def _step(self, action):
obs, rew, done, info = HuskyNavigateEnv._step(self, action)
self.cube_image = copy(obs["rgb_filled"])
self.depth = copy(obs["depth"]).squeeze()
self.depth[self.depth == 0] = np.inf
obs["rgb_filled"] = self._add_target_into_image(obs, [self.target_x, self.target_y, self.default_z], color=self.target_color)
for location in self.cube_locations:
obs["rgb_filled"] = self._add_obstacle_into_image(obs, location, color=self.obstacle_color)
return obs, rew, done, info
def _step(self, action):
obs, rew, done, info = HuskyNavigateEnv._step(self, action)
obs["target"] = self.calculate_target_observation()
if self.render_map:
self.map_renderer.update_agent(*self.robot.get_position()[:2])
obs["map"] = self.map_renderer.render()
else:
obs["map"] = np.zeros((self.resolution, self.resolution, 3))
info["distance"] = self.distance_to_target
return obs, rew, done, info
def _step(self, action):
obs, rew, done, info = HuskyNavigateEnv._step(self, action)
self.depth = copy(obs["depth"]).squeeze()
self.depth[self.depth == 0] = np.inf
obs["rgb_filled"] = self._add_cube_into_image(obs, [self.target_x, self.target_y, self.default_z])
if self.render_map:
self.map_renderer.update_agent(*self.robot.get_position()[:2])
obs["map"] = self.map_renderer.render()
else:
obs["map"] = np.zeros((self.resolution, self.resolution, 3))
return obs, rew, done, info
def _step(self, action):
self.obs, rew, done, info = HuskyNavigateEnv._step(self, action)
yaw = self.robot.get_rpy()[2]
self.obs["map"] = self.render_map(rotate=True, rotate_angle=yaw, translate=True)
return self.obs, rew, done, info