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maxspahn / gym_envs_urdf

URDF environments for gym
https://maxspahn.github.io/gym_envs_urdf/
GNU General Public License v3.0
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What is a goal? What are the obstacles? #199

Closed behradkhadem closed 1 year ago

behradkhadem commented 1 year ago

Hello @maxspahn, I know that this is not an issue, but I couldn't find a better way of asking this question.

Inside the examples, there are two concepts called Goal (evidently dependent on a package called mpscenes) and Obstacle. What are they exactly? What are their use cases? I know that they add some data to observation dictionary but I fail to understand what are they used for? Are obstacles movable? Can a panda arm pick an obstacle? Or do I need to create new obstacles (from URDF files)? Docs doesn't have enough information on the subject and it just says todo.

maxspahn commented 1 year ago

Hi @behradkhadem, Obstacle are physical things, that a robot can interact with, it's either movable or not, see flag in the constructor dictionary. A goal is an abstract concept acting as a target for the motion planner, it can be visualized in the environment but does not affect the environment in a physical way.

behradkhadem commented 1 year ago

Hi @behradkhadem, Obstacle are physical things, that a robot can interact with, it's either movable or not, see flag in the constructor dictionary. A goal is an abstract concept acting as a target for the motion planner, it can be visualized in the environment but does not affect the environment in a physical way.

Thanks for responding. Does mpscenes have any docs or stuff?

maxspahn commented 1 year ago

No, not at all. :(