def __init__(self, params={}):
#TODO
self._goal_speed = 2.
self._goal_heading = 0.
self._obstacles = []
self._setup_object_paths()
SquareEnv.__init__(self, params=params)
def __init__(self, params={}):
params.setdefault(
'model_path',
os.path.join(os.path.dirname(os.path.abspath(__file__)),
'models/square_cluttered.egg'))
SquareEnv.__init__(self, params=params)
def _setup_collision_object(self,
path,
pos=(0.0, 0.0, 0.0),
hpr=(0.0, 0.0, 0.0),
scale=1,
is_obstacle=False):
SquareEnv._setup_collision_object(self, path, pos, hpr, scale)
if is_obstacle:
self._obstacles.append((path, pos, hpr))
def __init__(self, params={}):
#TODO
self._goal_speed = 2.
self._goal_heading = 0.
self._base_dir = os.path.join(
os.path.dirname(os.path.abspath(__file__)), 'models')
params.setdefault('model_path', os.path.join(self._base_dir,
'room.egg'))
params.setdefault('obj_paths', [
'bookcase.egg', 'chair.egg', 'coffee_table.egg', 'desk.egg',
'stool.egg', 'table.egg'
])
self._obj_paths = [
os.path.join(self._base_dir, x) for x in params['obj_paths']
]
self._obstacles = []
SquareEnv.__init__(self, params=params)
def _setup_spec(self):
SquareEnv._setup_spec(self)
self.goal_spec['speed'] = Box(low=-4.0, high=4.0)
self.goal_spec['heading'] = Box(low=0, high=2 * 3.14)
def _get_info(self):
info = SquareEnv._get_info(self)
info['goal_h'] = self._goal_heading
info['goal_s'] = self._goal_speed
info['obstacles'] = self._obstacles
return info
def __init__(self, params={}):
self.positions = None
SquareEnv.__init__(self, params=params)