/navigation-baselines

Baselines for navigation

Primary LanguagePython

navigation-baselines

Build Status

Installing

To install the package use pip:

pip install .

Run Experiments

To run the planner for a particular robot and environment you can use scripts/run_planner.py**. The script takes the following argumnet:

  • robot [ tri,diff] : The robot for model.
  • env [mini,turn,map] : The environment that needs to be tested.
  • iterations : The number of iterations for the SST planner.
  • graph : A flag that will enable display of graph construction.
  • render : A flag that will enable the rendering of the environment if a path exists.

Egs:

python scripts/run_planner.py tri mini --iterations=100000
python scripts/run_planner.py diff map --iterations=1e6 --seed=5 --graph
python scripts/run_planner.py diff turn --render

Custom Experiments

You can run this planner on an object of class of subclass of bc_gym_planning_env.envs.base.env.PlanEnv.

You can use the following script to create an object of class sparse_rrt.systems.system_interface.Isystem for an object env.

from sst_wrapper.envs.bc_gym_wrapper import BcGymWrapper
from sst_wrapper.envs.gym_sst_wrapper import BcSstWrapper

system = BcSstWrapper(BcGymWrapper(env))

system can now be used to run sparse_rrt.planners.SST. Look at sparse-rrt for more info.