What’s In an Observation
An observation is returned by the gym environment after resetting and stepping. An observation is a dictionary with the following keys:
'ego_idx': index of the ego agent in the list of agents'scans': list of length num_agents of numpy.ndarrays of (num_beams, ), each array is the corresponding laser scan of the agent in the list'poses_x': list of length num_agents of floats, each agent’s x pose in the world'poses_y': list of length num_agents of floats, each agent’s y pose in the world'poses_theta': list of length num_agents of floats, each agent’s theta pose in the world'linear_vels_x': list of length num_agents of floats, each agent’s current longitudinal velocity'linear_vels_y': list of length num_agents of zeros'ang_vels_z': list of length num_agents of floats, each agent’s current yaw rate'collisions': list of length num_agents of 1s or 0s, whether each agent is in collision with another agent or the environment