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Made quadrotor gymnasium env compatible with Gymnasium 1.0.0 (Issue #11)

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spencerfolk
2025-01-20 12:32:43 -05:00
parent 8500cad9fa
commit 68ad764727
4 changed files with 35 additions and 25 deletions
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54
rotorpy/learning/quadrotor_environments.py
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@@ -70,9 +70,9 @@ class QuadrotorEnv(gym.Env):
self.metadata['render_fps'] = render_fps
self.initial_state = initial_state
self.initial_state = deepcopy(initial_state)
self.vehicle_state = initial_state
self.vehicle_state = deepcopy(initial_state)
assert control_mode in self.metadata["control_modes"] # Don't accept improper control modes
self.control_mode = control_mode
@@ -184,34 +184,44 @@ class QuadrotorEnv(gym.Env):
# Close the plots
plt.close('all')
def reset(self, seed=None, initial_state='random', options={'pos_bound': 2, 'vel_bound': 0}):
def reset(self, seed=None, options={'initial_state': 'random', 'pos_bound': 2, 'vel_bound': 0}):
"""
Reset the environment
Inputs:
seed: the seed for any random number generation, mostly for reproducibility.
initial_state: determines how to set the quadrotor again. Options are...
'random': will randomly select the state of the quadrotor.
'deterministic': will set the state to the initial state selected by the user when creating
the quadrotor environment (usually hover).
the user can also specify the state itself as a dictionary... e.g.
reset(options={'initial_state':
{'x': np.array([0,0,0]),
'v': np.zeros(3,),
'q': np.array([0, 0, 0, 1]), # [i,j,k,w]
'w': np.zeros(3,),
'wind': np.array([0,0,0]), # Since wind is handled elsewhere, this value is overwritten
'rotor_speeds': np.array([1788.53, 1788.53, 1788.53, 1788.53])}
})
seed: the seed for any random number generation, mostly for reproducibility.
options: dictionary for misc options for resetting the scene.
'initial_state': determines how to set the quadrotor again. Options are...
'random': will randomly select the state of the quadrotor.
'deterministic': will set the state to the initial state selected by the user when creating
the quadrotor environment (usually hover).
the user can also specify the state itself as a dictionary... e.g.
reset(options={'initial_state':
{'x': np.array([0,0,0]),
'v': np.zeros(3,),
'q': np.array([0, 0, 0, 1]), # [i,j,k,w]
'w': np.zeros(3,),
'wind': np.array([0,0,0]), # Since wind is handled elsewhere, this value is overwritten
'rotor_speeds': np.array([1788.53, 1788.53, 1788.53, 1788.53])}
})
'pos_bound': the min/max position region for random placement.
'vel_bound': the min/max velocity region for random placement
"""
# If any options are not specified, set them to default values.
if 'pos_bound' not in options:
options['pos_bound'] = 2
if 'vel_bound' not in options:
options['vel_bound'] = 0
if 'initial_state' not in options:
options['initial_state'] = 'random'
# Assert that the bounds are greater than or equal to 0.
assert options['pos_bound'] >= 0 and options['vel_bound'] >= 0 , "Bounds must be greater than or equal to 0."
# Reset the gym environment
super().reset(seed=seed)
if initial_state == 'random':
if options['initial_state'] == 'random':
# Randomly select an initial state for the quadrotor. At least assume it is level.
pos = np.random.uniform(low=-options['pos_bound'], high=options['pos_bound'], size=(3,))
vel = np.random.uniform(low=-options['vel_bound'], high=options['vel_bound'], size=(3,))
@@ -222,13 +232,13 @@ class QuadrotorEnv(gym.Env):
'wind': np.array([0,0,0]), # Since wind is handled elsewhere, this value is overwritten
'rotor_speeds': np.array([1788.53, 1788.53, 1788.53, 1788.53])}
elif initial_state == 'deterministic':
elif options['initial_state'] == 'deterministic':
state = self.initial_state
elif isinstance(initial_state, dict):
elif isinstance(options['initial_state'], dict):
# Ensure the correct keys are in dict.
if all(key in initial_state for key in ('x', 'v', 'q', 'w', 'wind', 'rotor_speeds')):
state = initial_state
if all(key in options['initial_state'] for key in ('x', 'v', 'q', 'w', 'wind', 'rotor_speeds')):
state = options['initial_state']
else:
raise KeyError("Missing state keys in your initial_state. You must specify values for ('x', 'v', 'q', 'w', 'wind', 'rotor_speeds')")