Expose load_params

crazyflow/control/__init__.py

@@ -14,7 +14,7 @@
 
 __all__ = []
 
-from crazyflow.control.core import Control, parametrize
+from crazyflow.control.core import Control, load_params, parametrize
 from crazyflow.control.mellinger import attitude2force_torque as mellinger_attitude2force_torque
 from crazyflow.control.mellinger import state2attitude as mellinger_state2attitude
 
@@ -23,4 +23,4 @@
     "mellinger_attitude2force_torque": mellinger_attitude2force_torque,
 }
 
-__all__ = ["Control", "parametrize"]
+__all__ = ["Control", "load_params", "parametrize"]

crazyflow/dynamics/__init__.py

@@ -14,13 +14,13 @@
 
 from typing import Callable
 
-from crazyflow.dynamics.core import Dynamics, parametrize
+from crazyflow.dynamics.core import Dynamics, load_params, parametrize
 from crazyflow.dynamics.first_principles import dynamics as _first_principles_dynamics
 from crazyflow.dynamics.so_rpy import dynamics as _so_rpy_dynamics
 from crazyflow.dynamics.so_rpy_rotor import dynamics as _so_rpy_rotor_dynamics
 from crazyflow.dynamics.so_rpy_rotor_drag import dynamics as _so_rpy_rotor_drag_dynamics
 
-__all__ = ["parametrize", "available_dynamics", "dynamics_features", "Dynamics"]
+__all__ = ["parametrize", "load_params", "available_dynamics", "dynamics_features", "Dynamics"]
 
 
 available_dynamics: dict[str, Callable] = {

crazyflow/envs/drone_env.py

@@ -12,8 +12,7 @@
 from numpy.typing import NDArray
 
 from crazyflow.control import Control
-from crazyflow.control.core import load_params
-from crazyflow.control.mellinger import force_torque2rotor_vel
+from crazyflow.drones import load_params
 from crazyflow.dynamics import Dynamics
 from crazyflow.sim import Sim
 from crazyflow.sim.data import SimData
@@ -33,7 +32,7 @@ def action_space(control_type: Control, drone: str) -> spaces.Box:
     """
     match control_type:
         case Control.attitude:
-            params = load_params(force_torque2rotor_vel, drone)
+            params = load_params(drone)
             thrust_min, thrust_max = params["thrust_min"] * 4, params["thrust_max"] * 4
             return spaces.Box(
                 np.array([-np.pi / 2, -np.pi / 2, -np.pi / 2, thrust_min], dtype=np.float32),

docs/user-guide/control/parametrize.md

@@ -77,10 +77,10 @@ rpyt, _ = ctrl(pos, quat, vel, cmd)
 
 ## Loading raw parameters
 
-Use [`load_params`][crazyflow.control.core.load_params] to inspect or override the values that `parametrize` would bind for a specific controller function:
+Use [`load_params`][crazyflow.control.load_params] to inspect or override the values that `parametrize` would bind for a specific controller function:
 
 ```python
-from crazyflow.control.core import load_params
+from crazyflow.control import load_params
 from crazyflow.control.mellinger import state2attitude
 
 params = load_params(state2attitude, "cf2x_L250")

docs/user-guide/dynamics/parametrize.md

@@ -114,10 +114,10 @@ parametrized_dynamics = parametrize(dynamics, drone="cf2x_T350")
 
 ## Loading raw parameters
 
-If you need the parameter values directly, for example, to pass them to [`symbolic_dynamics`](symbolic.md), use [`load_params`][crazyflow.dynamics.core.load_params]:
+If you need the parameter values directly, for example, to pass them to [`symbolic_dynamics`](symbolic.md), use [`load_params`][crazyflow.dynamics.load_params]:
 
 ```python { .python continuation }
-from crazyflow.dynamics.core import load_params
+from crazyflow.dynamics import load_params
 
 params = load_params(dynamics, "cf2x_L250")
 params["mass"]  # 0.0319

tests/integration/test_interfaces.py

@@ -3,8 +3,7 @@
 import pytest
 from scipy.spatial.transform import Rotation as R
 
-from crazyflow.control import Control, parametrize
-from crazyflow.control.core import load_params
+from crazyflow.control import Control, load_params, parametrize
 from crazyflow.control.mellinger import force_torque2rotor_vel, state2attitude
 from crazyflow.control.transform import motor_force2rotor_vel
 from crazyflow.sim import Dynamics, Sim

tests/unit/control/test_core.py

@@ -6,7 +6,7 @@
 import array_api_strict
 import pytest
 
-from crazyflow.control.core import load_params, parametrize
+from crazyflow.control import load_params, parametrize
 from crazyflow.control.mellinger import (
     attitude2force_torque,
     force_torque2rotor_vel,

tests/unit/control/test_mellinger.py

@@ -5,8 +5,7 @@
 import numpy as np
 import pytest
 
-from crazyflow.control import parametrize
-from crazyflow.control.core import load_params
+from crazyflow.control import load_params, parametrize
 from crazyflow.control.mellinger import (
     attitude2force_torque,
     force_torque2rotor_vel,

tests/unit/dynamics/test_parametrization.py

@@ -7,8 +7,15 @@
 import pytest
 
 from crazyflow.drones import available_drones
-from crazyflow.dynamics import available_dynamics
-from crazyflow.dynamics.core import parametrize
+from crazyflow.dynamics import available_dynamics, load_params, parametrize
+
+
+@pytest.mark.unit
+@pytest.mark.parametrize("dynamics_name, dynamics", available_dynamics.items())
+@pytest.mark.parametrize("drone", available_drones)
+def test_dynamics_parameter_loading(dynamics_name: str, dynamics: Callable, drone: str) -> None:
+    """Check that parameters can be loaded for all available dynamics and drones."""
+    load_params(dynamics, drone)
 
 
 @pytest.mark.unit