Remove old dependencies. Prepare further removals

Author: amacati

.github/workflows/kaggle.yml

@@ -27,9 +27,7 @@ jobs:
           init-shell: bash
           create-args: python=3.8
           cache-environment: true
-      - run: pip install .[rl,test]
-        shell: micromamba-shell {0}
-      - run: pip install kaggle
+      - run: pip install .[online_submission,test]
         shell: micromamba-shell {0}
       - name: Install cffirmware
         run: |

README.md

@@ -108,7 +108,7 @@ You can also install the extended dependencies with
 ```bash
 conda activate race
 cd ~/repos/lsy_drone_racing
-pip install -e .[rl, test]
+pip install -e .[test]
 ```
 and check if all tests complete with 
 ```bash

docker/Deploy.Dockerfile

@@ -36,9 +36,9 @@ WORKDIR /home/lsy_drone_racing
 COPY pyproject.toml ./
 # Install dependencies and cache the build step (only rebuilds when pyproject.toml changes) 
 RUN pip install build
-RUN pip install --no-cache-dir .[test,rl]
+RUN pip install --no-cache-dir .[test]
 # Copy the rest of the application
 COPY . .
-RUN pip install --no-cache-dir -e .[test,rl]
+RUN pip install --no-cache-dir -e .[test]
 
 CMD bash -c "source /home/crazyswarm/ros_ws/devel/setup.bash && python /home/lsy_drone_racing/scripts/deploy.py"

docker/Sim.Dockerfile

@@ -19,9 +19,9 @@ WORKDIR /home/lsy_drone_racing
 COPY pyproject.toml ./
 # Install dependencies and cache the build step (only rebuilds when pyproject.toml changes) 
 RUN pip install build
-RUN pip install --no-cache-dir .[test,rl]
+RUN pip install --no-cache-dir .[test]
 # Copy the rest of the application
 COPY . .
-RUN pip install -e .[test,rl]
+RUN pip install -e .[test]
 
 ENTRYPOINT ["python", "/home/lsy_drone_racing/scripts/sim.py", "--gui", "False"]

docs/getting_started/setup.rst

@@ -91,13 +91,13 @@ If everything is installed correctly, this will open the simulator and simulate
 Extended Dependencies
 ---------------------
 
-To install extended dependencies for reinforcement learning and testing:
+To install extended dependencies for testing:
 
 .. code-block:: bash
 
    conda activate race
    cd ~/repos/lsy_drone_racing
-   pip install -e .[rl, test]
+   pip install -e .[test]
 
 You can then run the tests to ensure everything is working:
 

lsy_drone_racing/envs/drone_racing_deploy_env.py

@@ -40,7 +40,7 @@
 from lsy_drone_racing.vicon import Vicon
 
 if TYPE_CHECKING:
-    from munch import Munch
+    from ml_collections import ConfigDict
     from numpy.typing import NDArray
 
 logger = logging.getLogger(__name__)
@@ -70,7 +70,7 @@ class DroneRacingDeployEnv(gymnasium.Env):
 
     CONTROLLER = "mellinger"
 
-    def __init__(self, config: dict | Munch):
+    def __init__(self, config: dict | ConfigDict):
         """Initialize the crazyflie drone and the motion capture system.
 
         Args:
@@ -281,7 +281,7 @@ class DroneRacingAttitudeDeployEnv(DroneRacingDeployEnv):
     real-world hardware (Crazyflie drone and Vicon motion capture system) instead of a simulation.
     """
 
-    def __init__(self, config: dict | Munch):
+    def __init__(self, config: dict | ConfigDict):
         """Initialize the crazyflie drone and the motion capture system.
 
         Args:

lsy_drone_racing/utils/ros_utils.py

@@ -11,12 +11,12 @@
 from lsy_drone_racing.vicon import Vicon
 
 if TYPE_CHECKING:
-    from munch import Munch
+    from ml_collections import ConfigDict
 
 logger = logging.getLogger("rosout." + __name__)
 
 
-def check_race_track(config: Munch):
+def check_race_track(config: ConfigDict):
     """Check if the race track's gates and obstacles are within tolerances.
 
     Args:
@@ -33,13 +33,13 @@ def check_race_track(config: Munch):
     assert rng_info.gate_pos.type == "uniform", "Race track checks expect uniform distributions"
     assert rng_info.obstacle_pos.type == "uniform", "Race track checks expect uniform distributions"
     for i, gate in enumerate(config.env.track.gates):
-        name = f"gate{i+1}"
+        name = f"gate{i + 1}"
         gate_pos, gate_rot = vicon.pos[name], R.from_euler("xyz", vicon.rpy[name])
