def render_obs(self, dynamics, goals):
if self.obs_target is None:
self.obs_target = r3d.FBOTarget(self.obs_hw[0], self.obs_hw[1])
self._make_scene()
self.update_state(dynamics=dynamics, goals=goals)
self.cam1p.look_at(*self.fpv_lookat)
r3d.draw(self.scene, self.cam1p, self.obs_target)
return np.flipud(self.obs_target.read())
def render_chase(self, dynamics, goal, mode="human"):
if mode == "human":
if self.window_target is None:
self.window_target = r3d.WindowTarget(self.window_w,
self.window_h,
resizable=self.resizable)
self._make_scene()
self.update_state(dynamics=dynamics, goal=goal)
self.cam3p.look_at(*self.chase_cam.look_at())
r3d.draw(self.scene, self.cam3p, self.window_target)
return None
elif mode == "rgb_array":
if self.video_target is None:
self.video_target = r3d.FBOTarget(self.window_h, self.window_h)
self._make_scene()
self.update_state(dynamics=dynamics, goal=goal)
self.cam3p.look_at(*self.chase_cam.look_at())
r3d.draw(self.scene, self.cam3p, self.video_target)
return np.flipud(self.video_target.read())