upkie  10.1.0
Open-source wheeled biped robots

◆ step()

Tuple[np.ndarray, float, bool, bool, dict] step (   self,
np.ndarray  action 
)

Run one timestep of the environment's dynamics.

Parameters
actionAction from the agent: [linear_velocity, yaw_velocity].
Returns
  • observation: Observation of the environment, i.e. an element of its observation_space.
  • reward: Reward returned after taking the action.
  • terminated: Whether the agent reached a terminal state.
  • truncated: Whether the episode is reaching max number of steps.
  • info: Dictionary with additional information, reporting in particular the full observation dictionary coming from the spine.