def get_observation(self, env: ManipulaTHOREnvironment, task: Task,
*args: Any, **kwargs: Any) -> Any:
object_source_location = task.task_info["initial_object_location"]
target_state = task.task_info["target_location"]
agent_state = task.task_info["agent_initial_state"]
relative_current_obj = world_coords_to_agent_coords(
object_source_location, agent_state)
relative_goal_state = world_coords_to_agent_coords(
target_state, agent_state)
relative_distance = diff_position(relative_current_obj,
relative_goal_state)
result = state_dict_to_tensor(dict(position=relative_distance))
return result
def get_observation(self, env: ManipulaTHOREnvironment, task: Task,
*args: Any, **kwargs: Any) -> Any:
goal_obj_id = task.task_info["objectId"]
object_info = env.get_object_by_id(goal_obj_id)
hand_state = env.get_absolute_hand_state()
relative_goal_obj = world_coords_to_agent_coords(
object_info, env.controller.last_event.metadata["agent"])
relative_hand_state = world_coords_to_agent_coords(
hand_state, env.controller.last_event.metadata["agent"])
relative_distance = diff_position(relative_goal_obj,
relative_hand_state)
result = state_dict_to_tensor(dict(position=relative_distance))
result = ((result**2).sum()**0.5).view(1)
return result
def get_observation(self, env: ManipulaTHOREnvironment, task: Task,
*args: Any, **kwargs: Any) -> Any:
object_source_location = task.task_info["initial_object_location"]
initial_hand_state = task.task_info["initial_hand_state"]
relative_goal_obj = world_coords_to_agent_coords(
object_source_location,
env.controller.last_event.metadata["agent"])
relative_hand_state = world_coords_to_agent_coords(
initial_hand_state, env.controller.last_event.metadata["agent"])
relative_distance = diff_position(relative_goal_obj,
relative_hand_state)
result = state_dict_to_tensor(dict(position=relative_distance))
return result
def get_observation(self, env: ManipulaTHOREnvironment, task: Task,
*args: Any, **kwargs: Any) -> Any:
goal_obj_id = task.task_info["objectId"]
object_info = env.get_object_by_id(goal_obj_id)
hand_state = env.get_absolute_hand_state()
relative_goal_obj = world_coords_to_agent_coords(
object_info, env.controller.last_event.metadata["agent"])
relative_hand_state = world_coords_to_agent_coords(
hand_state, env.controller.last_event.metadata["agent"])
relative_distance = diff_position(
relative_goal_obj,
relative_hand_state,
absolute=False,
)
result = coord_system_transform(relative_distance, self.coord_system)
return result