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jjshoots · May 1, 2024 · 17ff4ec · 17ff4ec
1 parent 9df80c7
commit 17ff4ec
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Showing 3 changed files with 21 additions and 7 deletions.
diff --git a/PyFlyt/gym_envs/fixedwing_envs/fixedwing_base_env.py b/PyFlyt/gym_envs/fixedwing_envs/fixedwing_base_env.py
@@ -165,7 +165,9 @@ def begin_reset(
             drone_options = dict()
 
         # camera handling
-        drone_options["use_camera"] = drone_options.get("use_camera", False) or bool(self.render_mode)
+        drone_options["use_camera"] = drone_options.get("use_camera", False) or bool(
+            self.render_mode
+        )
 
         # init env
         self.env = Aviary(

diff --git a/PyFlyt/gym_envs/quadx_envs/quadx_base_env.py b/PyFlyt/gym_envs/quadx_envs/quadx_base_env.py
@@ -161,8 +161,16 @@ def begin_reset(
         self.info["collision"] = False
         self.info["env_complete"] = False
 
+        # need to handle Nones
+        if options is None:
+            options = dict()
+        if drone_options is None:
+            drone_options = dict()
+
         # camera handling
-        drone_options["use_camera"] = drone_options.get("use_camera", False) or bool(self.render_mode)
+        drone_options["use_camera"] = drone_options.get("use_camera", False) or bool(
+            self.render_mode
+        )
 
         # init env
         self.env = Aviary(
@@ -288,23 +296,25 @@ def render(self) -> np.ndarray:
             raise ValueError(
                 "Please set `render_mode='human'` or `render_mode='rgb_array'` in init to use this function."
             )
-        
-        if self.render_mode is "human":
+
+        if self.render_mode == "human":
             _, _, rgbaImg, _, _ = self.env.getCameraImage(
                 width=self.render_resolution[1],
                 height=self.render_resolution[0],
                 viewMatrix=self.camera_parameters[2],
                 projectionMatrix=self.camera_parameters[3],
             )
-        elif self.render_mode is "rgb_array":
+        elif self.render_mode == "rgb_array":
             _, _, rgbaImg, _, _ = self.env.getCameraImage(
                 width=self.render_resolution[1],
                 height=self.render_resolution[0],
                 viewMatrix=self.env.drones[0].camera.view_mat,
                 projectionMatrix=self.env.drones[0].camera.proj_mat,
             )
         else:
-            raise ValueError(f"Unknown render mode {self.render_mode}, should not have ended up here")
+            raise ValueError(
+                f"Unknown render mode {self.render_mode}, should not have ended up here"
+            )
 
         rgbaImg = np.asarray(rgbaImg).reshape(
             self.render_resolution[0], self.render_resolution[1], -1

diff --git a/PyFlyt/gym_envs/rocket_envs/rocket_base_env.py b/PyFlyt/gym_envs/rocket_envs/rocket_base_env.py
@@ -188,7 +188,9 @@ def begin_reset(
             self.start_orn = rotation
 
         # camera handling
-        drone_options["use_camera"] = drone_options.get("use_camera", False) or bool(self.render_mode)
+        drone_options["use_camera"] = drone_options.get("use_camera", False) or bool(
+            self.render_mode
+        )
 
         # init env
         self.env = Aviary(