CarGoal

CarGoal

Task

Drive the F1tenth car to a goal position

Map

Open area (no obstacles)

Action Space

Linear and Angular Velocity

action = [lin_vel, ang_vel]

Observation Space

Component	Details
Odometry	x position, y position, w quaternion, x quaternion, y quaternion, z quaternion, linear velocity, angular velocity
Goal Position	x position, y position

state = [x_pos, y_pos, w_quat, x_quat, y_quat, z_quat, lin_vel, ang_vel, goal_x, goal_y]

Reward

Component	Details
Progress toward Goal	distance before step - distance after step
Reached Goal	+100
Default Reward	-0.25

Termination Condition

When the F1tenth is within REWARD_RANGE distance of the goal. Default REWARD_RANGE is 0.2m

Truncation Condition

The maximum episode length is MAX_STEPS steps. Default MAX_STEPS is 50. Each step by default is 0.25 seconds simulation time