platforms = [
    "linux-64",
    "linux-aarch64",
    { name = "linux-64-cuda12", platform = "linux-64", cuda = "12" },
    { name = "linux-64-cuda121", platform = "linux-64", cuda = "12.1" },
]

[tool.pixi.dependencies]
python = "*"
setuptools = "*"
packaging = "<26" # For cflib
ruff = "*"
# Every environment runs the same suite, see [tool.pixi.tasks]. Left open because
# gym-pybullet-drones requires pytest>=9, and a global pin keeps every environment solvable.
pytest = ">=7.3"
polars = "<2" # The benchmark tests read results with it, so every environment must collect it

# No single environment can hold every feature, since aerial-gym pins Python 3.8 and vision builds
# for a different CUDA platform. The suite skips whatever the active environment cannot import, so
# `test` is meaningful everywhere and `test-all` fans the same suite out across all environments.
[tool.pixi.tasks]
# Must run before `pixi install`, since solving the aerial-gym environment needs the isaacgym path
setup-isaacgym = "tools/setup_isaacgym.sh"
test = "pytest"
test-all = { depends-on = [
    { task = "test", environment = "figure8" },
    { task = "test", environment = "learn2fly" },
    { task = "test", environment = "throw" },
    { task = "test", environment = "racing" },
    { task = "test", environment = "mppi" },
    { task = "test", environment = "sim2real" },
    { task = "test", environment = "crazyflow" },
    { task = "test", environment = "flightning" },
    { task = "test", environment = "l2f" },
    { task = "test", environment = "flightmare" },
    { task = "test", environment = "diff-aero" },
    { task = "test", environment = "pybullet" },
    { task = "test", environment = "vision" },
    { task = "test", environment = "aerial-gym" },
] }

[tool.pixi.pypi-options]
prerelease-mode = "allow"  # Allow all pre-release versions
# cfclient pins PyQt6 below 6.8, but the Qt bundled with the wheels has to follow the minor version of
# qt6-main from ROS: the ROS setup puts the conda libraries on LD_LIBRARY_PATH, where they shadow the
# wheel's, and Qt's platform plugin only loads against libraries of its own minor version.
dependency-overrides = { pyqt6 = ">=6.9,<6.10", pyqt6-qt6 = ">=6.9,<6.10" }

[tool.pixi.target.linux.dependencies]
libgl-devel = "*"

# The pip CUDA wheels do not run on the Jetson GPU and the flight scripts only need JAX on the CPU
[tool.pixi.target.linux-aarch64.activation.env]
JAX_PLATFORMS = "cpu"

[tool.pixi.environments]
# CPU-only environments pin linux-64 so they are not solved for the CUDA platforms as well
default = { platforms = ["linux-64"] }
crazyflow = { features = ["crazyflow"], platforms = ["linux-64"] }
aerial-gym = { features = ["aerial-gym"] }
diff-aero = { features = ["diff-aero"] }
pybullet = { features = ["pybullet", "crazyflow"], platforms = ["linux-64"] }
sim2real = { features = ["kilted", "crazyflow", "deploy"], platforms = ["linux-64", "linux-aarch64"] }
sysid = { features = ["kilted", "crazyflow", "deploy", "sysid"], platforms = ["linux-64", "linux-aarch64"] }
racing = { features = ["kilted", "crazyflow", "deploy", "racing"], platforms = ["linux-64"] }
mppi = { features = ["kilted", "crazyflow", "deploy", "mppi"], platforms = ["linux-64"] }
# The RL experiments share one feature set, named after the experiment they run
figure8 = { features = ["kilted", "crazyflow", "deploy", "rl"]}
learn2fly = { features = ["kilted", "crazyflow", "deploy", "rl"]}
throw = { features = ["kilted", "crazyflow", "deploy", "rl"]}
vision = { features = ["kilted", "crazyflow", "deploy", "vision"] }
flightning = { features = ["flightning"] }
l2f = { features = ["l2f", "crazyflow"], platforms = ["linux-64"] }
flightmare = { features = ["flightmare", "crazyflow"], platforms = ["linux-64"] }

# Crazyflow feature
[tool.pixi.feature.crazyflow]
[tool.pixi.feature.crazyflow.dependencies]
python = "<3.14" # MuJoCo has no wheels for Python 3.14
h5py = ">=3.16.0,<4"
[tool.pixi.feature.crazyflow.pypi-dependencies]
crazyflow_experiments = { path = ".", editable = true }

# sysid feature
[tool.pixi.feature.sysid.dependencies]
pandas = ">=2.0"  # lol_sysid.py reads the identification logs with it
pyulog = "*"  # data_converter_px4.py reads the identification logs with it

[tool.pixi.feature.racing]
[tool.pixi.feature.racing.pypi-dependencies]
lsy_drone_racing = { git = "https://github.com/learnsyslab/lsy_drone_racing.git", rev = "54e64cf" , extras = ["deploy"]}

