code stringlengths 3 6.57k |
|---|
len(self.wall_texcs) |
np.concatenate(self.wall_texcs) |
np.array([]) |
reshape(0, 2) |
_render(self) |
glColor3f(1, 1, 1) |
self.floor_tex.bind() |
glBegin(GL_POLYGON) |
glNormal3f(0, 1, 0) |
range(self.floor_verts.shape[0]) |
glTexCoord2f(*self.floor_texcs[i, :]) |
glVertex3f(*self.floor_verts[i, :]) |
glEnd() |
self.ceil_tex.bind() |
glBegin(GL_POLYGON) |
glNormal3f(0, -1, 0) |
range(self.ceil_verts.shape[0]) |
glTexCoord2f(*self.ceil_texcs[i, :]) |
glVertex3f(*self.ceil_verts[i, :]) |
glEnd() |
self.wall_tex.bind() |
glBegin(GL_QUADS) |
range(self.wall_verts.shape[0]) |
glNormal3f(*self.wall_norms[i, :]) |
glTexCoord2f(*self.wall_texcs[i, :]) |
glVertex3f(*self.wall_verts[i, :]) |
glEnd() |
MiniWorldEnv(gym.Env) |
Actions(IntEnum) |
spaces.Discrete(len(self.actions) |
into (shadow OpenGL context) |
pyglet.window.Window(width=1, height=1, visible=False) |
glEnable(GL_DEPTH_TEST) |
glEnable(GL_CULL_FACE) |
FrameBuffer(obs_width, obs_height, 8) |
FrameBuffer(window_width, window_height, 16) |
self.seed() |
self.reset() |
close(self) |
seed(self, seed=None) |
RandGen(seed) |
reset(self) |
parameters (domain randomization) |
Agent() |
is (N, 2, 3) |
self._gen_world() |
world (domain randomization) |
self.params.get_max('forward_step') |
ent.randomize(self.params, rand) |
min([r.min_x for r in self.rooms]) |
max([r.max_x for r in self.rooms]) |
min([r.min_z for r in self.rooms]) |
max([r.max_z for r in self.rooms]) |
len(self.wall_segs) |
self._gen_static_data() |
self._render_static() |
self.render_obs() |
_get_carry_pos(self, agent_pos, ent) |
max(self.agent.cam_height - ent.height - 0.3, 0) |
move_agent(self, fwd_dist, fwd_drift) |
self.intersect(self.agent, next_pos, self.agent.radius) |
self._get_carry_pos(next_pos, carrying) |
self.intersect(carrying, next_carrying_pos, carrying.radius) |
turn_agent(self, turn_angle) |
self._get_carry_pos(self.agent.pos, carrying) |
self.intersect(carrying, pos, carrying.radius) |
step(self, action) |
self.params.sample(rand, 'forward_step') |
self.params.sample(rand, 'forward_drift') |
self.params.sample(rand, 'turn_step') |
self.move_agent(fwd_step, fwd_drift) |
self.move_agent(-fwd_step, fwd_drift) |
self.turn_agent(turn_step) |
self.turn_agent(-turn_step) |
self.intersect(self.agent, test_pos, 1.2 * self.agent.radius) |
isinstance(ent, Entity) |
self._get_carry_pos(self.agent.pos, self.agent.carrying) |
self.render_obs() |
self.add_room(outline=outline, **kwargs) |
add_room(self, **kwargs) |
len(self.wall_segs) |
Room(**kwargs) |
self.rooms.append(room) |
find_facing_edges() |
range(room_a.num_walls) |
range(room_b.num_walls) |
np.dot(norm_a, norm_b) |
np.dot(norm_a, dir) |
find_facing_edges() |
np.linalg.norm(a - d) |
np.linalg.norm(b - a) |
np.linalg.norm(d - c) |
np.stack([c, b, a, d]) |
np.stack([outline[:, 0], outline[:, 2]], axis=1) |
self.rooms.append(room) |
room.add_portal(1, start_pos=0, end_pos=len_a) |
room.add_portal(3, start_pos=0, end_pos=len_b) |
len(self.rooms) |
len(self.wall_segs) |
self._gen_static_data() |
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