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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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Functions for moving dynamic obstacle #241

Closed b-karthiknair closed 9 months ago

b-karthiknair commented 11 months ago

In mpcscenes.obstacles.box_obstacles.py, it is not evident how to move obstacles around. It would be great if I could know what function to use for this.

maxspahn commented 11 months ago

What exactly do you mean by moving them around? Do you want to place them at random, or do you want to move them with a robot at runtime?

maxspahn commented 11 months ago

There are two options for dynamic obstacles:

  1. Moving obstacles according to a time-parameterized curve, see https://github.com/maxspahn/gym_envs_urdf/blob/621e73864f74e5c72e0227cf1d0b03ff649fb80f/urdfenvs/scene_examples/obstacles.py#L27-L34

  2. Movable obstacles that can be interacted with, see https://github.com/maxspahn/gym_envs_urdf/blob/621e73864f74e5c72e0227cf1d0b03ff649fb80f/urdfenvs/scene_examples/obstacles.py#L55-L77