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HorizonRobotics / SocialRobot

Apache License 2.0
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Add ball task to grocery ground #66

Closed Jialn closed 5 years ago

Jialn commented 5 years ago

Changes:

  1. Refactor grocery task related code, including moving some task-specific functions to the teacher task, and the main environment class is more general purpose now. And some other changes like task-specific initial setup, reset, and define the what extra information should be added to observation.

  2. Added a ball task. A task to kick a ball to the goal. Simple reward shaping is used to guide the agent run to the ball firstly.

Jialn commented 5 years ago

Consider that simple navigation does not need setting up and task-specific observation, I've revert GoalTaskBase to GoalTask and removed extra functions. Add another GroceryGroundTaskBase to grocery_ground.py for these functions.

I think it would be better to keep the environments more clean and independent, as the environments and tasks may various a lot from each other in the future. We don't need to pursuit reusing the codes as much as possible, which make things complicated.