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RL algorithm and working model: https://github.com/EmbersArc/PPO

/envs/box2d/rocket_lander.py is the only important file, along with some small changes to init files, see https://github.com/openai/gym#environments

The objective of this environment is to land a rocket on a ship. The environment is highly customizable and takes discrete or continuous inputs.

The state consists of the following variables:

• x position
• y position
• angle
• first leg ground contact indicator
• second leg ground contact indicator
• throttle
• engine gimbal

If VEL_STATE is set to true, the velocities are included:

• x velocity
• y velocity
• angular velocity

All state variables are normalized for improved training.

Discrete control inputs are:

• gimbal left
• gimbal right
• throttle up
• throttle down
• use first control thruster
• use second control thruster
• no action

Continuous control inputs are:

• gimbal (left/right)
• throttle (up/down)
• control thruster (left/right)