def render(
self, mode: str = "human", *args, **kwargs
) -> Union[np.ndarray, None]:
r"""Render observations from all environments in a tiled image."""
for write_fn in self._connection_write_fns:
write_fn((RENDER_COMMAND, (args, {"mode": "rgb", **kwargs})))
images = [read_fn() for read_fn in self._connection_read_fns]
tile = tile_images(images)
if mode == "human":
from habitat.core.utils import try_cv2_import
cv2 = try_cv2_import()
cv2.imshow("vecenv", tile[:, :, ::-1])
cv2.waitKey(1)
return None
elif mode == "rgb_array":
return tile
else:
raise NotImplementedError
Simulator,
)
from habitat.core.utils import not_none_validator, try_cv2_import
from habitat.sims.habitat_simulator.actions import HabitatSimActions
from habitat.tasks.utils import cartesian_to_polar
from habitat.utils.geometry_utils import (
quaternion_from_coeff,
quaternion_rotate_vector,
)
from habitat.utils.visualizations import fog_of_war, maps
try:
from habitat.sims.habitat_simulator.habitat_simulator import HabitatSim
except ImportError:
pass
cv2 = try_cv2_import()
MAP_THICKNESS_SCALAR: int = 128
def merge_sim_episode_config(sim_config: Config, episode: Episode) -> Any:
sim_config.defrost()
sim_config.SCENE = episode.scene_id
sim_config.freeze()
if (episode.start_position is not None
and episode.start_rotation is not None):
agent_name = sim_config.AGENTS[sim_config.DEFAULT_AGENT_ID]
agent_cfg = getattr(sim_config, agent_name)
agent_cfg.defrost()
agent_cfg.START_POSITION = episode.start_position
agent_cfg.START_ROTATION = episode.start_rotation
