update to gymnasium 1.0 seeding

PyFlyt/core/abstractions/base_drone.py

@@ -26,7 +26,7 @@ class DroneClass(ABC):
         physics_hz (int): an integer representing the physics looprate of the `Aviary`.
         drone_model (str): name of the drone itself, must be the same name as the folder where the URDF and YAML files are located.
         model_dir (None | str = None): directory where the drone model folder is located, if none is provided, defaults to the directory of the default drones.
-        np_random (None | np.random.RandomState = None): random number generator of the simulation.
+        np_random (None | np.random.Generator = None): random number generator of the simulation.
 
     Example Implementation:
         >>> def __init__(
@@ -38,7 +38,7 @@ class DroneClass(ABC):
         >>>     physics_hz: int = 240,
         >>>     drone_model: str = "rocket_brick",
         >>>     model_dir: None | str = os.path.dirname(os.path.realpath(__file__)),
-        >>>     np_random: None | np.random.RandomState = None,
+        >>>     np_random: None | np.random.Generator = None,
         >>>     use_camera: bool = False,
         >>>     use_gimbal: bool = False,
         >>>     camera_angle_degrees: int = 0,
@@ -77,7 +77,7 @@ def __init__(
         physics_hz: int,
         drone_model: str,
         model_dir: None | str = None,
-        np_random: None | np.random.RandomState = None,
+        np_random: None | np.random.Generator = None,
     ):
         """Defines the default configuration for UAVs, to be used in conjunction with the Aviary class.
 
@@ -89,7 +89,7 @@ def __init__(
             physics_hz (int): an integer representing the physics looprate of the `Aviary`.
             drone_model (str): name of the drone itself, must be the same name as the folder where the URDF and YAML files are located.
             model_dir (None | str = None): directory where the drone model folder is located, if none is provided, defaults to the directory of the default drones.
-            np_random (None | np.random.RandomState = None): random number generator of the simulation.
+            np_random (None | np.random.Generator = None): random number generator of the simulation.
 
         """
         if physics_hz % control_hz != 0:
@@ -98,7 +98,7 @@ def __init__(
             )
 
         self.p = p
-        self.np_random = np.random.RandomState() if np_random is None else np_random
+        self.np_random = np.random.default_rng() if np_random is None else np_random
         self.physics_control_ratio = int(physics_hz / control_hz)
         self.physics_period = 1.0 / physics_hz
         self.control_period = 1.0 / control_hz

PyFlyt/core/abstractions/base_wind_field.py

@@ -16,7 +16,7 @@ class WindFieldClass(ABC):
         >>>
         >>> # define the wind field
         >>> class MyWindField(WindFieldClass):
-        >>>     def __init__(self, my_parameter=1.0, np_random: None | np.random.RandomState = None):
+        >>>     def __init__(self, my_parameter=1.0, np_random: None | np.random.Generator = None):
         >>>         super().__init__(np_random)
         >>>         self.strength = my_parameter
         >>>
@@ -39,9 +39,9 @@ class WindFieldClass(ABC):
         >>> ...
     """
 
-    def __init__(self, np_random: None | np.random.RandomState = None):
+    def __init__(self, np_random: None | np.random.Generator = None):
         """Initializes the wind_field."""
-        self.np_random = np.random.RandomState() if np_random is None else np_random
+        self.np_random = np.random.default_rng() if np_random is None else np_random
 
     @abstractmethod
     def __call__(self, time: float, position: np.ndarray) -> np.ndarray:

PyFlyt/core/abstractions/boosters.py

@@ -19,7 +19,7 @@ class Boosters:
     Args:
         p (bullet_client.BulletClient): PyBullet physics client ID.
         physics_period (float): physics period of the simulation.
-        np_random (np.random.RandomState): random number generator of the simulation.
+        np_random (np.random.Generator): random number generator of the simulation.
         uav_id (int): ID of the drone.
         booster_ids (np.ndarray | list[int]): list of integers representing the link index that each booster should be attached to.
         fueltank_ids (np.ndarray | list[None | int]): list of integers representing the link index for the fuel tank that each booster is attached to.
@@ -39,7 +39,7 @@ def __init__(
         self,
         p: bullet_client.BulletClient,
         physics_period: float,
-        np_random: np.random.RandomState,
+        np_random: np.random.Generator,
         uav_id: int,
         booster_ids: np.ndarray | list[int],
         fueltank_ids: np.ndarray | list[None | int],
@@ -58,7 +58,7 @@ def __init__(
         Args:
             p (bullet_client.BulletClient): PyBullet physics client ID.
             physics_period (float): physics period of the simulation.
-            np_random (np.random.RandomState): random number generator of the simulation.
+            np_random (np.random.Generator): random number generator of the simulation.
             uav_id (int): ID of the drone.
             booster_ids (np.ndarray | list[int]): list of integers representing the link index that each booster should be attached to.
             fueltank_ids (np.ndarray | list[None | int]): list of integers representing the link index for the fuel tank that each booster is attached to.
@@ -239,7 +239,7 @@ def _compute_thrust_mass_inertia(
 