# Gaussian splat rendering feature
[tool.pixi.feature.vision]
platforms = ["linux-64-cuda12"] # splax rasterizes with CUDA kernels only
# Build dependencies for tools/build_colmap.sh, which compiles COLMAP with CASPAR
[tool.pixi.feature.vision.dependencies]
cmake = "*"
ninja = "*"
pkg-config = "*"
git = "*"
c-compiler = "*"
cxx-compiler = "*"
cuda-nvcc = ">=12.8,<13" # 12.8 is the first release that targets sm_120
cuda-cudart-dev = "*"
libcurand-dev = "*"
libboost-devel = "*"
eigen = "*"
eigen-abi-devel = "*"
ceres-solver = "*"
libopenblas = { version = "*", build = "openmp_*" }  # Prevent OpenBLAS warnings
suitesparse = "*"
metis = "*"
glog = "*"
gflags = "*"
openimageio = "*"
glew = "*"
sqlite = "*"
[tool.pixi.feature.vision.tasks]
# Must run before the first reconstruction to build COLMAP with CASPAR
colmap-build = "tools/build_colmap.sh"

# aerial-gym feature
[tool.pixi.feature.aerial-gym]
platforms = ["linux-64-cuda121"]
[tool.pixi.feature.aerial-gym.dependencies]
python = "==3.8" # Aerial-gym only works with Python 3.8
pytorch = "==1.13.1"
torchvision = "==0.14.1"
numpy = "==1.23.0"
pytorch-gpu = "*"
fvcore = "*"
iopath = "*"
polars = ">=1.5.0,<2"
fire = ">=0.7.0,<0.8"
[tool.pixi.feature.aerial-gym.pypi-dependencies]
crazyflow_experiments = { path = ".", editable = true }
torchaudio = "*"
pytorch3d = "*"
warp-lang = "==1.0.0"  # Required by aerial-gym
isaacgym = { path = "submodules/isaacgym/python", editable = true }  # Fetched by tools/setup_isaacgym.sh
urdfpy = { git="https://github.com/mmatl/urdfpy", rev="5466842" }
aerial-gym = { path = "submodules/aerial_gym_simulator", editable = true }
[tool.pixi.feature.aerial-gym.activation.env]
LD_LIBRARY_PATH = "$PIXI_PROJECT_ROOT/.pixi/envs/aerial-gym/lib"

# diff-aero feature
[tool.pixi.feature.diff-aero]
platforms = ["linux-64-cuda121"]
[tool.pixi.feature.diff-aero.dependencies]
python = ">=3.10,<3.12"  # Requires open3d, which only has wheels for Python up to 3.11
pytorch = ">=2.0"
polars = ">=1.35.1,<2"
torchvision = ">=0.24.0,<0.25"
omegaconf = ">=2.3.0,<3"
pytorch-gpu = "*"
pytorch3d = ">=0.7.9,<0.8"
tensordict = ">=0.11.0,<0.12"
hydra-core = ">=1.3.2,<2"
tensorboard = ">=2.20.0,<3"
line_profiler = ">=5.0.2,<6"
opencv = ">=4.13.0,<5"
imageio = ">=2.37.0,<3"
open3d = ">=0.19.0,<0.20"
onnxruntime = ">=1.24.2,<2"
einops = ">=0.8.2,<0.9"
fire = ">=0.7.1,<0.8"
[tool.pixi.feature.diff-aero.pypi-dependencies]
taichi = "==1.7.4"
crazyflow_experiments = { path = ".", editable = true }

# gym-pybullet-drones feature
[tool.pixi.feature.pybullet]
[tool.pixi.feature.pybullet.dependencies]
numpy = "*"
polars = ">=1.35.1,<2"
fire = ">=0.7.1,<0.8"
toml = "*"
tqdm = "*"
[tool.pixi.feature.pybullet.pypi-dependencies]
gym-pybullet-drones = { path = "submodules/gym-pybullet-drones", editable = true } # , rev = "310e45a" 
crazyflow_experiments = { path = ".", editable = true }

[tool.pixi.feature.flightning]
platforms = ["linux-64-cuda121"]
[tool.pixi.feature.flightning.activation] # install scripts
scripts = ["tools/setup_flightning.sh"]
[tool.pixi.feature.flightning.dependencies]
python = ">=3.9"
polars = ">=1.35.0,<2"
fire = ">=0.7.1,<0.8"
tqdm = ">=4.67.3,<5"
[tool.pixi.feature.flightning.pypi-dependencies]
crazyflow_experiments = { path = ".", editable = true }
jax = { version = ">=0.8.1", extras = ["cuda12"] }
chex = "*"
jax-dataclasses = "*"
flax = ">=0.12.3"
flightning = { path = "submodules/rpg_flightning", editable = true }

# l2f feature
[tool.pixi.feature.l2f]
[tool.pixi.feature.l2f.dependencies]
python = ">=3.9"
polars = ">=1.35.0,<2"
fire = ">=0.7.1,<0.8"
numpy = "*"
gcc = "*"  # for building the l2f extension
gxx = "*"  # for building the l2f extension
[tool.pixi.feature.l2f.pypi-dependencies]
crazyflow_experiments = { path = ".", editable = true }
l2f = ">=2.0.18"

