MultiRotorClient has no attribute race_tier

[yannbouteiller]

Hello,

I am upgrading the Gym environment that I made during the 2019 competition to ADRL, and I found this bug.

When calling simGetObjectPause() before simStartRace(), there is an error because race_tier is not in initialized:

File "C:\Users\Yann\Desktop\git\gym_game_of_drones\gym_game_of_drones\envs\multi_agent\gym_airsimdroneracinglab\rewardfunction.py", line 192, in get_ground_truth_gate_poses_and_half_dims
    p = self.airsim_client.simGetObjectPose(object_name=gate_name)
  File "C:\Users\Yann\anaconda3\envs\adrl\lib\site-packages\airsimdroneracinglab\client.py", line 411, in simGetObjectPose
    if self.race_tier is None:
AttributeError: 'MultirotorClient' object has no attribute 'race_tier'
Exception ignored in: <function GameOfDatasets.__del__ at 0x000001962260B3A0>
Traceback (most recent call last):
  File "C:\Users\Yann\Desktop\git\gym_game_of_drones\gym_game_of_drones\dataset_collector_game.py", line 495, in __del__
    self.env.stop()
AttributeError: 'GameOfDatasets' object has no attribute 'env'

Process finished with exit code 1

[yannbouteiller]

Oh well and it is not related but if you modify the API's code can you also modify simStartRace() to allow for controlling both drones instead of competing against the baseline @madratman please?

Personally I replace it with this:

def simStartRace(self, tier=1, competitor=True):
        """ Starts an instance of a race in your given level, if valid."""
        self.race_tier = tier
        if tier == 2 or not competitor:
            self.client.call("simStartRace", tier)
            return
        else:
            client_instance = self.__class__()
            competitor = BaselineRacer(
                client_instance,
                viz_traj=False,
                viz_traj_color_rgba=[1.0, 1.0, 0.0, 1.0],
            )
            competitor.level_name = self.level_name
            competitor.initialize_drone()
            competitor.gate_poses_ground_truth = [
                self.__internalRandomGoalZone(gate)
                for gate in sorted(self.simListSceneObjects(".*[Gg]ate.*"))
            ]
            if self.level_name == "Soccer_Field_Medium":
                curr_pose = deepcopy(competitor.gate_poses_ground_truth[19])
                curr_pose.position.x_val = (
                    competitor.gate_poses_ground_truth[19].position.x_val
                    + competitor.gate_poses_ground_truth[20].position.x_val
                ) / 2
                competitor.gate_poses_ground_truth.insert(20, curr_pose)

            if self.level_name == "Building99_Hard":
                competitor.gate_poses_ground_truth.insert(
                    3,
                    Pose(
                        Vector3r(
                            (-21.49 - 41.89) / 2.0,
                            (-5.44 - 1.84) / 2,
                            (1.51 + 1.82) / 2,
                        )
                    ),
                )

            if self.level_name == "ZhangJiaJie_Medium":
                num_gates = len(competitor.gate_poses_ground_truth)
                last_gate_position = deepcopy(
                    competitor.gate_poses_ground_truth[-1].position
                )
                second_last_gate_position = deepcopy(
                    competitor.gate_poses_ground_truth[-2].position
                )
                competitor.gate_poses_ground_truth.insert(
                    num_gates - 1,
                    Pose(
                        Vector3r(
                            (last_gate_position.x_val + second_last_gate_position.x_val)
                            / 2.0,
                            (last_gate_position.y_val + second_last_gate_position.y_val)
                            / 2.0,
                            (last_gate_position.z_val + second_last_gate_position.z_val)
                            / 2.0,
                        )
                    ),
                )

            self.client.call("simStartRace", tier)
            competitor.run_in_thread()