         check_bounds(name, gate_pos, gate.pos, rng_info.gate_pos.low, rng_info.gate_pos.high)
         check_rotation(name, gate_rot, R.from_euler("xyz", gate.rpy), ang_tol)
 
     for i, obstacle in enumerate(config.env.track.obstacles):
-        name = f"obstacle{i+1}"
+        name = f"obstacle{i + 1}"
         low, high = rng_info.obstacle_pos.low, rng_info.obstacle_pos.high
         check_bounds(name, vicon.pos[name][:2], obstacle.pos[:2], low[:2], high[:2])
 
@@ -66,7 +66,7 @@ def check_rotation(name: str, actual_rot: R, desired_rot: R, ang_tol: float):
         raise RuntimeError(f"{name} exceeds rotation tolerances ({ang_tol})")
 
 
-def check_drone_start_pos(config: Munch):
+def check_drone_start_pos(config: ConfigDict):
     """Check if the real drone start position matches the settings.
 
     Args:

lsy_drone_racing/utils/utils.py

@@ -70,7 +70,7 @@ def load_config(path: Path) -> ConfigDict:
         path: Path to the config file.
 
     Returns:
-        The munchified config dict.
+        The configuration.
     """
     assert path.exists(), f"Configuration file not found: {path}"
     assert path.suffix == ".toml", f"Configuration file has to be a TOML file: {path}"

lsy_drone_racing/vicon.py

@@ -52,7 +52,7 @@ def __init__(
             ...  # ROS node is already running which is fine for us
         self.drone_name = None
         self.auto_track_drone = auto_track_drone
-        if auto_track_drone:
+        if auto_track_drone:  # TODO: Remove crazyswarm dependency
             with open(get_ros_package_path("crazyswarm") / "launch/crazyflies.yaml", "r") as f:
                 config = yaml.load(f, yaml.SafeLoader)
             assert len(config["crazyflies"]) == 1, "Only one crazyfly allowed at a time!"

pyproject.toml

@@ -19,22 +19,18 @@ classifiers = [
 
 dependencies = [
     "fire >= 0.6.0",
-    "munch >= 4.0.0",
     "numpy >= 1.24.1, < 2.0.0",
-    "pandas >= 2.0.3",
-    "pybullet >= 3.2.6",
-    "PyYAML >= 6.0.1",
-    "rospkg >= 1.5.1",
+    "PyYAML >= 6.0.1",  # TODO: Remove after removing crazyswarm dependency
+    "rospkg >= 1.5.1",  # TODO: Remove after moving to cflib
     "scipy >= 1.10.1",
     "gymnasium >= 1.0.0",
     "toml >= 0.10.2",
-    "casadi >= 3.6.5",
+    "ml_collections >= 1.0",
 ]
 
 [project.optional-dependencies]
 test = ["pytest>=8.0.0"]
-rl = ["stable-baselines3"]
-
+online_submission = ["pandas", "kaggle"]
 
 [tool.setuptools.packages]
 find = {}

scripts/deploy.py

@@ -3,7 +3,7 @@
 
 Usage:
 
-python deploy.py <path/to/controller.py> <path/to/config.yaml>
+python deploy.py <path/to/controller.py> <path/to/config.toml>
 
 """
 

scripts/multi_sim.py

@@ -20,7 +20,7 @@
 from lsy_drone_racing.utils import load_config, load_controller
 
 if TYPE_CHECKING:
-    from munch import Munch
+    from ml_collections import ConfigDict
 
     from lsy_drone_racing.control.controller import BaseController
     from lsy_drone_racing.envs.multi_drone_race import MultiDroneRacingEnv
@@ -105,7 +105,7 @@ def simulate(
     env.close()
 
 
-def log_episode_stats(obs: dict, info: dict, config: Munch, curr_time: float):
+def log_episode_stats(obs: dict, info: dict, config: ConfigDict, curr_time: float):
     """Log the statistics of a single episode."""
     gates_passed = obs["target_gate"]
     finished = gates_passed == -1

scripts/sim.py

@@ -19,7 +19,7 @@
 from lsy_drone_racing.utils import load_config, load_controller
 
 if TYPE_CHECKING:
-    from munch import Munch
+    from ml_collections import ConfigDict
 
     from lsy_drone_racing.control.controller import BaseController
     from lsy_drone_racing.envs.drone_race import DroneRaceEnv
@@ -103,7 +103,7 @@ def simulate(
     return ep_times
 
 
-def log_episode_stats(obs: dict, info: dict, config: Munch, curr_time: float):
+def log_episode_stats(obs: dict, info: dict, config: ConfigDict, curr_time: float):
     """Log the statistics of a single episode."""
     gates_passed = obs["target_gate"]
     if gates_passed == -1:  # The drone has passed the final gate