def new_episode(self):
'''
Returns an episode tuple. By default it just
samples a random pose for the robot.
'''
vehicle_state = SE3_from_SE2(SE2_from_xytheta([0, 0, np.pi / 2]))
id_episode = isodate()
return World.Episode(id_episode, vehicle_state)
def new_episode(self):
vehicle_pose = SE3_from_SE2(SE2_from_xytheta([0, 0, np.pi / 2]))
target_pose = SE2_from_xytheta([self.target_start_distance,
self.target_start_distance,
np.pi / 2])
self.target_state = self.target_dynamics.pose2state(SE3_from_SE2(target_pose))
self.update_primitives()
id_episode = isodate()
return World.Episode(id_episode, vehicle_pose)
def new_episode(self):
vehicle_state = SE3_from_SE2(SE2_from_xytheta([0, 0, 0]))
id_episode = isodate()
return World.Episode(id_episode, vehicle_state)
