test for classic controllers, dc motor, dcExternallyExcited motor

examples/classic_controllers/classic_controllers_dc_motor_example.py

@@ -67,5 +67,5 @@
             env.reset()
             controller.reset()
 
-    motor_dashboard.show_and_hold()
+    motor_dashboard.show()
     env.close()

examples/classic_controllers/classic_controllers_ind_motor_example.py

@@ -68,5 +68,5 @@
         if terminated:
             env.reset()
             controller.reset()
-    motor_dashboard.show_and_hold()    
+    motor_dashboard.show()    
     env.close()

examples/classic_controllers/classic_controllers_synch_motor_example.py

@@ -72,5 +72,5 @@
             env.reset()
             controller.reset()
 
-    motor_dashboard.show_and_hold()
+    motor_dashboard.show()
     env.close()

examples/classic_controllers/controllers/cascaded_controller.py

@@ -27,28 +27,28 @@ def __init__(
     ):
         self.env = environment
         self.visualization = visualization
-        self.action_space = environment.action_space
-        self.state_space = environment.unwrapped.physical_system.state_space
-        self.state_names = environment.unwrapped.state_names
-
-        self.i_e_idx = environment.unwrapped.physical_system.CURRENTS_IDX[-1]
-        self.i_a_idx = environment.unwrapped.physical_system.CURRENTS_IDX[0]
-        self.u_idx = environment.unwrapped.physical_system.VOLTAGES_IDX[-1]
-        self.omega_idx = environment.unwrapped.state_names.index("omega")
-        self.torque_idx = environment.unwrapped.state_names.index("torque")
+        self.action_space = environment.get_wrapper_attr('action_space')
+        self.state_space = environment.get_wrapper_attr('physical_system').state_space
+        self.state_names = environment.get_wrapper_attr('state_names')
+
+        self.i_e_idx = environment.get_wrapper_attr('physical_system').CURRENTS_IDX[-1]
+        self.i_a_idx = environment.get_wrapper_attr('physical_system').CURRENTS_IDX[0]
+        self.u_idx = environment.get_wrapper_attr('physical_system').VOLTAGES_IDX[-1]
+        self.omega_idx = environment.get_wrapper_attr('state_names').index("omega")
+        self.torque_idx = environment.get_wrapper_attr('state_names').index("torque")
         self.ref_idx = np.where(ref_states != "i_e")[0][0]
         self.ref_state_idx = [
             self.i_a_idx,
-            environment.unwrapped.state_names.index(ref_states[self.ref_idx]),
+            environment.get_wrapper_attr('state_names').index(ref_states[self.ref_idx]),
         ]
 
-        self.limit = environment.unwrapped.physical_system.limits[environment.unwrapped.state_filter]
-        self.nominal_values = environment.unwrapped.physical_system.nominal_state[environment.unwrapped.state_filter]
+        self.limit = environment.get_wrapper_attr('physical_system').limits[environment.get_wrapper_attr('state_filter')]
+        self.nominal_values = environment.get_wrapper_attr('physical_system').nominal_state[environment.get_wrapper_attr('state_filter')]
 
-        self.control_e = isinstance(environment.unwrapped.physical_system.electrical_motor, DcExternallyExcitedMotor)
+        self.control_e = isinstance(environment.get_wrapper_attr('physical_system').electrical_motor, DcExternallyExcitedMotor)
         self.control_omega = 0
 
-        mp = environment.unwrapped.physical_system.electrical_motor.motor_parameter
+        mp = environment.get_wrapper_attr('physical_system').electrical_motor.motor_parameter
         self.psi_e = mp.get("psie_e", False)
         self.l_e = mp.get("l_e_prime", False)
         self.r_e = mp.get("r_e", None)
@@ -110,7 +110,7 @@ def __init__(
 
         # Set up the plots
         self.external_ref_plots = external_ref_plots
-        internal_refs = np.array([environment.unwrapped.state_names[i] for i in self.ref_state_idx])
+        internal_refs = np.array([environment.get_wrapper_attr('state_names')[i] for i in self.ref_state_idx])
         ref_states_plotted = np.unique(np.append(ref_states, internal_refs))
         for external_plots in self.external_ref_plots:
             external_plots.set_reference(ref_states_plotted)

