Merge pull request #264 from upb-lea/263-examples-gymnasium-v1

263 examples gymnasium v1

CHANGELOG.md

@@ -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

examples/model_predictive_controllers/pmsm_mpc_dq_current_control.ipynb

@@ -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",

examples/reinforcement_learning_controllers/stable_baselines3_ddpg_pmsm_dq_current_control.ipynb

@@ -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",

examples/reinforcement_learning_controllers/stable_baselines3_dqn_disc_pmsm_example.ipynb

@@ -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",

requirements.txt

@@ -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