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occupancy grid fixes for selecting waypoints with distance from obstacles #229

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occupancy grid fixes for selecting waypoints with distance from obstacles #229

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tusharsangam
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@tusharsangam tusharsangam commented Oct 2, 2024 •
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@facebook-github-bot facebook-github-bot added the CLA Signed This label is managed by the Facebook bot. Authors need to sign the CLA before a PR can be reviewed. label Oct 2, 2024
jimmytyyang
jimmytyyang reviewed Oct 2, 2024
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Let's discuss in detail and run the code to see ten receptacle examples in the apartment. Thank you Tushar! The logics seems to be correct to me!

spot_rl_experiments/spot_rl/utils/a_star.py
@@ -26,11 +43,14 @@ def astar(grid, start, goal):
# Directions for moving in the grid: up, down, left, right
directions = [(0, 1), (0, -1), (1, 0), (-1, 0)]

expand_range = (
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typos: "do not change this as it works well empirically"

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