def basic_task():
""" A simple task involving initing a JSBSimInstance to test multiprocessing. """
model = aircraft.cessna172P
time.sleep(0.05)
fdm = Simulation(aircraft=model)
fdm.run()
time.sleep(0.05)
return 0
def task_step(self, sim: Simulation, action: Sequence[float], sim_steps: int) \
-> Tuple[NamedTuple, float, bool, Dict]:
# input actions
for prop, command in zip(self.action_variables, action):
sim[prop] = command
# run simulation
for _ in range(sim_steps):
sim.run()
self._update_custom_properties(sim)
state = self.State(*(sim[prop] for prop in self.state_variables))
done = self._is_terminal(sim)
reward = self._get_reward(state, sim)
if self.debug:
self._validate_state(state, done, action, reward)
self._store_reward(reward, sim)
self.last_state = state
info = {'reward': reward, 'action': action}
return state, reward, done, info