# Flightmare feature
[tool.pixi.feature.flightmare]
[tool.pixi.feature.flightmare.activation] # install scripts
scripts = ["tools/setup_flightmare.sh"]
[tool.pixi.feature.flightmare.dependencies]
# Flightmare toolchain is outdated. Pinned versions are necessary to avoid build or runtime errors
python = "==3.11"  # the newest version pybind11 2.10 supports
# flightlib uses -Ofast, which allows NaN guards to be skipped. GCC 13 began doing so, which
# silently rejects every command and freezes the simulation, so GCC MUST be lower
gcc = "8.5.*"  # closest available to original
gxx = "8.5.*"
cmake = "<4"
make = "*"
git = "*"  # flightlib downloads googletest, pybind11, yaml-cpp and Eigen at configure time
libopencv = "4.*"  # flightlib includes the OpenCV C API headers, dropped in OpenCV 5
zeromq = "*"
zmqpp = "*"
polars = ">=1.35.0,<2"
fire = ">=0.7.1,<0.8"
numpy = "*"
pyyaml = "*"
pyzmq = "*"  # required to communicate with Unity. Flightmare does not expose render bindings
curl = "*"  # Unity download
xz = "*"  # Unity extraction
[tool.pixi.feature.flightmare.pypi-dependencies]
crazyflow_experiments = { path = ".", editable = true }

# ROS kilted feature
[tool.pixi.feature.kilted]
channels = ["https://prefix.dev/robostack-kilted"]
[tool.pixi.feature.kilted.activation] # install scripts
scripts = ["tools/setup_mocap.sh", "tools/setup_mavros_msgs.sh", "tools/setup_acados.sh"]
# acados neither builds nor generates code on aarch64 without extra work, so the companion computers
# of the PX4 vehicles do without it. They do build the motion capture tracking, which publishes the
# pose to the MAVROS running next to it.
[tool.pixi.feature.kilted.target.linux-aarch64.activation]
scripts = ["tools/setup_mocap.sh", "tools/setup_mavros_msgs.sh"]
[tool.pixi.feature.kilted.dependencies]
python = ">=3.10"
pip = "*"
uv = "*"
ros-kilted-desktop = "*"
ros-kilted-geographic-msgs = "*" # mavros_msgs, built by tools/setup_mavros_msgs.sh, needs it
ros2-distro-mutex = "0.12.*"  # Pinned for motion_capture_tracking
cmake = "==3.26.0"  # Pinned for motion_capture_tracking
make = "==4.4.1"  # Pinned for motion_capture_tracking
compilers = ">=1.9.0, <1.11.0" # Pinned for motion_capture_tracking
libboost = "==1.86.0" # Pinned for motion_capture_tracking
colcon-common-extensions = "*"
rosdep = "*"
pkg-config = "*"
ninja = "*"
rosbags = ">=0.10.9,<0.11"
openblas = "*"
[tool.pixi.feature.kilted.pypi-dependencies]
drone-estimators = { path = "submodules/drone-estimators", editable = true }
cflib = "*"
# The Crazyflie GUI, for the lab machines. Its PyQt6 has no aarch64 wheels at the Qt version of ROS.
[tool.pixi.feature.kilted.target.linux-64.pypi-dependencies]
cfclient = ">2022"

# rl feature
[tool.pixi.feature.rl]
platforms = ["linux-64-cuda121"]
[tool.pixi.feature.rl.pypi-dependencies]
wandb = "*"
[tool.setuptools.packages.find]
include = ["crazyflow_experiments*"]
exclude = ["submodules*"]

[tool.pytest.ini_options]
testpaths = ["tests"]
# The ROS launch test plugins import every test module during collection to look for a launch
# description and abort the session on module skips. We use module skips for the test suite, so we
# have to disable the plugins
addopts = "-p no:launch_testing -p no:launch_ros"

[tool.ruff]
# Exclude a variety of commonly ignored directories.
exclude = [
    ".git",
    ".git-rewrite",
    ".ipynb_checkpoints",
    ".pyenv",
    ".pytest_cache",
    ".pytype",
    ".ruff_cache",
    ".venv",
    ".vscode",
    "__pypackages__",
    "_build",
    "build",
    "dist",
    "site-packages",
    "venv",
    "docs/conf.py",
]

line-length = 100
indent-width = 4
target-version = "py311"

[tool.ruff.lint]
select = ["E4", "E7", "E9", "F", "I", "D", "TCH", "ANN"]
ignore = ["ANN401", "D106"]
fixable = ["ALL"]
unfixable = []

[tool.ruff.lint.per-file-ignores]
"benchmark/*" = ["D100", "D103"]
"experiments/benchmark/*" = ["D"]
"tests/*" = ["D100", "D103", "D104"]
"examples/*" = ["D100", "D103"]

[tool.ruff.lint.pydocstyle]
convention = "google"

[tool.ruff.lint.flake8-annotations]
suppress-dummy-args = true
suppress-none-returning = true

[tool.ruff.format]
quote-style = "double"
indent-style = "space"
skip-magic-trailing-comma = true
line-ending = "auto"
docstring-code-format = true
docstring-code-line-length = "dynamic"

[dependency-groups]
flightning = ["jax-dataclasses>=1.6.3,<2"]