examples/classic_controllers/controllers/cascaded_foc_controller.py

@@ -28,25 +28,25 @@ def __init__(
         torque_control="interpolate",
         **controller_kwargs,
     ):
-        t32 = environment.physical_system.electrical_motor.t_32
-        q = environment.physical_system.electrical_motor.q
+        t32 = environment.get_wrapper_attr('physical_system').electrical_motor.t_32
+        q = environment.get_wrapper_attr('physical_system').electrical_motor.q
         self.backward_transformation = lambda quantities, eps: t32(q(quantities, eps))
-        self.tau = environment.physical_system.tau
-
-        self.action_space = environment.action_space
-        self.state_space = environment.physical_system.state_space
-        self.state_names = environment.state_names
-
-        self.i_sd_idx = environment.state_names.index("i_sd")
-        self.i_sq_idx = environment.state_names.index("i_sq")
-        self.u_sd_idx = environment.state_names.index("u_sd")
-        self.u_sq_idx = environment.state_names.index("u_sq")
-        self.u_a_idx = environment.state_names.index("u_a")
-        self.u_b_idx = environment.state_names.index("u_b")
-        self.u_c_idx = environment.state_names.index("u_c")
-        self.omega_idx = environment.state_names.index("omega")
-        self.eps_idx = environment.state_names.index("epsilon")
-        self.torque_idx = environment.state_names.index("torque")
+        self.tau = environment.get_wrapper_attr('physical_system').tau
+
+        self.action_space = environment.get_wrapper_attr('action_space')
+        self.state_space = environment.get_wrapper_attr('physical_system').state_space
+        self.state_names = environment.get_wrapper_attr('state_names')
+
+        self.i_sd_idx = environment.get_wrapper_attr('state_names').index("i_sd")
+        self.i_sq_idx = environment.get_wrapper_attr('state_names').index("i_sq")
+        self.u_sd_idx = environment.get_wrapper_attr('state_names').index("u_sd")
+        self.u_sq_idx = environment.get_wrapper_attr('state_names').index("u_sq")
+        self.u_a_idx = environment.get_wrapper_attr('state_names').index("u_a")
+        self.u_b_idx = environment.get_wrapper_attr('state_names').index("u_b")
+        self.u_c_idx = environment.get_wrapper_attr('state_names').index("u_c")
+        self.omega_idx = environment.get_wrapper_attr('state_names').index("omega")
+        self.eps_idx = environment.get_wrapper_attr('state_names').index("epsilon")
+        self.torque_idx = environment.get_wrapper_attr('state_names').index("torque")
         self.external_ref_plots = external_ref_plots
 
         self.torque_control = "torque" in ref_states or "omega" in ref_states
@@ -59,10 +59,10 @@ def __init__(
         self.omega_control = "omega" in ref_states and type(environment)
         self.has_cont_action_space = type(self.action_space) is Box
 
-        self.limit = environment.physical_system.limits
-        self.nominal_values = environment.physical_system.nominal_state
+        self.limit = environment.get_wrapper_attr('physical_system').limits
+        self.nominal_values = environment.get_wrapper_attr('physical_system').nominal_state
 
-        self.mp = environment.physical_system.electrical_motor.motor_parameter
+        self.mp = environment.get_wrapper_attr('physical_system').electrical_motor.motor_parameter
         self.psi_p = self.mp.get("psi_p", 0)
         self.dead_time = 0.5
         self.decoupling = controller_kwargs.get("decoupling", True)
@@ -136,7 +136,7 @@ def __init__(
                 for i in range(3)
             ]
             self.i_abc_idx = [
-                environment.state_names.index(state) for state in ["i_a", "i_b", "i_c"]
+                environment.get_wrapper_attr('state_names').index(state) for state in ["i_a", "i_b", "i_c"]
             ]
 
         self.ref = np.zeros(
@@ -145,7 +145,7 @@ def __init__(
 
         # Set up the plots
         plot_ref = np.append(
-            np.array([environment.state_names[i] for i in self.ref_state_idx]),
+            np.array([environment.get_wrapper_attr('state_names')[i] for i in self.ref_state_idx]),
             ref_states,
         )
         for ext_ref_plot in self.external_ref_plots:

examples/classic_controllers/controllers/continuous_action_controller.py

@@ -20,28 +20,28 @@ def __init__(
         external_ref_plots=(),
         **controller_kwargs,
     ):
-        assert type(environment.action_space) is Box and isinstance(
-            environment.physical_system, DcMotorSystem
+        assert type(environment.get_wrapper_attr('action_space')) is Box and isinstance(
+            environment.get_wrapper_attr('physical_system'), DcMotorSystem
         ), "No suitable action space for Continuous Action Controller"
-        self.action_space = environment.action_space
-        self.state_names = environment.state_names
+        self.action_space = environment.get_wrapper_attr('action_space')
+        self.state_names = environment.get_wrapper_attr('state_names')
 
