Actions

Similarly to observations, a variety of action types can be used within each environment. These are defined in the action module. Each environment comes with a default action type, that can be customized using environment configurations. As an example:

import gymnasium as gym

env = gym.make('flyer-v1')
env.configure({
    "action": {
        "type": "ContinousAction"
    }
})
env.reset()

Continuous Actions

The ContinuousAction type allows for direct control of the agents controls either with a FlyingVehicle or AircraftVehicle. These commands include:

Control Surface	Nomenclature	Range	Unit
Elevator	\(\delta_{\eta}\)	[-1.0, 1.0]	[-]
Aileron	\(\delta_{\epsilon}\)	[-1.0, 1.0]	[-]
Thrust Lever Angle (TLA)	\(\delta_{tla}\)	[0.0, 1.0]	[-]

Controlled Actions

The ControlledAction type is a higher order action type to control the aircraft’s heading, altitude, and speed with a FlyingVehicle. These commands include:

Controlled Parameter	Nomenclature	Range	Unit
Heading	\(\theta\)	[\(- \pi , \pi \)]	[\(rads\)]
Altitude	\(H\)	[0.0, 10,000]	[\(m\)]
Airspeed	\(V_{\infty}\)	[0.0, 300.0]	[\(m/s\)]

Pursuit Actions

The PursuitAction type is a higher order action type used to navigate a FlyingVehicle to a specific 2D point at a fixed altitude and speed. These commands include:

Controlled Parameter	Nomenclature	Range	Unit
GoalPos	\(s_{g}\)	[-]	[\(m\)]
Altitude	\(H\)	[0.0, 10,000]	[\(m\)]
Airspeed	\(V_{\infty}\)	[0.0, 300.0]	[\(m/s\)]

API