def create_params():
p = create_socnav_params()
p.obstacle_map_params = DotMap(obstacle_map=SBPDMap,
map_origin_2=[0., 0.],
sampling_thres=2,
plotting_grid_steps=100)
return create_test_map_params(p)
def create_params():
p = create_socnav_params()
# The camera is assumed to be mounted on a robot at fixed height
# and fixed pitch. See params/central_params.py for more information
p.camera_params.width = 1024
p.camera_params.height = 1024
p.camera_params.fov_vertical = 75.0
p.camera_params.fov_horizontal = 75.0
# Introduce the robot params
from params.central_params import create_robot_params
p.robot_params = create_robot_params()
# Introduce the episode params
from params.central_params import create_episodes_params
p.episode_params = create_episodes_params()
# Tilt the camera 10 degree down from the horizontal axis
p.robot_params.physical_params.camera_elevation_degree = -10
if p.render_3D:
# Can only render rgb and depth if the host has an available display
p.camera_params.modalities = ['rgb', 'disparity']
else:
p.camera_params.modalities = ['occupancy_grid']
return p
def create_params():
p = create_socnav_params()
# Angle Distance parameters
p.goal_angle_objective = DotMap(power=1, angle_cost=25.0)
p.obstacle_map_params = DotMap(obstacle_map=SBPDMap,
map_origin_2=[0., 0.],
sampling_thres=2,
plotting_grid_steps=100)
return create_test_map_params(p)
def create_params():
p = create_socnav_params()
# Obstacle avoidance parameters
p.avoid_obstacle_objective = DotMap(obstacle_margin0=0.3,
obstacle_margin1=0.5,
power=2,
obstacle_cost=25.0)
p.obstacle_map_params = DotMap(obstacle_map=SBPDMap,
map_origin_2=[0., 0.],
sampling_thres=2,
plotting_grid_steps=100)
return create_test_map_params(p)
def create_params():
p = create_socnav_params()
# The camera is assumed to be mounted on a robot at fixed height
# and fixed pitch. See params/central_params.py for more information
p.camera_params.width = 1024
p.camera_params.height = 1024
p.camera_params.fov_vertical = 75.0
p.camera_params.fov_horizontal = 75.0
# Introduce the robot params
from params.central_params import create_robot_params
p.robot_params = create_robot_params()
# Introduce the episode params
from params.central_params import create_episodes_params, create_datasets_params
p.episode_params = create_episodes_params()
# not testing robot, only simulator + agents
p.episode_params.without_robot = False
# overwrite tests with custom basic test
p.episode_params.tests = {}
default_name = "test_socnav_univ"
p.episode_params.tests[default_name] = \
DotMap(name=default_name,
map_name='Univ',
pedestrian_datasets=create_datasets_params(["univ"]),
datasets_start_t=[0.],
ped_ranges=[(0, 100)],
# agents_start=[[8, 8, 0]], agents_end=[[17.5, 13, 0.]],
agents_start=[], agents_end=[],
robot_start_goal=[[10, 3, 0], [15.5, 8, 0.7]],
max_time=30,
write_episode_log=True
)
# Tilt the camera 10 degree down from the horizontal axis
p.robot_params.physical_params.camera_elevation_degree = -10
if p.render_3D:
# Can only render rgb and depth if the host has an available display
p.camera_params.modalities = ['rgb', 'disparity']
else:
p.camera_params.modalities = ['occupancy_grid']
return p
def create_params():
p = create_socnav_params()
# Obstacle avoidance parameters
p.avoid_obstacle_objective = DotMap(obstacle_margin0=0.3,
obstacle_margin1=.5,
power=2,
obstacle_cost=25.0)
# Angle Distance parameters
p.goal_angle_objective = DotMap(power=1, angle_cost=25.0)
# Goal Distance parameters
p.goal_distance_objective = DotMap(power=2,
goal_cost=25.0,
goal_margin=0.0)
p.objective_fn_params = DotMap(obj_type='mean')
p.obstacle_map_params = DotMap(obstacle_map=SBPDMap,
map_origin_2=[0, 0],
sampling_thres=2,
plotting_grid_steps=100)
return create_test_map_params(p)
def create_params():
p = create_socnav_params()
# Angle Distance parameters
p.goal_angle_objective = DotMap(power=1, angle_cost=25.0)
p.obstacle_map_params = DotMap(obstacle_map=SBPDMap,
map_origin_2=[0., 0.],
sampling_thres=2,
plotting_grid_steps=100)
# Obstacle avoidance parameters
p.avoid_obstacle_objective = DotMap(obstacle_margin0=0.3,
obstacle_margin1=.5,
power=2,
obstacle_cost=25.0)
# Angle Distance parameters
p.goal_angle_objective = DotMap(power=1, angle_cost=25.0)
# Goal Distance parameters
p.goal_distance_objective = DotMap(power=2,
goal_cost=25.0,
goal_margin=0.0)
p.objective_fn_params = DotMap(obj_type='mean')
p.obstacle_map_params = DotMap(obstacle_map=SBPDMap,
map_origin_2=[0, 0],
sampling_thres=2,
plotting_grid_steps=100)
p.personal_space_params = DotMap(power=1, psc_scale=10)
# Introduce the robot params
from params.central_params import create_robot_params
p.robot_params = create_robot_params()
# Introduce the episode params
from params.central_params import create_episodes_params, create_datasets_params
p.episode_params = create_episodes_params()
# not testing robot, only simulator + agents
p.episode_params.without_robot = True
# overwrite tests with custom basic test
p.episode_params.tests = {}
default_name = "test_psc"
p.episode_params.tests[default_name] = \
DotMap(name=default_name,
map_name='Univ',
pedestrian_datasets=create_datasets_params([]),
datasets_start_t=[],
ped_ranges=[],
agents_start=[], agents_end=[],
robot_start_goal=[[10, 3, 0], [15.5, 8, 0.7]],
max_time=30,
write_episode_log=False
)
# definitely wont be rendering this
p.render_3D = False
# Tilt the camera 10 degree down from the horizontal axis
p.robot_params.physical_params.camera_elevation_degree = -10
if p.render_3D:
# Can only render rgb and depth if the host has an available display
p.camera_params.modalities = ['rgb', 'disparity']
else:
p.camera_params.modalities = ['occupancy_grid']
return create_test_map_params(p)
