Car

front

back

left

right

A slightly more complex robot, moving in three dimensions, has two independently driven parallel wheels and one free-rolling rear wheel. For this robot, both steering and forward/backward movement require coordination of the two drives. It is similar in design to a simple robot used for educational purposes.

Specific Action Space	Box(-1.0, 1.0, (2,), float64)
Specific Observation Shape	(24,)
Specific Observation High	inf
Specific Observation Low	-inf

Specific Action Space

Num	Action	Control Min	Control Max	Name (in corresponding XML file)	Joint/Site	Unit
0	To applied on left wheel	0	1	left	hinge	Force (N)
1	To applied on right wheel	0	1	right	hinge	Force (N)

Specific Observation Space

Size	Observation	Min	Max	Name (in corresponding XML file)	Joint/Site	Unit
9	Quaternions of the rear wheel which are turned into 3x3 rotation matrices.	-inf	inf	ballquat_rear	ball	unitless
3	Angle velocity of the rear wheel.	-inf	inf	ballangvel_rear	ball	anglular velocity (rad/s)
3	accelerometer	-inf	inf	accelerometer	site	acceleration (m/s^2)
3	velocimeter	-inf	inf	velocimeter	site	velocity (m/s)
3	gyro	-inf	inf	gyro	site	anglular velocity (rad/s)
3	magnetometer	-inf	inf	magnetometer	site	magnetic flux (Wb)

Specific Starting Randomness

Nothing.

Specific Episode End

Nothing.