def init(self, env: FinalEnv):
self.phase = 0
self.drive = 0
meta = env.get_metadata()
self.box_ids = meta['box_ids']
r1, r2, c1, c2, c3, c4 = env.get_agents()
self.ps = [1000, 800, 600, 600, 200, 200, 100]
self.ds = [1000, 800, 600, 600, 200, 200, 100]
r1.configure_controllers(self.ps, self.ds)
r2.configure_controllers(self.ps, self.ds)
def init(self, env: FinalEnv):
"""called before the first step, this function should also reset the state of
your solution class to prepare for the next run
"""
meta = env.get_metadata()
self.box_ids = meta['box_ids']
self.bin_id = meta['bin_id']
robot_left, robot_right, c1, c2, c3, c4 = env.get_agents()
self.spade_id = robot_right.get_metadata()['link_ids'][-1]
self.ps = [1000, 800, 600, 600, 200, 200, 100]
self.ds = [1000, 800, 600, 600, 200, 200, 100]
robot_left.configure_controllers(self.ps, self.ds)
robot_right.configure_controllers(self.ps, self.ds)
self.box_num = self.check_box(c2)
self.top_view, self.front_view = self.get_bin(c1, c2, c3, c4)
def init(self, env: FinalEnv):
self.phase = 0
self.drive = 0
self.env = env
meta = env.get_metadata()
self.box_ids = meta['box_ids']
r1, r2, c1, c2, c3, c4 = env.get_agents()
self.ps = [1000, 800, 600, 600, 200, 200, 100]
self.ds = [1000, 800, 600, 600, 200, 200, 100]
r1.configure_controllers(self.ps, self.ds)
r2.configure_controllers(self.ps, self.ds)
# get the box location from the overhead camera
# measure the bin
self.bin_id = meta['bin_id']
self.basic_info = {}
self.locate_bin_bbox(c4)
self.measured = False