From 825d301953beda52719bf932b0371bc65ddf73e1 Mon Sep 17 00:00:00 2001
From: rachelmoan <moanrachel516@gmail.com>
Date: Thu, 2 Jan 2025 13:23:23 -0600
Subject: [PATCH] fix drawing obstacles in simulator
---
guided_mrmp/simulator.py | 8 +++++---
1 file changed, 5 insertions(+), 3 deletions(-)
diff --git a/guided_mrmp/simulator.py b/guided_mrmp/simulator.py
index 0c73133..952b4b0 100644
--- a/guided_mrmp/simulator.py
+++ b/guided_mrmp/simulator.py
@@ -27,7 +27,7 @@ class Simulator:
def all_robots_at_goal(self):
for r in self.robots:
- if (np.sqrt((r.current_position[0] - r.goal[0]) ** 2 + (r.current_position[1] - r.goal[1]) ** 2) > 1):
+ if (np.sqrt((r.current_position[0] - r.goal[0]) ** 2 + (r.current_position[1] - r.goal[1]) ** 2) > 10):
return False
return True
@@ -59,10 +59,12 @@ class Simulator:
def draw_environment(self, screen):
screen.fill((255,255,255))
for obs in self.circ_obstacles:
- pygame.draw.circle(screen, (0,0,0), obs[0:2]*self.scaling_factor, obs[2]*self.scaling_factor)
+ pygame.draw.circle(screen, (0,0,0), (obs[0]*self.scaling_factor,obs[1]*self.scaling_factor), obs[2]*self.scaling_factor)
for obs in self.rect_obstacles:
pygame.draw.rect(screen, (0,0,0), obs)
+
+
def draw_robots(self, screen):
for robot in self.robots:
x,y,yaw = robot.current_position
@@ -102,4 +104,4 @@ class Simulator:
if show_vis:
pygame.display.flip()
-
+
--
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