Marxbot

Actions

class enki_env.MarxbotAction(max_speed: float = 30, 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

The action configuration for pyenki.Marxbot.

Sets by default max_speed=30.

Observations

class enki_env.MarxbotObservation(max_speed: float = 30, speed: bool = False, normalize: bool = True, dtype: type[~numpy.floating[~Any]] = <class 'numpy.float64'>, camera: bool = False, scanner: bool = True, max_scanner_range: float = 100)

Bases: DifferentialDriveObservation

The observation configuration for pyenki.Marxbot.

If normalize=True, scanner readings are re-scaled to [0, 1] using max_scanner_range.

Sets by default max_speed=30.

camera: bool = False

If set, observations include field "camera" with readings from the omni-directional linear RGB camera.

max_scanner_range: float = 100

The maximal range of the scanner [cm].

max_speed: float = 30

Maximal wheel speed in cm/s.

scanner: bool = True

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