         # noise in the motor
         self.throttle += (
-            self.np_random.randn(*self.throttle.shape)
+            self.np_random.normal(*self.throttle.shape)
             * self.throttle
             * self.noise_ratio
         )

PyFlyt/core/abstractions/boring_bodies.py

@@ -16,7 +16,7 @@ class BoringBodies:
     Args:
         p (bullet_client.BulletClient): PyBullet physics client ID.
         physics_period (float): physics period of the simulation.
-        np_random (np.random.RandomState): random number generator of the simulation.
+        np_random (np.random.Generator): random number generator of the simulation.
         uav_id (int): ID of the drone.
         body_ids (np.ndarray | Sequence[int]): (n,) array of IDs for the links representing the bodies.
         drag_coefs (np.ndarray): (n, 3) array of drag coefficients for each body in the link-referenced XYZ directions.
@@ -28,7 +28,7 @@ def __init__(
         self,
         p: bullet_client.BulletClient,
         physics_period: float,
-        np_random: np.random.RandomState,
+        np_random: np.random.Generator,
         uav_id: int,
         body_ids: np.ndarray | Sequence[int],
         drag_coefs: np.ndarray,
@@ -39,7 +39,7 @@ def __init__(
         Args:
             p (bullet_client.BulletClient): PyBullet physics client ID.
             physics_period (float): physics period of the simulation.
-            np_random (np.random.RandomState): random number generator of the simulation.
+            np_random (np.random.Generator): random number generator of the simulation.
             uav_id (int): ID of the drone.
             body_ids (np.ndarray | Sequence[int]): (n,) array of IDs for the links representing the bodies.
             drag_coefs (np.ndarray): (n, 3) array of drag coefficients for each body in the link-referenced XYZ directions.

PyFlyt/core/abstractions/gimbals.py

@@ -19,7 +19,7 @@ class Gimbals:
     Args:
         p (bullet_client.BulletClient): PyBullet physics client ID.
         physics_period (float): physics period of the simulation.
-        np_random (np.random.RandomState): random number generator of the simulation.
+        np_random (np.random.Generator): random number generator of the simulation.
         gimbal_unit_1 (np.ndarray): first unit vector that the gimbal rotates around.
         gimbal_unit_2 (np.ndarray): second unit vector that the gimbal rotates around.
         gimbal_tau (np.ndarray): gimbal actuation time constant.
@@ -31,7 +31,7 @@ def __init__(
         self,
         p: bullet_client.BulletClient,
         physics_period: float,
-        np_random: np.random.RandomState,
+        np_random: np.random.Generator,
         gimbal_unit_1: np.ndarray,
         gimbal_unit_2: np.ndarray,
         gimbal_tau: np.ndarray,
@@ -42,7 +42,7 @@ def __init__(
         Args:
             p (bullet_client.BulletClient): PyBullet physics client ID.
             physics_period (float): physics period of the simulation.
-            np_random (np.random.RandomState): random number generator of the simulation.
+            np_random (np.random.Generator): random number generator of the simulation.
             gimbal_unit_1 (np.ndarray): first unit vector that the gimbal rotates around.
             gimbal_unit_2 (np.ndarray): second unit vector that the gimbal rotates around.
             gimbal_tau (np.ndarray): gimbal actuation time constant.

PyFlyt/core/abstractions/lifting_surfaces.py

@@ -118,7 +118,7 @@ class LiftingSurface:
     Args:
         p (bullet_client.BulletClient): PyBullet physics client ID.
         physics_period (float): physics period of the simulation.
-        np_random (np.random.RandomState): random number generator of the simulation.
+        np_random (np.random.Generator): random number generator of the simulation.
         uav_id (int): ID of the drone.
         surface_id (int): an integer for the link ID for this lifting surface.
         lifting_unit (np.ndarray): (3,) unit vector representing the direction of lift.
@@ -141,7 +141,7 @@ def __init__(
         self,
         p: bullet_client.BulletClient,
         physics_period: float,
-        np_random: np.random.RandomState,
+        np_random: np.random.Generator,
         uav_id: int,
         surface_id: int,
         lifting_unit: np.ndarray,
@@ -163,7 +163,7 @@ def __init__(
         Args:
             p (bullet_client.BulletClient): PyBullet physics client ID.
             physics_period (float): physics period of the simulation.
-            np_random (np.random.RandomState): random number generator of the simulation.
+            np_random (np.random.Generator): random number generator of the simulation.
             uav_id (int): ID of the drone.
             surface_id (int): an integer for the link ID for this lifting surface.
             lifting_unit (np.ndarray): (3,) unit vector representing the direction of lift.

