rebase icra demo

music/eine_kleine_nachtmusik.LICENSE

@@ -0,0 +1,7 @@
+CC BY-NC-ND 3.0 DEED
+
+https://creativecommons.org/licenses/by-nc-nd/3.0/
+
+Performance by A Far Cry
+
+https://musopen.org/music/28074-serenade-no-13-a-little-night-music-eine-kleine-nachtmusik-k-525/

music/radetzky_march.LICENSE

@@ -0,0 +1,7 @@
+Public Domain (US Government Work)
+
+https://creativecommons.org/publicdomain/mark/1.0/
+
+Recording by "The President's Own" United States Marine Band, from Sound Off!, recorded May 18–21, 1992 at Center for the Arts, George Mason University; conducted by John R. Bourgeois
+
+https://www.marineband.marines.mil/Portals/175/Docs/Audio/Educational_Series/sound_off/radetzky_march.mp3

music/the_blue_danube.LICENSE

@@ -0,0 +1,7 @@
+CC BY-NC 4.0
+
+https://creativecommons.org/licenses/by-nc/4.0/
+
+Live concert recording by: Das Orchester Tsumugi / Takashi Inoue (Recorded on 10/Mar. 2024, Fukuoka Symphony Hall, Japan) / Source: IMSLP
+
+https://www.classicals.de/strauss-2-blue-danube

swarm_gpt/core/backend.py

@@ -312,9 +312,7 @@ def deploy(self, drone_ids: list[int] | None = None) -> bool:
             ...
 
         if not self.music_manager.verify_libvlc():
-            logger.error(
-                "VLC/libvlc is not available. Install VLC (see README) before deploying."
-            )
+            logger.error("VLC/libvlc is not available. Install VLC (see README) before deploying.")
             return False
 
         swarm = DroneSwarm(self.choreographer.drones, lighthouse=self.settings["lighthouse"])
@@ -340,14 +338,20 @@ def deploy(self, drone_ids: list[int] | None = None) -> bool:
                 logger.warning(
                     f"Drone {uri} is too far from the expected initial position. pos={obs['pos']}, exp={d['pos']}"
                 )
-            landing_pos = obs["pos"]
+            landing_pos = obs["pos"] if self.settings["land_on_docks"] else d["pos"]
             # TODO fix hard coded yaw
             init_pos_dict[uri] = np.array([*init_pos, 0.0])
             final_pos_dict[uri] = np.array([*landing_pos + np.array([0.0, 0.0, 0.8]), 0.0])
             landing_pos_dict[uri] = np.array([*landing_pos - np.array([0.0, 0.0, 0.2]), 0.0])
             choreography_dict[uri] = self.splines[i]
-            color_top[uri] = {0.0: colors_array[i]}
-            color_bot[uri] = {0.0: colors_array[i]}
+            color_top[uri] = {
+                0.0: colors_array[i],
+                self.waypoints["time"][0, -1] - 0.1: np.zeros(4),
+            }
+            color_bot[uri] = {
+                0.0: colors_array[i],
+                self.waypoints["time"][0, -1] - 0.1: np.zeros(4),
+            }
 
         try:
             if not correct_positions:
@@ -376,19 +380,10 @@ def deploy(self, drone_ids: list[int] | None = None) -> bool:
                         color_top=color_top,
                         color_bot=color_bot,
                     )
-            swarm.apply_colors(None, None)  # Turn off colors after choreography
-            swarm.goto(final_pos_dict, duration=1.0)  # Transition from ideal point to hover pos
-            swarm.setpoint(final_pos_dict, duration=10.0)  # Hovering
-            for i, d in enumerate(self.choreographer.drones.values()):
-                uri = d["uri"]
-                print(swarm.get_obs(uri)["pos"])
-                print(landing_pos_dict[uri])
+            swarm.goto(final_pos_dict, duration=2.0)  # Transition from ideal point to hover pos
+            if self.settings["land_on_docks"]:
+                swarm.goto(final_pos_dict, duration=5.0)  # Hovering
             swarm.goto(landing_pos_dict, duration=1.5)  # Landing
-            # swarm.land(0.0, duration=1.0)
-            for i, d in enumerate(self.choreographer.drones.values()):
-                uri = d["uri"]
-                print(swarm.get_obs(uri)["pos"])
-                print(landing_pos_dict[uri])
         finally:
             swarm.close()
         self.music_manager.song = original_song