Merge pull request #26 from YannBerthelot/interpolator

Fixed interpolator + relaxed version constraints

Author: YannBerthelot

figures/bike/3d_altitude.png

@@ -23,29 +23,29 @@ packages = [
 enable = true
 
 [tool.poetry.dependencies]
-python = ">=3.10,<3.13"
-gymnax = "^0.0.9"
-numpy = "^1.26.1"
-six = "^1.16.0"
-matplotlib = "^3.8.1"
-gymnasium = "^1.2.0"
-distrax = "^0.1.5"
-jax = "<7.0"
-moviepy = "^2.2.1"
-pygame = "^2.6.1"
-pre-commit = { version = "^3.5.0", optional = true }
-pytest = { version = "^7.4.3", optional = true }
-codecov = { version = "^2.1.13", optional = true }
-coverage = { version = "^7.3.2", optional = true }
-pytest-cov = { version = "^4.1.0", optional = true }
-pytest-readme = { version = "^1.0.2", optional = true }
-isort = { version = "^5.12.0", optional = true }
-mypy = { version = "^1.6.1", optional = true }
-flake8 = { version = "^7.3.0", optional = true }
-ruff = { version = "^0.12.11", optional = true }
-black = { version = "^25.1.0", optional = true }
-stable-baselines3 = { version = "^2.7.0", optional = true }
-tensorboard = { version = "^2.20.0", optional = true }
+python = ">=3.10"
+gymnax = ">=0.0.9"
+numpy = ">=1.26.1"
+six = ">=1.16.0"
+matplotlib = ">=3.8.1"
+gymnasium = ">=1.2.0"
+distrax = ">=0.1.5"
+jax = ">=0.6.2"
+moviepy = ">=2.2.1"
+pygame = ">=2.6.1"
+pre-commit = { version = ">=3.5.0", optional = true }
+pytest = { version = ">=7.4.3", optional = true }
+codecov = { version = ">=2.1.13", optional = true }
+coverage = { version = ">=7.3.2", optional = true }
+pytest-cov = { version = ">=4.1.0", optional = true }
+pytest-readme = { version = ">=1.0.2", optional = true }
+isort = { version = ">=5.12.0", optional = true }
+mypy = { version = ">=1.6.1", optional = true }
+flake8 = { version = ">=7.3.0", optional = true }
+ruff = { version = ">=0.12.11", optional = true }
+black = { version = ">=25.1.0", optional = true }
+stable-baselines3 = { version = ">=2.7.0", optional = true }
+tensorboard = { version = ">=2.20.0", optional = true }
 
 [tool.black]
 line-length = 88
@@ -83,25 +83,25 @@ optional = true
 optional = true
 
 [tool.poetry.group.dev.dependencies]
-pre-commit = "^3.5.0"
+pre-commit = ">=3.5.0"
 
 [tool.poetry.group.test.dependencies]
-pytest = "^7.4.3"
-codecov = "^2.1.13"
-coverage = "^7.3.2"
-pytest-cov = "^4.1.0"
-pytest-readme = "^1.0.2"
+pytest = ">=7.4.3"
+codecov = ">=2.1.13"
+coverage = ">=7.3.2"
+pytest-cov = ">=4.1.0"
+pytest-readme = ">=1.0.2"
 
 [tool.poetry.group.lint.dependencies]
-isort = "^5.12.0"
-mypy = "^1.6.1"
-flake8 = "^7.3.0"
-ruff = "^0.12.11"
-black = "^25.1.0"
+isort = ">=5.12.0"
+mypy = ">=1.6.1"
+flake8 = ">=7.3.0"
+ruff = ">=0.12.11"
+black = ">=25.1.0"
 
 [tool.poetry.group.agent.dependencies]
-stable-baselines3 = "^2.7.0"
-tensorboard = "^2.20.0"
+stable-baselines3 = ">=2.7.0"
+tensorboard = ">=2.20.0"
 
 [tool.poetry.extras]
 dev = [

figures/bike/power_trajectories.png

@@ -52,6 +52,9 @@ def __init__(self, integration_method: str = "rk4_1"):
     def default_params(self) -> BikeParams:
         return BikeParams()
 
+    def compute_reward(self, state, params):
+        return compute_reward(state, params)
+
     def step_env(
         self,
         key: chex.PRNGKey,

figures/car/throttle_trajectories.png

@@ -75,7 +75,9 @@ def world_to_screen(x, y):
     hy1 = yf + np.sin(handle_angle + np.pi / 2) * handle_length / 2
     hx2 = xf + np.cos(handle_angle - np.pi / 2) * handle_length / 2
     hy2 = yf + np.sin(handle_angle - np.pi / 2) * handle_length / 2
-    pygame.draw.line(surf, (200, 0, 0), (hx1, hy1), (hx2, hy2), 3)
+    pygame.draw.line(
+        surf, (200, 0, 0), (hx1.item(), hy1.item()), (hx2.item(), hy2.item()), 3
+    )
 
     # --- HUD ---
     font = pygame.font.SysFont("Arial", 16)