         self.ref_idx = np.where(ref_states != "i_e")[0][0]
-        self.ref_state_idx = environment.state_names.index(ref_states[self.ref_idx])
-        self.i_idx = environment.physical_system.CURRENTS_IDX[-1]
-        self.u_idx = environment.physical_system.VOLTAGES_IDX[-1]
-        self.limit = environment.physical_system.limits[environment.state_filter]
-        self.nominal_values = environment.physical_system.nominal_state[
-            environment.state_filter
+        self.ref_state_idx = environment.get_wrapper_attr('state_names').index(ref_states[self.ref_idx])
+        self.i_idx = environment.get_wrapper_attr('physical_system').CURRENTS_IDX[-1]
+        self.u_idx = environment.get_wrapper_attr('physical_system').VOLTAGES_IDX[-1]
+        self.limit = environment.get_wrapper_attr('physical_system').limits[environment.get_wrapper_attr('state_filter')]
+        self.nominal_values = environment.get_wrapper_attr('physical_system').nominal_state[
+            environment.get_wrapper_attr('state_filter')
         ]
         self.omega_idx = self.state_names.index("omega")
 
         self.action = np.zeros(self.action_space.shape[0])
         self.control_e = isinstance(
-            environment.physical_system.electrical_motor, DcExternallyExcitedMotor
+            environment.get_wrapper_attr('physical_system').electrical_motor, DcExternallyExcitedMotor
         )
 
-        mp = environment.physical_system.electrical_motor.motor_parameter
+        mp = environment.get_wrapper_attr('physical_system').electrical_motor.motor_parameter
         self.psi_e = mp.get("psi_e", None)
         self.l_e = mp.get("l_e_prime", None)
 

examples/classic_controllers/controllers/dicrete_action_controller.py

@@ -19,20 +19,20 @@ def __init__(
         external_ref_plots=(),
         **controller_kwargs,
     ):
-        assert type(environment.action_space) in [
+        assert type(environment.get_wrapper_attr('action_space')) in [
             Discrete,
             MultiDiscrete,
         ] and isinstance(
-            environment.physical_system, DcMotorSystem
+            environment.get_wrapper_attr('physical_system'), DcMotorSystem
         ), "No suitable action space for Discrete Action Controller"
 
         self.ref_idx = np.where(ref_states != "i_e")[0][0]
-        self.ref_state_idx = environment.state_names.index(ref_states[self.ref_idx])
-        self.i_idx = environment.physical_system.CURRENTS_IDX[-1]
+        self.ref_state_idx = environment.get_wrapper_attr('state_names').index(ref_states[self.ref_idx])
+        self.i_idx = environment.get_wrapper_attr('physical_system').CURRENTS_IDX[-1]
         self.control_e = isinstance(
-            environment.physical_system.electrical_motor, DcExternallyExcitedMotor
+            environment.get_wrapper_attr('physical_system').electrical_motor, DcExternallyExcitedMotor
         )
-        self.state_names = environment.state_names
+        self.state_names = environment.get_wrapper_attr('state_names')
 
         self.external_ref_plots = external_ref_plots
         for ext_ref_plot in self.external_ref_plots:

examples/classic_controllers/controllers/flux_observer.py

@@ -8,26 +8,26 @@ class FluxObserver:
     """
 
     def __init__(self, env):
-        mp = env.physical_system.electrical_motor.motor_parameter
+        mp = env.get_wrapper_attr('physical_system').electrical_motor.motor_parameter
         self.l_m = mp["l_m"]  # Main induction
         self.l_r = mp["l_m"] + mp["l_sigr"]  # Induction of the rotor
         self.r_r = mp["r_r"]  # Rotor resistance
         self.p = mp["p"]  # Pole pair number
-        self.tau = env.physical_system.tau  # Sampling time
+        self.tau = env.get_wrapper_attr('physical_system').tau  # Sampling time
 
         # function to transform the currents from abc to alpha/beta coordinates
         self.abc_to_alphabeta_transformation = (
-            env.physical_system.abc_to_alphabeta_space
+            env.get_wrapper_attr('physical_system').abc_to_alphabeta_space
         )
 
         # Integrated values of the flux for the two directions (Re: alpha, Im: beta)
-        self.integrated = np.complex(0, 0)
+        self.integrated = complex(0, 0)
         self.i_s_idx = [
-            env.state_names.index("i_sa"),
-            env.state_names.index("i_sb"),
-            env.state_names.index("i_sc"),
+            env.get_wrapper_attr('state_names').index("i_sa"),
+            env.get_wrapper_attr('state_names').index("i_sb"),
+            env.get_wrapper_attr('state_names').index("i_sc"),
         ]
-        self.omega_idx = env.state_names.index("omega")
+        self.omega_idx = env.get_wrapper_attr('state_names').index("omega")
 
     def estimate(self, state):
         """
@@ -47,9 +47,9 @@ def estimate(self, state):
         [i_s_alpha, i_s_beta] = self.abc_to_alphabeta_transformation(i_s)
 
