Is it possible to set the agent's location for predfined tasks?

[Bpoole908]

I was simply wondering if it is possible to set agent's locations attribute for the predefined tasks. I see there is a locations attribute, but the Underlying class builds the agent instance using the _build_agent() method. However, when building the agent, no class kwargs can be passed. This makes it seem like it is impossible to pass any agent class attributes. Is there any way around this?

My use case is for fixing the agent's position and requiring it to start from a specific location, not a random location.

[muchvo]

I'm very sorry for overlooking this discussion. Yes, you can certainly fix the position of any object. Please refer to this parameter. Here’s how you could use this feature:

class GoalLevel0(BaseTask):
    """An agent must navigate to a goal."""

    def __init__(self, config) -> None:
        super().__init__(config=config)

        self.placements_conf.extents = [-1, -1, 1, 1]

        self._add_geoms(Goal(keepout=0.305))

        self.last_dist_goal = None
        self.agent.locations = [(0, 0)] # location
        self.agent.rot= np.pi/2 * 0 # rotation

[Bpoole908]

No worries, I actually ended up modifying this pull request so that the agent can be configured via the passed config as well.

[muchvo]

Sounds good! I look forward to seeing what you come up with. 😊