Feature: add speed actuator - Githubissues

axelbr / racecar_gym

A gym environment for a miniature racecar using the pybullet physics engine.

MIT License

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Feature: add speed actuator #9

Closed luigiberducci closed 2 years ago

luigiberducci commented 2 years ago

Introduce control of target speed, instead of using the motor force.

Details:

The control is already normalized in +-1 and corresponds to a non-negative target velocity, between 0 and max_velocity m/s. I set max_velocity=3.5 because apparently, the vehicle is not able to drive faster than that.
The set of actuators can be specified in the scenario files, in the same way we have done with the sensors. If not specified, the default set of actuators is [steering, motor].