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Modified world syntax for ease of use.

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spencerfolk
2023-03-23 13:51:47 -04:00
parent cb94567a49
commit ea80d4367a
2 changed files with 17 additions and 6 deletions
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10
rotorpy/environments.py
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@@ -24,10 +24,10 @@ class Environment():
trajectory, # trajectory object, must be specified.
wind_profile = None, # wind profile object, if none is supplied it will choose no wind.
imu = None, # imu sensor object, if none is supplied it will choose a default IMU sensor.
mocap = None, # mocap sensor object, if none is supplied it will choose a default mocap.
mocap = None, # mocap sensor object, if none is supplied it will choose a default mocap.
world = None, # The world object
estimator = None, # estimator object
sim_rate = 100, # The update frequency of the simulator in Hz
world_fname = None, # The world filename, when specified it will load the file located in ../worlds
safety_margin = 0.25, # The radius of the safety region around the robot.
):
@@ -38,13 +38,13 @@ class Environment():
self.safety_margin = safety_margin
if world_fname is None:
# If no world JSON file is specified, assume that it means that the intended world is free space.
if world is None:
# If no world is specified, assume that it means that the intended world is free space.
wbound = 3
self.world = World.empty((-wbound, wbound, -wbound,
wbound, -wbound, wbound))
else:
self.world = World.from_file(os.path.abspath(os.path.join(os.path.dirname(__file__),'worlds',world_fname+'.json')))
self.world = world
if wind_profile is None:
# If wind is not specified, default to no wind.