def __init__(self, config, gpu_count=0, texture=True, valid_locations=None, render_map=True, fixed_endpoints=False):
HuskyNavigateEnv.__init__(self, config, gpu_count)
self.use_valid_locations = valid_locations is not None
self.fixed_endpoints = fixed_endpoints
if self.use_valid_locations:
print("Using valid locations!")
self.valid_locations = self.get_valid_locations(valid_locations)
self.n_locations = self.valid_locations.shape[0]
self.target_distance_mu = self.config["target_distance_mu"]
self.target_distance_sigma = self.config["target_distance_sigma"]
self.min_target_x, self.max_target_x = self.config["x_target_range"]
self.min_target_y, self.max_target_y = self.config["y_target_range"]
self.min_agent_x, self.max_agent_x = self.config["x_boundary"]
self.min_agent_y, self.max_agent_y = self.config["y_boundary"]
self.min_spawn_x, self.max_spawn_x = self.config["x_spawn_range"]
self.min_spawn_y, self.max_spawn_y = self.config["y_spawn_range"]
self.default_z = self.config["initial_pos"][2]
self.cube_size = 0.2
self.target_radius = 0.5
self.resolution = self.config["resolution"]
self.cube_image = np.zeros((self.config["resolution"], self.config["resolution"], 3), np.uint32)
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)
self.min_target_distance = self.config["min_target_distance"]
self.max_target_distance = self.config["max_target_distance"]
self.use_texture = False
if texture:
self.use_texture = True
self.texture_path = os.path.join(os.path.dirname(os.path.abspath(assets.__file__)), "wood.jpg")
self.load_texture(self.texture_path)
self.render_map = render_map
if render_map:
mesh_file = os.path.join(get_model_path(self.config["model_id"]), "mesh_z_up.obj")
self.map_renderer = NavigationMapRenderer(mesh_file, self.default_z, 0.1, render_resolution=self.resolution)
def __init__(self,
config,
gpu_count=0,
start_locations=None,
render_map=True,
fixed_endpoints=False):
HuskyNavigateEnv.__init__(self, config, gpu_count)
self.fixed_endpoints = fixed_endpoints
self.default_z = self.config["initial_pos"][2]
self.target_mu = self.config["target_distance_mu"]
self.target_sigma = self.config["target_distance_sigma"]
self.locations = self.get_valid_locations(start_locations)
self.n_locations = self.locations.shape[0]
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()
self.target_radius = 0.5
self.render_map = render_map
self.render_resolution = 256
if render_map:
mesh_file = os.path.join(get_model_path(self.config["model_id"]),
"mesh_z_up.obj")
self.map_renderer = NavigationMapRenderer(
mesh_file,
self.default_z,
0.1,
render_resolution=self.render_resolution)
def __init__(self, config, gpu_count=0, start_locations_file=None, fixed_endpoints=False):
HuskyNavigateEnv.__init__(self, config, gpu_count)
self.fixed_endpoints = fixed_endpoints
self.cell_size = self.config["cell_size"]
self.map_x_range = self.config["map_x_range"]
self.map_y_range = self.config["map_y_range"]
self.default_z = self.config["initial_pos"][2]
self.x_vals = np.arange(self.map_x_range[0], self.map_x_range[1], self.cell_size)
self.y_vals = np.arange(self.map_y_range[0], self.map_y_range[1], self.cell_size)
self.occupancy_map = np.zeros((self.x_vals.shape[0], self.y_vals.shape[0]))
self.start_locations_file = start_locations_file
self.use_valid_locations = False
if self.start_locations_file is not None:
self.valid_locations = np.loadtxt(self.start_locations_file, delimiter=',')
self.n_points = self.valid_locations.shape[0]
self.use_valid_locations = True