seureteric/lawarob-wheeled
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Max speed

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This commit is contained in:
Eric Seuret 2025-09-30 11:56:58 +02:00
parent af228ce030
commit a8b69d1a0e
1 changed files with 3 additions and 0 deletions
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WheeledRobot.py
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@ -141,6 +141,9 @@ class WheeledRobotEnv(gym.Env):
# U represents wheel velocities from controllers
# F converts wheel velocities to robot velocities
robot_velocities = self.F @ U
robot_velocities = np.clip(robot_velocities,
a_min=np.array([-2, -2, -1]).reshape(-1, 1),
a_max=np.array([2, 2, 1]).reshape(-1, 1))
Xp = X + self._R(X[2, 0]) @ robot_velocities * self.dt
previous_state = self.state.copy()