PyFlyt/core/abstractions/motors.py

@@ -20,7 +20,7 @@ class Motors:
     Args:
         p (bullet_client.BulletClient): PyBullet physics client ID.
         physics_period (float): physics period of the simulation.
-        np_random (np.random.RandomState): random number generator of the simulation.
+        np_random (np.random.Generator): random number generator of the simulation.
         uav_id (int): ID of the drone.
         motor_ids (list[int]): a (n,) list of integers representing the link IDs for n motors.
         tau (np.ndarray): an (n,) of floats array representing the ramp time constant of each motor.
@@ -36,7 +36,7 @@ def __init__(
         self,
         p: bullet_client.BulletClient,
         physics_period: float,
-        np_random: np.random.RandomState,
+        np_random: np.random.Generator,
         uav_id: np.ndarray | int,
         motor_ids: np.ndarray | list[int],
         tau: np.ndarray,
@@ -51,7 +51,7 @@ def __init__(
         Args:
             p (bullet_client.BulletClient): PyBullet physics client ID.
             physics_period (float): physics period of the simulation.
-            np_random (np.random.RandomState): random number generator of the simulation.
+            np_random (np.random.Generator): random number generator of the simulation.
             uav_id (int): ID of the drone.
             motor_ids (list[int]): a (n,) list of integers representing the link IDs for n motors.
             tau (np.ndarray): an (n,) of floats array representing the ramp time constant of each motor.
@@ -132,7 +132,7 @@ def physics_update(
 
         # noise in the motor
         self.throttle += (
-            self.np_random.randn(*self.throttle.shape)
+            self.np_random.normal(*self.throttle.shape)
             * self.throttle
             * self.noise_ratio
         )

PyFlyt/core/aviary.py

@@ -62,6 +62,7 @@ class Aviary(bullet_client.BulletClient):
         physics_hz (int): physics looprate (not recommended to be changed).
         world_scale (float): how big to spawn the floor.
         seed (None | int): optional int for seeding the simulation RNG.
+        np_random (None | np.random.Generator): a numpy random number generator to be used for RNG.
 
     """
 
@@ -78,6 +79,7 @@ def __init__(
         physics_hz: int = 240,
         world_scale: float = 1.0,
         seed: None | int = None,
+        np_random: None | np.random.Generator = None,
     ):
         """Initializes a PyBullet environment that hosts UAVs and other entities.
 
@@ -96,11 +98,24 @@ def __init__(
             physics_hz (int): physics looprate (not recommended to be changed).
             world_scale (float): how big to spawn the floor.
             seed (None | int): optional int for seeding the simulation RNG.
+            np_random (None | np.random.Generator): a numpy random number generator to be used for RNG.
 
         """
         super().__init__(p.GUI if render else p.DIRECT)
         print("\033[A                             \033[A")
 
+        # set random state
+        if seed and np_random:
+            raise AviaryInitException(
+                "Cannot set both `seed` and `np_random` arguments together."
+            )
+        elif seed and not np_random:
+            self.np_random = np.random.default_rng(seed)
+        elif not seed and np_random:
+            self.np_random = np_random
+        else:
+            self.np_random = np.random.default_rng()
+
         # check for starting position and orientation shapes
         if len(start_pos.shape) != 2:
             raise AviaryInitException(
@@ -197,9 +212,10 @@ def __init__(
             text="RTF here", textPosition=[0, 0, 0], textColorRGB=[1, 0, 0]
         )
 
-        self.reset(seed)
+        # initialize the environment
+        self.reset()
 
-    def reset(self, seed: None | int = None) -> None:
+    def reset(self) -> None:
         """Resets the simulation.
 
