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lunar_env_adapter.py

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+import gymnasium as gym
+import numpy as np
+
+class LunarLanderAdapter:
+    """
+    LunarLander 환경 래퍼:
+    - Gymnasium LunarLander-v3 / v2 호환
+    - 웹 Canvas 렌더링 및 HUD 텔레메트리용 구조화 데이터 추출
+    """
+    def __init__(self, render_mode=None):
+        try:
+            self.env = gym.make("LunarLander-v3", render_mode=render_mode)
+        except Exception:
+            self.env = gym.make("LunarLander-v2", render_mode=render_mode)
+            
+        self.observation_space = self.env.observation_space
+        self.action_space = self.env.action_space
+
+    def reset(self, seed=None):
+        obs, info = self.env.reset(seed=seed)
+        return obs, info
+
+    def step(self, action):
+        return self.env.step(action)
+
+    def close(self):
+        self.env.close()
+
+    def extract_telemetry(self, state, action=0, reward=0.0, done=False, info=None):
+        """
+        State 구성:
+        [0]: x 좌표 (-1.0 ~ 1.0)
+        [1]: y 좌표 (0 ~ 1.5)
+        [2]: 수평 속도 vx
+        [3]: 수직 속도 vy
+        [4]: 각도 angle (라디안)
+        [5]: 각속도 angular_vel
+        [6]: 좌측 착륙 다리 지면 접촉 (0.0 or 1.0)
+        [7]: 우측 착륙 다리 지면 접촉 (0.0 or 1.0)
+        """
+        x, y, vx, vy, angle, angular_vel, leg_l, leg_r = state
+        
+        # 지형 정보 및 착륙 패드 정보 추출 (LunarLander 환경 내부 객체 활용 가능시)
+        helipad_x1 = -0.2
+        helipad_x2 = 0.2
+        helipad_y = 0.0
+
+        # 착륙 상태 판별
+        is_touchdown = bool(leg_l > 0.5 and leg_r > 0.5)
+        is_upright = abs(angle) < 0.1
+        is_slow = abs(vx) < 0.1 and abs(vy) < 0.1
+        is_safe_landing = is_touchdown and is_upright and is_slow and done
+
+        telemetry = {
+            "x": float(x),
+            "y": float(y),
+            "vx": float(vx),
+            "vy": float(vy),
+            "altitude": float(max(0.0, y)),
+            "vertical_speed": float(vy),
+            "horizontal_speed": float(vx),
+            "angle": float(angle),
+            "angle_deg": float(np.degrees(angle)),
+            "angular_velocity": float(angular_vel),
+            "leg_left_contact": bool(leg_l > 0.5),
+            "leg_right_contact": bool(leg_r > 0.5),
+            "action": int(action),  # 0: None, 1: Left, 2: Main, 3: Right
+            "reward": float(reward),
+            "done": bool(done),
+            "is_safe_landing": bool(is_safe_landing),
+            "helipad": {"x1": helipad_x1, "x2": helipad_x2, "y": helipad_y}
+        }
+        return telemetry