EPuck

Actions

class enki_env.EPuckAction(max_speed: float = 12.8, max_acceleration: float = 1, fix_orientation: bool = False, fix_position: bool = False, acceleration: bool = False, dtype: type[~numpy.floating[~Any]] = <class 'numpy.float64'>)

Bases: DifferentialDriveAction

Action configuration for pyenki.EPuck.

Uses by default max_speed=12.8.

Observations

class enki_env.EPuckObservation(max_speed: float = 12.8, speed: bool = False, normalize: bool = True, dtype: type[~numpy.floating[~Any]] = <class 'numpy.float64'>, camera: bool = False, scanner: bool = False, proximity_distance: bool = False, proximity_value: bool = True, max_scanner_range: float = 32, max_proximity_distance: float = 12, max_proximity_value: float = 3731)

Bases: DifferentialDriveObservation

Observation configuration for pyenki.EPuck.

If normalize=True, fields scanner, prox/distance, and prox/value will be normalized in [0, 1], according to max_scanner_range, max_proximity_distance and max_proximity_value.

Uses by default max_speed=12.8.

camera: bool = False

If set, observations will include field "camera" with readings from the linear RGB camera.

max_proximity_distance: float = 12

the maximal range of the proximity sensors

max_proximity_value: float = 3731

the maximal values read by proximity sensors

max_scanner_range: float = 32

the maximal range of the scanner

max_speed: float = 12.8

Maximal wheel speed in cm/s.

proximity_distance: bool = False

If set, observations will include field "prox/distance" with distances measured by the proximity sensors.

proximity_value: bool = True

If set, observations will include field "prox/value" with readings from the proximity sensors.

scanner: bool = False

If set, observations will include field "scanner" with readings from the laser scanner.

Configuration

class enki_env.EPuckConfig(action: EPuckAction = <factory>, observation: EPuckObservation = <factory>, reward: RewardFunction | None = None, info: list[InfoFunction] = <factory>, terminations: list[Termination] = <factory>)

Bases: GroupConfig

The default configuration for a pyenki.EPuck that instantiates EPuckAction and EPuckObservation with their default parameters.