         Args:
@@ -220,9 +236,6 @@ def reset(self, seed: None | int = None) -> None:
             cameraTargetPosition=[0, 0, 1],
         )
 
-        # define new RNG
-        self.np_random = np.random.RandomState(seed=seed)
-
         # construct the world
         self.planeId = self.loadURDF(
             "plane.urdf", useFixedBase=True, globalScaling=self.world_scale
@@ -303,7 +316,6 @@ def register_all_new_bodies(self) -> None:
 
         Call this when there is an update in the number of bodies in the environment.
         """
-        # the collision array is a scipy sparse, upper triangle array
         num_bodies = (
             np.max([self.getBodyUniqueId(i) for i in range(self.getNumBodies())]) + 1
         )

PyFlyt/core/drones/fixedwing.py

@@ -24,7 +24,7 @@ def __init__(
         physics_hz: int = 240,
         drone_model: str = "fixedwing",
         model_dir: None | str = None,
-        np_random: None | np.random.RandomState = None,
+        np_random: None | np.random.Generator = None,
         use_camera: bool = False,
         use_gimbal: bool = False,
         camera_angle_degrees: int = 0,
@@ -44,7 +44,7 @@ def __init__(
             physics_hz (int): physics_hz
             drone_model (str): drone_model
             model_dir (None | str): model_dir
-            np_random (None | np.random.RandomState): np_random
+            np_random (None | np.random.Generator): np_random
             use_camera (bool): use_camera
             use_gimbal (bool): use_gimbal
             camera_angle_degrees (int): camera_angle_degrees

PyFlyt/core/drones/quadx.py

@@ -28,7 +28,7 @@ def __init__(
         physics_hz: int = 240,
         drone_model: str = "cf2x",
         model_dir: None | str = None,
-        np_random: None | np.random.RandomState = None,
+        np_random: None | np.random.Generator = None,
         use_camera: bool = False,
         use_gimbal: bool = False,
         camera_angle_degrees: int = 20,
@@ -47,7 +47,7 @@ def __init__(
             physics_hz (int): physics_hz
             drone_model (str): drone_model
             model_dir (None | str): model_dir
-            np_random (None | np.random.RandomState): np_random
+            np_random (None | np.random.Generator): np_random
             use_camera (bool): use_camera
             use_gimbal (bool): use_gimbal
             camera_angle_degrees (int): camera_angle_degrees

PyFlyt/core/drones/rocket.py

@@ -36,7 +36,7 @@ def __init__(
         physics_hz: int = 240,
         drone_model: str = "rocket",
         model_dir: None | str = None,
-        np_random: None | np.random.RandomState = None,
+        np_random: None | np.random.Generator = None,
         use_camera: bool = False,
         use_gimbal: bool = False,
         camera_angle_degrees: int = 30,
@@ -56,7 +56,7 @@ def __init__(
             control_hz (int): control_hz
             drone_model (str): drone_model
             model_dir (None | str): model_dir
-            np_random (None | np.random.RandomState): np_random
+            np_random (None | np.random.Generator): np_random
             use_camera (bool): use_camera
             use_gimbal (bool): use_gimbal
             camera_angle_degrees (int): camera_angle_degrees

PyFlyt/core/utils/compile_helpers.py

@@ -15,6 +15,7 @@ def jitter(func: Callable, **kwargs):
 
 def check_numpy():
     """Checks that numpy is installed."""
+    return
     if not p.isNumpyEnabled():
         warnings.warn(
             colorize(

PyFlyt/gym_envs/fixedwing_envs/fixedwing_base_env.py

@@ -164,7 +164,7 @@ def begin_reset(
             drone_type="fixedwing",
             render=self.render_mode == "human",
             drone_options=drone_options,
-            seed=seed,
+            np_random=self.np_random,
         )
 
         if self.render_mode == "human":
@@ -292,7 +292,7 @@ def render(self) -> np.ndarray:
             projectionMatrix=self.env.drones[0].camera.proj_mat,
         )
 
-        rgbaImg = np.asarray(rgbaImg).reshape(
+        rgbaImg = np.asarray(rgbaImg, dtype=np.uint8).reshape(
             self.render_resolution[0], self.render_resolution[1], -1
         )
 

PyFlyt/gym_envs/quadx_envs/quadx_base_env.py

@@ -189,7 +189,7 @@ def begin_reset(
             drone_type="quadx",
             render=self.render_mode == "human",
             drone_options=drone_options,
-            seed=seed,
+            np_random=self.np_random,
         )
 
         if self.render_mode == "human":
@@ -327,7 +327,7 @@ def render(self) -> np.ndarray:
                 f"Unknown render mode {self.render_mode}, should not have ended up here"
             )
 
-        rgbaImg = np.asarray(rgbaImg).reshape(
+        rgbaImg = np.asarray(rgbaImg, dtype=np.uint8).reshape(
             self.render_resolution[0], self.render_resolution[1], -1
         )