Observations

For all environments, a variety of observation types can be used. These are defined with the observation module. Each environment has a default observation, which can be changed or customized using environment configurations. For example:

import gymnasium as gym
import flyer_env

env = gym.make('flyer-v1')
env.configure({
    'observation': {
        
    }
})
env.reset()

Kinematics

The KinematicObservation is a \(V \times F\) array containing a list of \(V\) nearby vehicles by a set of features of size \(F\), listed in the "features" configuration field. For example:

Name	Param	Description	Unit
x	\(x\)	Aircraft’s position in the \(x\)-axis	[\(m\)]
y	\(y\)	Aircraft’s position in the \(y\)-axis	[\(m\)]
z	\(z\)	Aircraft’s position in the \(z\)-axis	[\(m\)]
heading	\(\psi\)	Aircraft’s heading angle	[\(rad\)]
pitch	\(\theta\)	Aircraft’s pitch angle	[\(rad\)]
bank	\(\phi\)	Aircraft’s bank angle	[\(rad\)]
speed	\(V_{\infty}\)	Aircraft’s airspeed	[\(m/s\)]

Dynamics

Name	Param	Description	Unit
x	\(x\)	Aircraft’s position in the \(x\)-axis	[\(m\)]
y	\(y\)	Aircraft’s position in the \(y\)-axis	[\(m\)]
z	\(z\)	Aircraft’s position in the \(z\)-axis	[\(m\)]
pitch	\(\theta\)	Aircraft’s pitch angle	[\(rad\)]
roll	\(\phi\)	Aircraft’s roll angle	[\(rad\)]
yaw	\(\psi\)	Aircraft’s yaw angle	[\(rad\)]
u	\(u\)	Aircraft’s linear velocity in the \(x\)-axis	[\(m/s\)]
v	\(v\)	Aircraft’s linear velocity in the \(y\)-axis	[\(m/s\)]
w	\(w\)	Aircraft’s linear velocity in the \(z\)-axis	[\(m/s\)]
p	\(p\)	Aircraft’s rotational velocity in the \(x\)-axis	[\(rad/s\)]
q	\(q\)	Aircraft’s rotational velocity in the \(y\)-axis	[\(rad/s\)]
r	\(r\)	Aircraft’s rotational velocity in the \(z\)-axis	[\(rad/s\)]