update world

Author: reiniscimurs

robot_nav/robot_world.yaml

@@ -31,7 +31,7 @@ robot:
       show_trajectory: True
 
 obstacle:
-  - number: 5
+  - number: 4
     kinematics: {name: 'omni'}
     distribution: {name: 'random', range_low: [0, 0, -3.14], range_high: [10, 10, 3.14]}
     behavior: {name: 'rvo', wander: True, range_low: [0, 0, -3.14], range_high: [10, 10, 3.14], vxmax: 0.2, vymax: 0.2, factor: 1.0}
@@ -40,6 +40,9 @@ obstacle:
     shape:
       - {name: 'circle', radius: 1.0, random_shape: True}
       - {name: 'polygon', random_shape: true, avg_radius_range: [0.5, 1.0], irregularity_range: [0, 0.4], spikeyness_range: [0, 0.4], num_vertices_range: [4, 6]}
+  - shape: {name: 'circle', radius: 0.8}  # length, width
+    state: [ 5, 2, 1 ]
+    kinematics: { name: 'static' }
   - shape: { name: 'rectangle', length: 1.0, width: 1.2 }  # length, width
     state: [ 8, 5, 1 ]
     kinematics: {name: 'static'}

robot_nav/train.py

@@ -29,7 +29,7 @@ def main(args=None):
     train_every_n = 2  # train and update network parameters every n episodes
     training_iterations = 80  # how many batches to use for single training cycle
     batch_size = 64  # batch size for each training iteration
-    max_steps = 10  # maximum number of steps in single episode
+    max_steps = 300  # maximum number of steps in single episode
     steps = 0  # starting step number
     load_saved_buffer = False  # whether to load experiences from assets/data.yml
     pretrain = False  # whether to use the loaded experiences to pre-train the model (load_saved_buffer must be True)