### Install JSBGym on Windows

Source: https://github.com/sryu1/jsbgym/blob/main/README.md

Install jsbgym using pip. Ensure FlightGear is installed and its bin directory is in the system PATH.

```console
pip install jsbgym
```

--------------------------------

### Install Rendering Packages on Linux

Source: https://github.com/sryu1/jsbgym/blob/main/README.md

Install python3-tk for rendering capabilities on Linux.

```console
sudo apt-get install python3-tk
```

--------------------------------

### Construct Environment ID

Source: https://github.com/sryu1/jsbgym/blob/main/README.md

An example of how to construct a JSBGym environment ID string.

```python
f"{aircraft}-{task}-{shaping}-{flightgear}-v0"
```

--------------------------------

### Verify FlightGear Installation on Windows

Source: https://github.com/sryu1/jsbgym/blob/main/README.md

Confirm FlightGear is runnable from the terminal by checking its version.

```console
fgfs --version
```

--------------------------------

### Create Environment with Specific ID

Source: https://github.com/sryu1/jsbgym/blob/main/README.md

Instantiate a JSBGym environment for a Cessna 172 on the Heading Control task without FlightGear.

```python
env = gym.make("C172-HeadingControlTask-Shaping.STANDARD-NoFG-v0")
```

--------------------------------

### Basic JSBGym Environment Usage

Source: https://github.com/sryu1/jsbgym/blob/main/README.md

Create, reset, and step through a JSBGym environment using the Gymnasium interface.

```python
import jsbgym
import gymnasium as gym

env = gym.make(ENV_ID)
env.reset()
observation, reward, terminated, truncated, info = env.step(action)
```

--------------------------------

### Configure FlightGear on Linux

Source: https://github.com/sryu1/jsbgym/blob/main/README.md

Move the FlightGear AppImage to /usr/local/bin and set the FG_ROOT environment variable.

```console
sudo mv fgfs /usr/local/bin
export FG_ROOT=/path/to/datafolder
```

--------------------------------

### Render Environment in Human Mode

Source: https://github.com/sryu1/jsbgym/blob/main/README.md

Create and render a JSBGym environment in human mode for visualization. Requires FlightGear for 3D visualization.

```python
env = gym.make("C172-HeadingControlTask-Shaping.STANDARD-NoFG-v0", render_mode="human")
env.reset()
env.render()
```

--------------------------------

### Enable FlightGear 3D Rendering

Source: https://github.com/sryu1/jsbgym/blob/main/README.md

Use this code to create a JSBGym environment with FlightGear rendering enabled. Note that using this render mode during training is discouraged due to potential connection errors.

```python
env = gym.make("C172-HeadingControlTask-Shaping.STANDARD-FG-v0", render_mode="flightgear")
env.reset()
env.render()
```

--------------------------------

### JSBGym Action Space Definition

Source: https://github.com/sryu1/jsbgym/blob/main/README.md

Defines the 3-tuple continuous action space for JSBGym environments, representing normalized commands for ailerons, elevator, and rudder.

```python
(name='fcs/aileron-cmd-norm', description='aileron commanded position, normalised', min=-1.0, max=1.0)
(name='fcs/elevator-cmd-norm', description='elevator commanded position, normalised', min=-1.0, max=1.0)
(name='fcs/rudder-cmd-norm', description='rudder commanded position, normalised', min=-1.0, max=1.0)
```

--------------------------------

### JSBGym State Space Definition

Source: https://github.com/sryu1/jsbgym/blob/main/README.md

Defines the 11-tuple continuous state space for JSBGym environments, including altitude, pitch, roll, velocities, rates, and error metrics.

```python
(name='position/h-sl-ft', description='altitude above mean sea level [ft]', min=-1400, max=85000)
(name='attitude/pitch-rad', description='pitch [rad]', min=-1.5707963267948966, max=1.5707963267948966)
(name='attitude/roll-rad', description='roll [rad]', min=-3.141592653589793, max=3.141592653589793)
(name='velocities/u-fps', description='body frame x-axis velocity [ft/s]', min=-2200, max=2200)
(name='velocities/v-fps', description='body frame y-axis velocity [ft/s]', min=-2200, max=2200)
(name='velocities/w-fps', description='body frame z-axis velocity [ft/s]', min=-2200, max=2200)
(name='velocities/p-rad_sec', description='roll rate [rad/s]', min=-6.283185307179586, max=6.283185307179586)
(name='velocities/q-rad_sec', description='pitch rate [rad/s]', min=-6.283185307179586, max=6.283185307179586)
(name='velocities/r-rad_sec', description='yaw rate [rad/s]', min=-6.283185307179586, max=6.283185307179586)
(name='error/altitude-error-ft', description='error to desired altitude [ft]', min=-1400, max=85000)
(name='error/track-error-deg', description='error to desired track [deg]', min=-180, max=180)
```

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