Racecar

front

back

left

right

A robot closer to realistic car dynamics, moving in three dimensions, has one velocity servo and one position servo, one to adjust the rear wheel speed to the target speed and the other to adjust the front wheel steering angle to the target angle. Racecar references the widely known MIT Racecar project’s dynamics model. For it to accomplish the specified goal, it must coordinate the relationship between the steering angle of the tires and the speed, just like a human driving a car.

Specific Action Space	Box([-20. -0.785], [20. 0.785], (2,), float64)
Specific Observation Shape	(12,)
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	Velocity of the rear wheels.	-20	20	diff_ring	hinge	velocity (m/s)
1	Angle of the front wheel.	0	1	steering_hinge	hinge	angle (rad)

Specific Observation Space

Size	Observation	Min	Max	Name (in corresponding XML file)	Joint/Site	Unit
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.