def get_observation(self, env: RoboThorEnvironment,
task: Optional[PointNavTask], *args: Any,
**kwargs: Any) -> Any:
agent_state = env.agent_state()
agent_position = np.array([agent_state[k] for k in ["x", "y", "z"]])
rotation_world_agent = self.quaternion_from_y_angle(
agent_state["rotation"]["y"])
goal_position = np.array(
[task.task_info["target"][k] for k in ["x", "y", "z"]])
return self._compute_pointgoal(agent_position, rotation_world_agent,
goal_position)
def _create_environment(self) -> RoboThorEnvironment:
env = RoboThorEnvironment(**self.env_args)
return env
def _create_environment(self) -> RoboThorEnvironment:
assert (self.env_args["agentCount"] == 2
), "NavToPartner is only defined for 2 agents!"
env = RoboThorEnvironment(**self.env_args)
return env