Fix random track generation for config level 3#112
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…b#91, learnsyslab#112) Pull the exact upstream/main versions of the sim env's track randomization: - learnsyslab#112: rewrite random track generation for level 3 (collision-free layouts). - learnsyslab#91: report the randomized layout as the nominal gate/obstacle positions in the observation, instead of the (meaningless-under-randomization) config poses. Includes the matching unit tests. Controllers and dependencies untouched. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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* Fix random track generation * Remove gate corridors
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* Fix random track generation * Remove gate corridors
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* Fix random track generation * Remove gate corridors
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* Fix random track generation * Remove gate corridors
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* Fix random track generation * Remove gate corridors
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* Fix random track generation * Remove gate corridors
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Overview
This PR fixes the track generation to no longer sample configurations where gates and obstacles would sometimes get sampled nearly on the same spot.
Redesigned sampling
Previously, if we found no good solution within the constraints of the track generator, we used position created uniformly at random. This PR turns the track generation into a three stage process, where we first sample around preferred positions, fall back to any viable position, and finally fall back to the positions that least violate our design constraints.
Algorithm
First, we initialize grids for the obstacles and gates (
gate_clear,obs_clear) that track the clearance to the closest objects. We then iteratively sample gate and obstacle positions and update the clearance maps.Gates are placed at random with a minimum distance to all objects. If there is no space left, we use the maximum clearance we can find. Previously, we fell back to uniform sampling, which lead to the collisions we saw.
Obstacles are also placed at random, but preferably between the previous and the next gate. If that is not possible, they are placed randomly in a valid position. Finally, if that is not possible, we again fall back to the maximum clearance.
We now also allow the track to randomize the drone position. To enable this setting, we have to increase the drone position randomization in the level 3 configs. This is on hold for now to not interrupt the running course.
Breaking changes
One change this PR introduces in the track generation is that we no longer attempt to stay clear of previous gate corridors. This reduces complexity and allows for a larger variety of tracks.
Related Issues
Fixes #110, fixes #107