Closed b-karthiknair closed 5 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?
There are two options for dynamic obstacles:
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
Movable obstacles that can be interacted with, see https://github.com/maxspahn/gym_envs_urdf/blob/621e73864f74e5c72e0227cf1d0b03ff649fb80f/urdfenvs/scene_examples/obstacles.py#L55-L77
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.