def getObservation(self):
position = vec3ToNumpyArray(self.agentRbNp.getNetTransform().getPos())
orientation = vec3ToNumpyArray(self.agentRbNp.getNetTransform().getHpr())
image = self.renderWorld.getRgbImages()['agent-0']
collision = self.physicWorld.isCollision(self.agentRbNp)
return Observation(position, orientation, image, collision)
def testVec3ToNumpyArray(self):
xr = np.random.random((3, ))
vec = LVector3(*xr.ravel())
x = vec3ToNumpyArray(vec)
self.assertTrue(np.allclose(x, xr, atol=1e-6))
def getOrientation(self):
agentRbNp = self._getAgentNode()
return vec3ToNumpyArray(agentRbNp.getNetTransform().getHpr())
def getPosition(self):
agentRbNp = self._getAgentNode()
return vec3ToNumpyArray(agentRbNp.getNetTransform().getPos())