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263 examples gymnasium v1 #264

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Nov 22, 2024
Merged

263 examples gymnasium v1 #264

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21ca6e3
Updated the sb3 examples to run with gymnasium v1.0.0
bhk11 Nov 20, 2024
a0adf89
Updated gem-control and examples for gymnasium v1.0.0
bhk11 Nov 21, 2024
b36fddb
Undo the notebook to widget change in the mpc example
bhk11 Nov 22, 2024
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8 changes: 8 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -9,6 +9,14 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
## Changed
## Fixed

## [3.0.3] - unreleased
## Added
## Changed
- Changed minimal required gymnasium version to 0.29.1.
- updated the code of gem-control to be compatible with gymnasium v1.0.0
## Fixed
- #263 updated the sb3, mpc and gem-control examples to run with gymnasium v1.0.0

## [3.0.2] - 2024-11-19
## Added
## Changed
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36 changes: 18 additions & 18 deletions examples/model_predictive_controllers/pmsm_mpc_dq_current_control.ipynb
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Expand Up @@ -104,31 +104,31 @@
"class MPC(Controller):\n",
" def __init__(self, environment, ph=5, ref_idx_q=0, ref_idx_d=1):\n",
" # conversion of the coordinate systems\n",
" t32 = environment.physical_system.electrical_motor.t_32\n",
" q = environment.physical_system.electrical_motor.q\n",
" t32 = environment.get_wrapper_attr('physical_system').electrical_motor.t_32\n",
" q = environment.get_wrapper_attr('physical_system').electrical_motor.q\n",
" self._backward_transformation = (lambda quantities, eps: t32(q(quantities[::-1], eps)))\n",
" \n",
" # indices\n",
" self.ref_idx_i_q = ref_idx_q\n",
" self.ref_idx_i_d = ref_idx_d\n",
" self.i_sd_idx = environment.state_names.index('i_sd')\n",
" self.i_sq_idx = environment.state_names.index('i_sq')\n",
" self.u_a_idx = environment.state_names.index('u_a')\n",
" self.u_b_idx = environment.state_names.index('u_b')\n",
" self.u_c_idx = environment.state_names.index('u_c')\n",
" self.u_sq_idx = environment.state_names.index('u_sq')\n",
" self.u_sd_idx = environment.state_names.index('u_sd')\n",
" self.omega_idx = environment.state_names.index('omega')\n",
" self.epsilon_idx = environment.state_names.index('epsilon')\n",
" self.i_sd_idx = environment.get_wrapper_attr('state_names').index('i_sd')\n",
" self.i_sq_idx = environment.get_wrapper_attr('state_names').index('i_sq')\n",
" self.u_a_idx = environment.get_wrapper_attr('state_names').index('u_a')\n",
" self.u_b_idx = environment.get_wrapper_attr('state_names').index('u_b')\n",
" self.u_c_idx = environment.get_wrapper_attr('state_names').index('u_c')\n",
" self.u_sq_idx = environment.get_wrapper_attr('state_names').index('u_sq')\n",
" self.u_sd_idx = environment.get_wrapper_attr('state_names').index('u_sd')\n",
" self.omega_idx = environment.get_wrapper_attr('state_names').index('omega')\n",
" self.epsilon_idx = environment.get_wrapper_attr('state_names').index('epsilon')\n",
"\n",
" # motor parameters\n",
" self.tau = environment.physical_system.tau\n",
" self.limits = environment.physical_system.limits\n",
" self.l_q = environment.physical_system.electrical_motor.motor_parameter['l_q']\n",
" self.l_d = environment.physical_system.electrical_motor.motor_parameter['l_d']\n",
" self.psi_ = environment.physical_system.electrical_motor.motor_parameter['psi_p']\n",
" self.r_s = environment.physical_system.electrical_motor.motor_parameter['r_s']\n",
" self.p = environment.physical_system.electrical_motor.motor_parameter['p']\n",
" self.tau = environment.get_wrapper_attr('physical_system').tau\n",
" self.limits = environment.get_wrapper_attr('physical_system').limits\n",
" self.l_q = environment.get_wrapper_attr('physical_system').electrical_motor.motor_parameter['l_q']\n",
" self.l_d = environment.get_wrapper_attr('physical_system').electrical_motor.motor_parameter['l_d']\n",
" self.psi_ = environment.get_wrapper_attr('physical_system').electrical_motor.motor_parameter['psi_p']\n",
" self.r_s = environment.get_wrapper_attr('physical_system').electrical_motor.motor_parameter['r_s']\n",
" self.p = environment.get_wrapper_attr('physical_system').electrical_motor.motor_parameter['p']\n",
" self.ph_ = ph\n",
"\n",
" def control(self, state, reference):\n",
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6 changes: 3 additions & 3 deletions ...s/reinforcement_learning_controllers/stable_baselines3_ddpg_pmsm_dq_current_control.ipynb
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Expand Up @@ -255,9 +255,9 @@
" supply=dict(u_nominal=350), \n",
")\n",
"\n",
"eps_idx = env.physical_system.state_names.index('epsilon')\n",
"i_sd_idx = env.physical_system.state_names.index('i_sd')\n",
"i_sq_idx = env.physical_system.state_names.index('i_sq')\n",
"eps_idx = env.get_wrapper_attr('state_names').index('epsilon')\n",
"i_sd_idx = env.get_wrapper_attr('state_names').index('i_sd')\n",
"i_sq_idx = env.get_wrapper_attr('state_names').index('i_sq')\n",
"\n",
"env= TimeLimit(LastActionWrapper(FeatureWrapper(env)), max_episode_steps=200)\n",
"\n",
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6 changes: 3 additions & 3 deletions examples/reinforcement_learning_controllers/stable_baselines3_dqn_disc_pmsm_example.ipynb
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Expand Up @@ -287,9 +287,9 @@
"env.action_space = Discrete(7)\n",
"\n",
"# applying wrappers\n",
"eps_idx = env.physical_system.state_names.index('epsilon')\n",
"i_sd_idx = env.physical_system.state_names.index('i_sd')\n",
"i_sq_idx = env.physical_system.state_names.index('i_sq')\n",
"eps_idx = env.get_wrapper_attr('state_names').index('epsilon')\n",
"i_sd_idx = env.get_wrapper_attr('state_names').index('i_sd')\n",
"i_sq_idx = env.get_wrapper_attr('state_names').index('i_sq')\n",
"env = TimeLimit(\n",
" FeatureWrapper(\n",
" FlattenObservation(env), \n",
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2 changes: 1 addition & 1 deletion requirements.txt
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Expand Up @@ -3,5 +3,5 @@ numpy>=1.16.4
scipy>=1.4.1
pytest>=5.2.2
pytest-cov
gymnasium>=0.29.0
gymnasium>=0.29.1
pathspec>=0.12.0
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