def sample_configuration2(current_difficulty, info):
perturbation = numpy.random.normal(0, 0.2, size=3) * current_difficulty
goal_pos = info.get_observer(b"GoalObserver").get_position()
b = [
neodroid.Configuration(
"ManipulatorTriDOFConfigurableX", goal_pos[0] + perturbation[0]
),
neodroid.Configuration(
"ManipulatorTriDOFConfigurableY", goal_pos[1] + perturbation[1]
),
neodroid.Configuration(
"ManipulatorTriDOFConfigurableZ", goal_pos[2] + perturbation[2]
),
]
return (
b
+ color_sample("Wall1")
+ color_sample("Wall2")
+ color_sample("Wall3")
+ color_sample("Wall4")
+ color_sample("Roof")
+ color_sample("Ground")
)
def sample_configuration2(current_difficulty, info):
perturbation = np.random.normal(0, 0.2, size=3) * current_difficulty
goal_pos = info.get_observer(b'GoalObserver').get_position()
b = [
neodroid.Configuration(
'ManipulatorTriDOFConfigurableX', goal_pos[0] + perturbation[0]
),
neodroid.Configuration(
'ManipulatorTriDOFConfigurableY', goal_pos[1] + perturbation[1]
),
neodroid.Configuration(
'ManipulatorTriDOFConfigurableZ', goal_pos[2] + perturbation[2]
),
]
return b + color_sample('Wall1') + color_sample('Wall2') + color_sample(
'Wall3'
) + color_sample(
'Wall4'
) + color_sample(
'Roof'
) + color_sample(
'Ground'
)
def color_sample(identifier):
return [
neodroid.Configuration(identifier + 'ColorConfigurableR', np.random.sample()),
neodroid.Configuration(identifier + 'ColorConfigurableG', np.random.sample()),
neodroid.Configuration(identifier + 'ColorConfigurableB', np.random.sample())
# neodroid.Configuration(id+'ColorConfigurableA',
# np.random.sample()),
]
def sample_configuration(current_difficulty, info):
perturbation = numpy.random.normal(0, 0.2, size=3) * current_difficulty
x, y, z = info.get_observer(b"GoalObserver").get_position()
b = [
neodroid.Configuration("GoalTransformX", numpy.round(x + perturbation[0])),
neodroid.Configuration("GoalTransformY", numpy.round(y + perturbation[1])),
neodroid.Configuration("GoalTransformZ", numpy.round(z + perturbation[2])),
]
return b
def color_sample(identifier):
return [
neodroid.Configuration(
identifier + "ColorConfigurableR", numpy.random.sample()
),
neodroid.Configuration(
identifier + "ColorConfigurableG", numpy.random.sample()
),
neodroid.Configuration(identifier + "ColorConfigurableB", numpy.random.sample())
# neodroid.Configuration(id+'ColorConfigurableA',
# numpy.random.sample()),
]