the formal parameter of observation_factory

[lihua12312]

Hello, I believe the formal parameter of observation_factory should be self.config rather than self.config['observation'], otherwise other key-value pairs in config will not be applicable to the observation space, such as vehicles_count.Could I confirm with you whether my understanding is incorrect?

[lihua12312]

Sorry, I seem to have misunderstood. If I wish to update the parameters of the observation space, should I add key-value pairs to config['observation'] instead of changing the formal parameter to config? Is my understanding correct? I apologize for taking up your time.

[lihua12312]

May I also ask, can the environment accommodate a point mass model?

[eleurent]

If I wish to update the parameters of the observation space, should I add key-value pairs to config['observation'] instead of changing the formal parameter to config?

Yes, that is correct.

May I also ask, can the environment accommodate a point mass model?

It can be adapted to. Right now the base class is RoadObject, which are motionless by default, and a child class is Vehicle which implements a Bicycle Model. But you can add a new RoadObject subclass which takes in commands/forces and updates the object's position/speed/heading etc.

[lihua12312]

Thank you for your kind response!