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