def build(self):
testenv = Environment2D()
# Add a shape to the 2D space.
testenv.add_shapes(
Line(np.asarray([-1, 0]), np.asarray([1, 0]),
np.asarray([1, 0, 0, 1])))
# Set the agent's position to right of the circle.
testenv.set_position(np.asarray([0.0, 2.0]))
# Set rotation quanta in degrees.
testenv.set_rot_amount(30)
# Set the Forward and Right directions for the agent.
testenv.set_directions(np.asarray([0.0, -1.0]), np.asarray([1.0, 0.0]))
# Set the movement amount to 0.1 units per action.
testenv.set_move_amount(0.4)
return testenv
W = obs.shape[2];
# Convert the rest
# TxNxC
obs = obs.transpose([1, 0, 2, 3]).reshape([obs.shape[1], obs.shape[0] * obs.shape[2], obs.shape[3]])
# TxNxA
acs = np.tile(acs.transpose([1, 0, 2]).reshape([acs.shape[1], acs.shape[0], 1, acs.shape[2]]), [1, 1, W, 1]) \
.reshape([acs.shape[1], acs.shape[0] * W, acs.shape[2]])
# TxNxS
states = np.tile(states.transpose([1, 0, 2]).reshape([states.shape[1], states.shape[0], 1, states.shape[2]]), [1, 1, W, 1]) \
.reshape([states.shape[1], states.shape[0] * W, states.shape[2]])
return uvs, obs, acs, states
testenv = Environment2D()
# Add a shape to the 2D space.
testenv.add_shapes( Line( np.asarray([-1,0]), np.asarray([1,0]), np.asarray([1,0,0,1])) )
# Set the agent's position to right of the circle.
testenv.set_position( np.asarray([0.0,2.0]) )
# Set rotation quanta in degrees.
testenv.set_rot_amount( 30 )
# Set the Forward and Right directions for the agent.
testenv.set_directions( np.asarray([0.0,-1.0]), np.asarray([1.0,0.0]) )
# Set the movement amount to 0.1 units per action.
testenv.set_move_amount( 0.4 )
#outputss = sample_lines( testenv )
outputss = sample_paths( testenv )