Gymnasium api #1
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…sition controller
…oneSim_gym into gymnasium_env
…actions, try different collector, skip action weight (not even sure what it should be as we use default drone)
…east 3M interactions (see learning to fly)
…t to impossible states
FEATURE: time limit in done function
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As for the Kerneller and Jitter, now created in gym_sim |
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Adding basic unit tests for ensuring same output as og sim |
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This pull request adds a file which adds functionalities to the simulator such as:
Offers a step function which operates as expected (performs one singular step for N_drones)
When using it with conventional RL frameworks, you should stick to N_drones = 1.
When using N_drones > 1, apply a post processor to add the transitions to the buffer for each drone (depending on how your framework operates).
Offers a step_rollout function which acts similar to the step function, but accepts a controller as input to accelerate the rollout collection. While this method allows a 50x increase in speed, care should be given to eg exploration vs exploitation (no noise is injected now) and the way that the resets are handled for each independent requirement (see reset_subenvs).
TODO:
reset sub envs using Numba, easier, faster