adding raptor control policy

[Sheng-Cheng]

We implemented the raptor control policy from a recent paper titled "RAPTOR: A Foundation Policy for Quadrotor
Control".

Simply install raptor with
pip install foundation-policy==1.0.1
and run the example code:
python3 /examples/basic_usage_raptor.py

[spencerfolk]

@Sheng-Cheng thanks so much for implementing Raptor in RotorPy. This is very cool and can't wait to try it myself.

I've added a few comments in the review on some changes required before merging. Nothing major.

[spencerfolk]

Thanks for the changes!

[spencerfolk]

Tests are failing because the raptor policy is not installed in the test environment. I need to figure out if certain scripts in examples should be ignored or if there is another better solution.

[Sheng-Cheng]

Tests are failing because the raptor policy is not installed in the test environment. I need to figure out if certain scripts in examples should be ignored or if there is another better solution.

Perhaps add "foundation-policy==1.0.1" in pyproject (after stable_baselines

rotorpy/pyproject.toml

Line 51 in cf36fe0

'stable_baselines3',

), that should solve the problem in my opinion, without the burden of having it as a hard dependency for users. In addition to adding it to the "testing" group maybe it would also make sense to add a "raptor" group that contains the "foundation-policy==1.0.1" dependency as well, such that users can do pip install rotorpy[raptor] instead of having to manually do "pip install foundation-policy==1.0.1".

[spencerfolk]

Yep I think what you proposed makes sense. I'm trying to be a bit more cautious with adding more specialized dependencies into rotorpy, just to reduce the dependency burden for ppl just looking for a lightweight python uav sim. I'll work on modifying the pyproject.toml file in the next week and we should be good to merge.

[spencerfolk]

@Sheng-Cheng sorry that this took an embarrassingly long time to resolve. Your PR caught me right before my phd defense and I took a long break before taking another look at this tonight. Happy to have raptor as an option in rotorpy and if you have any other requests or things you want to implement feel free to let me know or open a PR!

[Sheng-Cheng]

No worries, @spencerfolk ! Congrats on your PhD and thanks for the managing the PR! Best wishes to your future endeaver!