Method render

roach/models/ppo_buffer.py:195–241

(self)

        return arr.reshape(shape[0] * shape[1], *shape[2:])

    def render(self):
        assert self.full, ''
        list_render = []

        _, _, c, h, w = self.observations['birdview'].shape
        vis_idx = np.array([0, 1, 2, 6, 10, 14])

        for i in range(self.buffer_size):
            im_envs = []
            for j in range(self.n_envs):

                masks = self.observations['birdview'][i, j, vis_idx, :, :] > 100

                im_birdview = np.zeros([h, w, 3], dtype=np.uint8)
                for idx_c in range(len(vis_idx)):
                    im_birdview[masks[idx_c]] = COLORS[idx_c]

                im = np.zeros([h, w*2, 3], dtype=np.uint8)
                im[:h, :w] = im_birdview

                action_str = np.array2string(self.actions[i, j], precision=1, separator=',', suppress_small=True)
                state_str = np.array2string(self.observations['state'][i, j],
                                            precision=1, separator=',', suppress_small=True)

                reward = self.rewards[i, j]
                ret = self.returns[i, j]
                advantage = self.advantages[i, j]
                done = int(self.dones[i, j])
                value = self.values[i, j]
                log_prob = self.log_probs[i, j]

                txt_1 = f'v:{value:5.2f} p:{log_prob:5.2f} a{action_str}'
                im = cv2.putText(im, txt_1, (2, 12), cv2.FONT_HERSHEY_SIMPLEX, 0.35, (255, 255, 255), 1)
                txt_2 = f'{done} {state_str}'
                im = cv2.putText(im, txt_2, (2, 24), cv2.FONT_HERSHEY_SIMPLEX, 0.35, (255, 255, 255), 1)
                txt_3 = f'rw:{reward:5.2f} rt:{ret:5.2f} a:{advantage:5.2f}'
                im = cv2.putText(im, txt_3, (2, 36), cv2.FONT_HERSHEY_SIMPLEX, 0.35, (255, 255, 255), 1)

                for i_txt, txt in enumerate(self.reward_debugs[j][i] + self.terminal_debugs[j][i]):
                    im = cv2.putText(im, txt, (w, (i_txt+1)*15), cv2.FONT_HERSHEY_SIMPLEX, 0.35, (255, 255, 255), 1)

                im_envs.append(im)

            big_im = tile_images(im_envs)
            list_render.append(big_im)

        return list_render

    def start_caching(self, batch_size):
        thread1 = Thread(target=self.cache_to_cuda, args=(batch_size,))