Fixed broken link and typos

utiasDSL · Apr 29, 2023 · 836fa90 · 836fa90
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diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 # gym-pybullet-drones
 
-This is a minimalist remastering of the original `gym-pybullet-drones` repository, designed for compatibility with [`gymnasium`](https://github.com/Farama-Foundation/Gymnasium) and the upcoming [`stable-baselines3` 2.0](https://github.com/DLR-RM/stable-baselines3/pull/1327) release.
+This is a (minimalist) refactoring of the original `gym-pybullet-drones` repository, designed for compatibility with [`gymnasium`](https://github.com/Farama-Foundation/Gymnasium) and [`stable-baselines3` 2.0](https://github.com/DLR-RM/stable-baselines3/pull/1327).
 
 <img src="files/readme_images/helix.gif" alt="formation flight" width="350"> <img src="files/readme_images/helix.png" alt="control info" width="450">
 
@@ -33,10 +33,12 @@ python3 pid.py
 
 ## Troubleshooting
 
-- On Ubuntu, with an NVIDIA card, if you receive a "Failed to create and OpenGL context" message, lunch `nvidia-settings` and under "PRIME Profiles" select "NVIDIA (Performance Mode)", reboot and try again.
+- On Ubuntu, with an NVIDIA card, if you receive a "Failed to create and OpenGL context" message, launch `nvidia-settings` and under "PRIME Profiles" select "NVIDIA (Performance Mode)", reboot and try again.
 
 ## TODO
 
+- [ ] Flatten `dict` observations/action into `np.array`s
+- [ ] Replace `rpy` with quaternions and `ang_vel` with body rates
 - [ ] Add `stable-baselines3` 2.0 support/examples
 - [ ] Add `pytest`s/GitHub Action for learning examples
 - [ ] Add `yaml` configuration files
@@ -73,7 +75,5 @@ If you wish, please cite [our IROS 2021 paper](https://arxiv.org/abs/2103.02142)
 - C. Karen Liu and Dan Negrut (2020) [*The Role of Physics-Based Simulators in Robotics*](https://www.annualreviews.org/doi/pdf/10.1146/annurev-control-072220-093055)
 - Yunlong Song, Selim Naji, Elia Kaufmann, Antonio Loquercio, and Davide Scaramuzza (2020) [*Flightmare: A Flexible Quadrotor Simulator*](https://arxiv.org/pdf/2009.00563.pdf)
 
-<!-- ![video](files/readme_images/2020.gif) -->
-
 -----
 > University of Toronto's [Dynamic Systems Lab](https://github.com/utiasDSL) / [Vector Institute](https://github.com/VectorInstitute) / University of Cambridge's [Prorok Lab](https://github.com/proroklab)
diff --git a/gym_pybullet_drones/assets/cf2p.urdf b/gym_pybullet_drones/assets/cf2p.urdf
@@ -14,7 +14,7 @@
 
     <!-- links>
       <carlos url="https://arxiv.org/pdf/1608.05786.pdf" />
-      <julian url="http://mikehamer.info/assets/papers/Crazyflie%20Modelling.pdf" />
+      <julian url="https://www.research-collection.ethz.ch/handle/20.500.11850/214143" />
       <mit url="http://groups.csail.mit.edu/robotics-center/public_papers/Landry15.pdf" />
     </links -->
 

diff --git a/gym_pybullet_drones/assets/cf2x.urdf b/gym_pybullet_drones/assets/cf2x.urdf
@@ -14,7 +14,7 @@
 
     <!-- links>
       <carlos url="https://arxiv.org/pdf/1608.05786.pdf" />
-      <julian url="http://mikehamer.info/assets/papers/Crazyflie%20Modelling.pdf" />
+      <julian url="https://www.research-collection.ethz.ch/handle/20.500.11850/214143" />
       <mit url="http://groups.csail.mit.edu/robotics-center/public_papers/Landry15.pdf" />
     </links -->
 

diff --git a/pyproject.toml b/pyproject.toml
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "gym-pybullet-drones"
-version = "0.2.0"
+version = "1.0.0"
 description = "PyBullet Gym environments for single and multi-agent reinforcement learning of quadcopter control"
 authors = ["Jacopo Panerati <jacopo.panerati@utoronto.ca>"]
 license = "MIT"