93 add test for resetting the poses in vectorized env #94
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other tests and f110 env: change default map from Vegas to Spielberg because new reset needs centerline. observation: add +0.5 to max scan range to avoid rays slightly above max range.
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Implemented automatic reset methods. Add test to auto-reset in vec environments. The reset methods use the centerline waypoints to sample starting poses. @hzheng40 please review |
hzheng40
approved these changes
Dec 26, 2023
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| x, y = wp[0], wp[1] | ||
| if n_agents > 1: | ||
| lat_offset = rnd_sign * (-1.0) ** i * (1.0 / n_agents) |
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i'm not sure if it's i-th power or i(1/n)-th power?
| ) # first wp id with dist > mind, len of the interval btw first/last wp | ||
| pnt_id = current_wp_id # moving pointer to scan the next waypoints | ||
| dist = 0.0 | ||
| while dist <= max_dist: |
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i think this whole while loop is only needed if you don't have the arclengths in the track.
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it's not exactly the same but even if there's a speedup it won't be that different
gym/f110_gym/envs/f110_env.py
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| # others | ||
| import numpy as np | ||
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| # gl | ||
| import pyglet |
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might need to pull in changes from the rendering pr
hzheng40
approved these changes
Dec 26, 2023
This was referenced Dec 27, 2023
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Add tests for vectorized environments, closes #93