def _reset(self):
obs = HuskyNavigateEnv._reset(self)
self.cube_image = copy(obs["rgb_filled"])
self.depth = copy(obs["depth"]).squeeze()
attempts = 0
#print("Generating target and spawn locations")
while attempts < 100:
self.target_x = np.random.uniform(self.min_target_x, self.max_target_x)
self.target_y = np.random.uniform(self.min_target_y, self.max_target_y)
spawn_x = np.random.uniform(self.min_spawn_x, self.max_spawn_x)
spawn_y = np.random.uniform(self.min_spawn_y, self.max_spawn_y)
distance = np.linalg.norm(np.array([spawn_x, spawn_y]) - np.array([self.target_x, self.target_y]))
if distance < self.max_target_distance and distance > self.min_target_distance:
break
attempts += 1
if attempts == 100:
raise Exception("Agent could not be spawned. Try expanding the min and max target range.")
self.config["initial_pos"] = [spawn_x, spawn_y, self.default_z]
obs["rgb_filled"] = self._add_target_into_image(obs, [self.target_x, self.target_y, self.default_z], color=self.target_color)
#print("Generating obstacles")
self.reset_cube_locations()
x, y = self.config["initial_pos"][0:2]
for location in self.cube_locations:
obs["rgb_filled"] = self._add_obstacle_into_image(obs, location, color=self.obstacle_color)
return obs
def _reset(self):
if self.start_locations_file is not None and (not self.fixed_endpoints):
new_start_location = self.valid_locations[np.random.randint(self.n_points), :]
self.config["initial_pos"] = [new_start_location[0], new_start_location[1], self.default_z]
obs = HuskyNavigateEnv._reset(self)
self.occupancy_map = np.zeros((self.x_vals.shape[0], self.y_vals.shape[0]))
yaw = self.robot.get_rpy()[2]
obs["map"] = self.render_map(rotate=True, rotate_angle=yaw, translate=True)
return obs
def _reset(self):
self.start_location = self.select_agent_location()
self.config["initial_pos"] = [self.start_location[0], self.start_location[1], self.default_z]
self.target_location = self.select_target()
obs = HuskyNavigateEnv._reset(self)
obs["target"] = self.calculate_target_observation()
if self.render_map:
self.map_renderer.clear_nonstatic_layers()
self.map_renderer.update_target(*self.target_location)
self.map_renderer.update_spawn(*self.start_location)
self.map_renderer.update_agent(*self.start_location)
obs["map"] = self.map_renderer.render()
else:
obs["map"] = np.zeros((self.resolution, self.resolution, 3))
return obs
def _reset(self):
self.config["initial_pos"] = self.select_new_agent_location()
self.target_x, self.target_y = self.select_new_target()
print("new agent pos", self.config["initial_pos"])
print("new target", self.target_x, self.target_y)
obs = HuskyNavigateEnv._reset(self)
self.cube_image = copy(obs["rgb_filled"])
self.depth = copy(obs["depth"]).squeeze()
obs["rgb_filled"] = self._add_cube_into_image(obs, [self.target_x, self.target_y, self.default_z])
if self.render_map:
self.map_renderer.clear_nonstatic_layers()
self.map_renderer.update_target(self.target_x, self.target_y, radius=0.125)
self.map_renderer.update_spawn(*self.config["initial_pos"][0:2], radius=0.125)
self.map_renderer.update_agent(*self.config["initial_pos"][0:2])
obs["map"] = self.map_renderer.render()
else:
obs["map"] = np.zeros((self.resolution, self.resolution, 3))
return obs