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You have an example here : https://github.com/erlerobot/gym_private/blob/master/gym_gazebo/envs/gazebo_circuit2_turtlebot_lidar.py#L102 If you are using iterative learning I recommend you to use the toolkit and follow that code structure.

You have an example here : https://github.com/erlerobot/gym_private/blob/master/gym_gazebo/envs/gazebo_circuit2_turtlebot_lidar.py#L102 https://github.com/erlerobot/gym-gazebo/blob/master/gym_gazebo/envs/gazebo_circuit2_turtlebot_lidar.py#L102 If you are using iterative learning I recommend you to use the toolkit and follow that code structure.