3D figure-8

3D airplane environment state, parameters, and transition logic.

Action space	Box((3,)), all actions in [-1, 1]
Observation space	Box((19,))
Tracked variable(s)	altitude (m)
Episode length	400 steps (400 s at 1 s per step)
Import	from target_gym import Plane3DFigureEight, PlaneParams3D
Cite as	plane3d_figure8-v1

Action space

Actions are normalised to [-1, 1] and mapped onto the plant's real actuator range inside the environment.

#	meaning	min	max
0	power	-1	1
1	stick	-1	1
2	aileron	-1	1

Observation space

19 values. Indices (2,) carry the tracked variable(s) that the reward scores.

Rewards

See the environment's compute_reward.

Every environment in this suite scores on one contract: the reward is (tracking terms, multiplied) x (1 - weighted costs), bounded in [0, 1], and reaches 1 only while the target is held exactly. See Reward shaping.

Starting state

reset samples the initial condition and the target; state has 27 fields.

Episode end

Termination. See check_is_terminal.

Truncation. After 400 steps.

Baselines

A tuned PID ships with this environment.

Arguments

parameter	default
delta_t	1
max_steps_in_episode	400
gravity	9.81
initial_mass	73500
thrust_output_at_sea_level	240000
air_density_at_sea_level	1.225
frontal_surface	12.6
wings_surface	122.6
C_x0	0.095
C_z0	0.9
initial_fuel_quantity	19088
specific_fuel_consumption	0.0175
power_response_rate	0.05
stick_response_rate	0.9
…	50 more, see the params dataclass