| --- a/policy/direct.py | |
| +++ b/policy/direct.py | |
| if prediction_objective == "distance": | |
| objective_fn = self._make_distance_objective(normalizer) | |
| + import os # GlobMP as the projector: DIRECT_PROJECTOR=globmp | |
| + if os.environ.get('DIRECT_PROJECTOR', '') == 'globmp': # (applications/avoiding/globmp_projector.py) | |
| + from globmp_projector import GlobMPProjector as IpoptProjector | |
| self._projector = IpoptProjector( | |
| circular_obstacles=circular_obs, | |
| planar_obstacles=planar_obs, | |