Metadata-Version: 2.4
Name: foundation-policy
Version: 1.0.0
Summary: A foundation policy for quadrotor control
Author-email: Jonas Eschmann <jonas.eschmann@gmail.com>
License: MIT
Requires-Dist: h5py
Requires-Dist: importlib-resources
Requires-Dist: numpy
Provides-Extra: examples
Requires-Dist: l2f; extra == 'examples'
Requires-Dist: scipy; extra == 'examples'
Requires-Dist: websockets; extra == 'examples'
Description-Content-Type: text/markdown

# A Foundation Model for Continuous Control


Supports Python >= `3.6`


```
from foundation_model import QuadrotorPolicy
import numpy as np
from scipy.spatial.transform import Rotation as R

policy = QuadrotorPolicy()
position = [0, 0, 0]
orientation = [1, 0, 0, 0]
orientation_rotation_matrix = R.from_quat(np.array(orientation)[[1, 2, 3, 0]]).as_matrix().ravel().tolist()
linear_velocity = [0, 0, 0]
angular_velocity = [0, 0, 0]
previous_action = [0, 0, 0, 0]

observation = np.array([position + orientation_rotation_matrix + linear_velocity + angular_velocity + previous_action])
policy.reset()
action = policy.evaluate_step(observation)
print(action)
```