Renamed done to terminated and added methods to set the truncated flag

README.md

@@ -37,9 +37,9 @@ python3 pid.py
 
 ## TODO
 
-- [ ] Add `yaml` configuration files
 - [ ] Add `stable-baselines3` 2.0 support/examples
-- [ ] Add `pytest`s/GitHub Actions
+- [ ] Add `pytest`s/GitHub Action for learning examples
+- [ ] Add `yaml` configuration files
 
 ## Citation
 

gym_pybullet_drones/envs/BaseAviary.py

@@ -255,7 +255,10 @@ def step(self,
             The step's reward value(s), check the specific implementation of `_computeReward()`
             in each subclass for its format.
         bool | dict[..]
-            Whether the current episode is over, check the specific implementation of `_computeDone()`
+            Whether the current episode is over, check the specific implementation of `_computeTerminated()`
+            in each subclass for its format.
+        bool | dict[..]
+            Whether the current episode is truncated, check the specific implementation of `_computeTruncated()`
             in each subclass for its format.
         bool | dict[..]
             Whether the current episode is trunacted, always false.
@@ -343,8 +346,8 @@ def step(self,
         #### Prepare the return values #############################
         obs = self._computeObs()
         reward = self._computeReward()
-        terminated = self._computeDone()
-        truncated = False # TODO: add support for truncated episodes
+        terminated = self._computeTerminated()
+        truncated = self._computeTruncated()
         info = self._computeInfo()
         #### Advance the step counter ##############################
         self.step_counter = self.step_counter + (1 * self.AGGR_PHY_STEPS)
@@ -1048,8 +1051,18 @@ def _computeReward(self):
 
     ################################################################################
 
-    def _computeDone(self):
-        """Computes the current done value(s).
+    def _computeTerminated(self):
+        """Computes the current terminated value(s).
+
+        Must be implemented in a subclass.
+
+        """
+        raise NotImplementedError
+
+    ################################################################################
+
+    def _computeTruncated(self):
+        """Computes the current truncated value(s).
 
         Must be implemented in a subclass.
 

gym_pybullet_drones/envs/CtrlAviary.py

@@ -172,8 +172,23 @@ def _computeReward(self):
 
     ################################################################################
 
-    def _computeDone(self):
-        """Computes the current done value(s).
+    def _computeTerminated(self):
+        """Computes the current terminated value(s).
+
+        Unused as this subclass is not meant for reinforcement learning.
+
+        Returns
+        -------
+        bool
+            Dummy value.
+
+        """
+        return False
+
+    ################################################################################
+
+    def _computeTruncated(self):
+        """Computes the current truncated value(s).
 
         Unused as this subclass is not meant for reinforcement learning.
 

gym_pybullet_drones/envs/VelocityAviary.py

@@ -197,8 +197,23 @@ def _computeReward(self):
 
     ################################################################################
 
-    def _computeDone(self):
-        """Computes the current done value(s).
+    def _computeTerminated(self):
+        """Computes the current terminated value(s).
+
+        Unused as this subclass is not meant for reinforcement learning.
+
+        Returns
+        -------
+        bool
+            Dummy value.
+
+        """
+        return False
+
+    ################################################################################
+
+    def _computeTruncated(self):
+        """Computes the current truncated value(s).
 
         Unused as this subclass is not meant for reinforcement learning.
 

gym_pybullet_drones/envs/VisionAviary.py

@@ -213,8 +213,23 @@ def _computeReward(self):
 
     ################################################################################
 
-    def _computeDone(self):
-        """Computes the current done value(s).
+    def _computeTerminated(self):
+        """Computes the current terminated value(s).
+
+        Unused as this subclass is not meant for reinforcement learning.
+
+        Returns
+        -------
+        bool
+            Dummy value.
+
+        """
+        return False
+
+    ################################################################################
+
+    def _computeTruncated(self):
+        """Computes the current truncated value(s).
 
         Unused as this subclass is not meant for reinforcement learning.
 

gym_pybullet_drones/envs/multi_agent_rl/FlockAviary.py

@@ -131,7 +131,7 @@ def _computeReward(self):
 
     ################################################################################
 
-    def _computeDone(self):
+    def _computeTerminated(self):
         """Computes the current done value(s).
 
         Returns
@@ -145,6 +145,21 @@ def _computeDone(self):
         done = {i: bool_val for i in range(self.NUM_DRONES)}
         done["__all__"] = True if True in done.values() else False
         return done
+
+    ################################################################################
+
+    def _computeTruncated(self):
+        """Computes the current truncated value(s).
+
+        Unused in this implementation.
+
+        Returns
+        -------
+        bool
+            Always false.
+
+        """
+        return False
 
     ################################################################################
 

gym_pybullet_drones/envs/multi_agent_rl/LeaderFollowerAviary.py

@@ -89,7 +89,7 @@ def _computeReward(self):
 
     ################################################################################
 
-    def _computeDone(self):
+    def _computeTerminated(self):
         """Computes the current done value(s).
 
         Returns
@@ -106,6 +106,21 @@ def _computeDone(self):
 
     ################################################################################
 
+    def _computeTruncated(self):
+        """Computes the current truncated value(s).
+
+        Unused in this implementation.
+
+        Returns
+        -------
+        bool
+            Always false.
+
+        """
+        return False
+
+    ################################################################################
+
     def _computeInfo(self):
         """Computes the current info dict(s).
 

gym_pybullet_drones/envs/single_agent_rl/FlyThruGateAviary.py

@@ -107,7 +107,7 @@ def _computeReward(self):
 
     ################################################################################
 
-    def _computeDone(self):
+    def _computeTerminated(self):
         """Computes the current done value.
 
         Returns
@@ -120,6 +120,21 @@ def _computeDone(self):
             return True
         else:
             return False
+
+    ################################################################################
+
+    def _computeTruncated(self):
+        """Computes the current truncated value(s).
+
+        Unused in this implementation.
+
+        Returns
+        -------
+        bool
+            Always false.
+
+        """
+        return False
 
     ################################################################################
 

gym_pybullet_drones/envs/single_agent_rl/HoverAviary.py

@@ -76,7 +76,7 @@ def _computeReward(self):
 
     ################################################################################
 
-    def _computeDone(self):
+    def _computeTerminated(self):
         """Computes the current done value.
 
         Returns
@@ -89,6 +89,21 @@ def _computeDone(self):
             return True
         else:
             return False
+
+    ################################################################################
+
+    def _computeTruncated(self):
+        """Computes the current truncated value(s).
+
+        Unused in this implementation.
+
+        Returns
+        -------
+        bool
+            Always false.
+
+        """
+        return False
 
     ################################################################################