         # Calculate delta flux
-        delta = np.complex(
+        delta = complex(
             i_s_alpha, i_s_beta
-        ) * self.r_r * self.l_m / self.l_r - self.integrated * np.complex(
+        ) * self.r_r * self.l_m / self.l_r - self.integrated * complex(
             self.r_r / self.l_r, -omega
         )
 
@@ -59,4 +59,4 @@ def estimate(self, state):
 
     def reset(self):
         # Reset the integrated value
-        self.integrated = np.complex(0, 0)
+        self.integrated = complex(0, 0)

examples/classic_controllers/controllers/foc_controller.py

@@ -24,40 +24,40 @@ def __init__(
         **controller_kwargs,
     ):
         assert isinstance(
-            environment.physical_system, SynchronousMotorSystem
+            environment.get_wrapper_attr('physical_system'), SynchronousMotorSystem
         ), "No suitable Environment for FOC Controller"
 
-        t32 = environment.physical_system.electrical_motor.t_32
-        q = environment.physical_system.electrical_motor.q
+        t32 = environment.get_wrapper_attr('physical_system').electrical_motor.t_32
+        q = environment.get_wrapper_attr('physical_system').electrical_motor.q
         self.backward_transformation = lambda quantities, eps: t32(q(quantities, eps))
 
-        self.tau = environment.physical_system.tau
+        self.tau = environment.get_wrapper_attr('physical_system').tau
 
         self.ref_d_idx = np.where(ref_states == "i_sd")[0][0]
         self.ref_q_idx = np.where(ref_states == "i_sq")[0][0]
 
-        self.d_idx = environment.state_names.index(ref_states[self.ref_d_idx])
-        self.q_idx = environment.state_names.index(ref_states[self.ref_q_idx])
-
-        self.action_space = environment.action_space
-        self.state_space = environment.physical_system.state_space
-        self.state_names = environment.state_names
-
-        self.i_sd_idx = environment.state_names.index("i_sd")
-        self.i_sq_idx = environment.state_names.index("i_sq")
-        self.u_sd_idx = environment.state_names.index("u_sd")
-        self.u_sq_idx = environment.state_names.index("u_sq")
-        self.u_a_idx = environment.state_names.index("u_a")
-        self.u_b_idx = environment.state_names.index("u_b")
-        self.u_c_idx = environment.state_names.index("u_c")
-        self.omega_idx = environment.state_names.index("omega")
-        self.eps_idx = environment.state_names.index("epsilon")
-
-        self.limit = environment.physical_system.limits
-        self.mp = environment.physical_system.electrical_motor.motor_parameter
+        self.d_idx = environment.get_wrapper_attr('state_names').index(ref_states[self.ref_d_idx])
+        self.q_idx = environment.get_wrapper_attr('state_names').index(ref_states[self.ref_q_idx])
+
+        self.action_space = environment.get_wrapper_attr('action_space')
+        self.state_space = environment.get_wrapper_attr('physical_system').state_space
+        self.state_names = environment.get_wrapper_attr('state_names')
+
+        self.i_sd_idx = environment.get_wrapper_attr('state_names').index("i_sd")
+        self.i_sq_idx = environment.get_wrapper_attr('state_names').index("i_sq")
+        self.u_sd_idx = environment.get_wrapper_attr('state_names').index("u_sd")
+        self.u_sq_idx = environment.get_wrapper_attr('state_names').index("u_sq")
+        self.u_a_idx = environment.get_wrapper_attr('state_names').index("u_a")
+        self.u_b_idx = environment.get_wrapper_attr('state_names').index("u_b")
+        self.u_c_idx = environment.get_wrapper_attr('state_names').index("u_c")
+        self.omega_idx = environment.get_wrapper_attr('state_names').index("omega")
+        self.eps_idx = environment.get_wrapper_attr('state_names').index("epsilon")
+
+        self.limit = environment.get_wrapper_attr('physical_system').limits
+        self.mp = environment.get_wrapper_attr('physical_system').electrical_motor.motor_parameter
         self.psi_p = self.mp.get("psi_p", 0)
         self.dead_time = (
-            1.5 if environment.physical_system.converter._dead_time else 0.5
+            1.5 if environment.get_wrapper_attr('physical_system').converter._dead_time else 0.5
         )
 
         self.has_cont_action_space = type(self.action_space) is Box
@@ -89,7 +89,7 @@ def __init__(
                 for i in range(3)
             ]
             self.i_abc_idx = [
-                environment.state_names.index(state) for state in ["i_a", "i_b", "i_c"]
+                environment.get_wrapper_attr('state_names').index(state) for state in ["i_a", "i_b", "i_c"]
             ]
 
     def control(self, state, reference):