search

maxspahn / gym_envs_urdf

URDF environments for gym
https://maxspahn.github.io/gym_envs_urdf/
GNU General Public License v3.0
43 stars 14 forks source link

Functions for moving dynamic obstacle #241

Closed b-karthiknair closed 5 months ago

b-karthiknair commented 8 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 8 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 8 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