Is the steering angle in an ActuatorDynamic action space degrees or radians?

[ajlangley]

High Level Description
As title. I just couldn't find the steering angle units.

Desired SMARTS version
1.0.1

[Gamenot]

@ajlangley The units should always be in SI aside from the action. The following should roughly be the case:

action for ActuatorDynamic is a clipped value between [-1, 1] (clipped_steering_change).
p is a constant 1 - 1e-3.
dt_sec is the time-step in seconds (typically 0.1s)

ActuatorDynamic modifies the action in the following way:
steering_control = p * last_steering_control + clipped_steering_change * dt_sec

For our typical vehicle, the steering wheel we model has 2 radians (max_steering) of turn and a steering gear ratio of 17.4 (steering_gear_ratio).

Both wheels use the following equation:
-steering_control * max_steering * (1/steering_gear_ratio)

This is the ideal case but the physics engine may have other ideas in some situations.

[ajlangley]

Thanks for your reply. In that case, if I added ActuatorDynamics to the FormatAction environment wrapper and set the action space to Box([-1, 1], [-1, 1], [-2*pi, 2.pi]), would that be of interest?

[Gamenot]

Hello, @ajlangley. My understanding is that ActuatorDynamic uses the same Box([0, 1], [0, 1], [-1, 1]) as Continuous.

I am surprised reading the documentation that we did not make this properly noted. I am updating the current documentation to make this clear.

Otherwise, this is still of interest.

[ajlangley]

Great, thanks for the quick response.