search

hubernikus / nonlinear_obstacle_avoidance

Obstacle avoidance around linear and nonlinear dynamics.
The Unlicense
15 stars 4 forks source link

Implementation guideline #1

Open aniri15 opened 1 month ago

aniri15 commented 1 month ago

Hello, Thanks for posting such a great work. I am somehow confused to get the some results as them in the paper 'Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics'. Should I run the code rotational_avoider.py in folder nonlinear_avoidance? Thanks in advance.

hubernikus commented 1 month ago

Hello There are multiple scripts for multiple graphs (and unfortunately some outdated scripts which should be cleaned up). Check out for the spiral-figures: https://github.com/hubernikus/nonlinear_obstacle_avoidance/blob/main/scripts/rotational/example_rotation_paper.py

The tests contain also good examples, e.g., https://github.com/hubernikus/nonlinear_obstacle_avoidance/blob/main/tests/test_rotation_avoidance.py

Check out the bottom of the file to (de-)activate tests.

If you have more information on what exactly you want to replicate/do, I can help further.

aniri15 commented 1 month ago

Hello, Thanks for your reply :) I want to use your posted method for training a robot arm to avoid obstacles in a dynamical environment, and I want to replace the trajectory planning method (DDPG) and my obstacle avoidance method with the ROAM. Would you mind help me with how to add a new environment for 3d human_avoidance task? Thanks in advance.