[Feature request] Clarify relation between position and dynamics observations

[Gamenot]

Motivation

The request is to clarify the meaning of the dynamics observations.

It is not currently clear what the relationship is between the global Cartesian coordinate position of the vehicle and the relative values that the dynamics observations provide. The current observations are as follows:

observation
|- ego_vehicle_observation
||- position: vec2 (global)
||- heading: float (global)
||- linear_velocity: vec2 (vehicle relative)
||- angular_velocity: vec2 (vehicle relative)
||- linear_acceleration: vec2 (vehicle relative)
||- angular_acceleration: vec2 (vehicle relative)
||- linear_jerk: vec2 (vehicle relative)
||- angular_jerk: vec2 (vehicle relative)

This is confusing because it is not clear

• a) That velocity, acceleration, and jerk are coordinates relative to the vehicle front.
• b) That the front-facing axis is x.

Proposal

Some suggestions:

• [ ] Rename or reorient the hierarchy of the observations to clarify that the physics observations are relative.
• [ ] Change the physics observations to be global.

Alternatives

No response

Additional context

No response