def _configure(self, client_id, remotes):
address = '127.0.0.1'
port = 9900 + client_id
engine = UnrealCVWrapper(
address=address,
port=port,
max_depth_viewing_angle=math_utils.degrees_to_radians(70.))
self._environment._engine = engine
def __init__(self,
world_bounding_box,
random_reset=True,
radius=7.0,
height=3.0,
yaw_amount=math_utils.degrees_to_radians(180. / 6.),
**kwargs):
"""Initialize environment.
Args:
world_bounding_box (BoundingBox): Overall bounding box of the world to restrict motion.
engine (BaseEngine): Simulation engine (i.e. Unreal Engine wrapper).
mapper: Occupancy mapper (i.e. OctomapExt interface).
clear_size (float): Size of bounding box to clear in the occupancy map on reset.
random_reset (bool): Use random pose when resetting.
radius (float): Radius of orbit.
height (float): Height of orbit.
yaw_amount (float): Scale of yaw rotations.
use_ros (bool): Whether to use ROS and publish on some topics.
ros_pose_topic (str): If ROS is used publish agent poses on this topic.
ros_world_frame (str): If ROS is used this is the id of the world frame.
"""
self._random_reset = random_reset
self._radius = radius
self._height = height
self._yaw_amount = yaw_amount
action_list = [
self.yaw_clockwise,
self.yaw_counter_clockwise,
]
update_map_flags = [
True,
True
]
action_rewards = [
-50.,
-50.,
]
self._obs_level = 3
self._obs_size_x = 8
self._obs_size_y = self._obs_size_x
self._obs_size_z = self._obs_size_x
super(YawOnlyEnvironmentV1, self).__init__(
world_bounding_box,
action_list,
update_map_flags=update_map_flags,
action_rewards=action_rewards,
terminal_score_threshold=0.6,
**kwargs)
def __init__(self,
world_bounding_box,
random_reset=True,
radius=7.0,
height=3.0,
angle_amount=math_utils.degrees_to_radians(180. / 8.),
yaw_amount=math_utils.degrees_to_radians(180. / 8.),
**kwargs):
"""Initialize environment.
Args:
world_bounding_box (BoundingBox): Overall bounding box of the world to restrict motion.
engine (BaseEngine): Simulation engine (i.e. Unreal Engine wrapper).
mapper: Occupancy mapper (i.e. OctomapExt interface).
clear_size (float): Size of bounding box to clear in the occupancy map on reset.
random_reset (bool): Use random pose when resetting.
radius (float): Radius of orbit.
height (float): Height of orbit.
yaw_amount (float): Scale of yaw rotations.
angle_amount (float): Scale of orbital motion.
use_ros (bool): Whether to use ROS and publish on some topics.
ros_pose_topic (str): If ROS is used publish agent poses on this topic.
ros_world_frame (str): If ROS is used this is the id of the world frame.
"""
self._random_reset = random_reset
self._radius = radius
self._height = height
self._angle_amount = angle_amount
self._yaw_amount = yaw_amount
index1_range = 6
index2_range = 1
def _action_function(index1, index2, pose):
new_theta = 2 * np.pi * index1 / float(index1_range)
new_location = self._get_orbit_location(new_theta)
new_yaw = new_theta + np.pi
new_yaw += (index2 - index2_range / 2) * np.pi / 2.
new_orientation_rpy = np.array([0, 0, new_yaw])
# print("new_theta:", new_theta)
# print("new_yaw:", new_yaw)
new_pose = self.Pose(new_location, new_orientation_rpy)
valid = True
return valid, new_pose
action_list = []
update_map_flags = []
action_rewards = []
for index1 in xrange(index1_range):
for index2 in xrange(index2_range):
# Need to create a new scope here to capture index1, index2 by value
def create_lambda(idx1, idx2):
def lambda_fn(pose):
return _action_function(idx1, idx2, pose)
return lambda_fn
action_list.append(create_lambda(index1, index2))
update_map_flags.append(True)
action_rewards.append(-100.0)
self._obs_level = 2
self._obs_size_x = 8
self._obs_size_y = self._obs_size_x
self._obs_size_z = self._obs_size_x
super(FixedEnvironmentV0, self).__init__(
world_bounding_box,
action_list,
update_map_flags=update_map_flags,
action_rewards=action_rewards,
terminal_score_threshold=0.6,
**kwargs)