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)