def __init__(self,
gain=1.0,
trim=0.0,
radius=0.0318,
k=27.0,
limit=1.0,
line=None,
GUI=None,
**kwargs):
Publisher.__init__(self)
Simulator.__init__(self, **kwargs)
logger.info('using DuckietownEnv')
threading.Thread.__init__(self)
self.action_space = spaces.Box(low=np.array([-1, -1]),
high=np.array([1, 1]),
dtype=np.float32)
# Should be adjusted so that the effective speed of the robot is 0.2 m/s
self.gain = gain
self.line = line
# Directional trim adjustment
self.trim = trim
self.register(GUI)
# Wheel radius
self.radius = radius
# Motor constant
self.k = k
# Wheel velocity limit
self.limit = limit
def __init__(self,
gain=1.0,
trim=0.0,
radius=0.0318,
k=27.0,
limit=1.0,
**kwargs):
Simulator.__init__(self, **kwargs)
self.action_space = spaces.Box(low=np.array([-1, -1]),
high=np.array([1, 1]),
dtype=np.float32)
