def gen_waypoint(self, bounds, maxiter=100):
for i in range(self.params.multi_initialization):
waypoint = None
for j in range(maxiter):
waypoint = bound.sample(bounds)
with self.robot:
self.robot.SetActiveDOFValues(waypoint)
if not self.env.CheckCollision(self.robot):
break
yield waypoint
def random_goal(self):
return bound.sample(self.bounds)
def random_goal(self):
return bound.sample(self.bounds)