(self, action)
| 64 | self.eval_mode = False |
| 65 | |
| 66 | def step(self, action): |
| 67 | action_ma = {self._ev_id: self.process_act(action, self._acc_as_action)} |
| 68 | |
| 69 | obs_ma, reward_ma, done_ma, info_ma = self.env.step(action_ma) |
| 70 | |
| 71 | obs = self.process_obs(obs_ma[self._ev_id], self._input_states) |
| 72 | reward = reward_ma[self._ev_id] |
| 73 | done = done_ma[self._ev_id] |
| 74 | info = info_ma[self._ev_id] |
| 75 | |
| 76 | self._render_dict = { |
| 77 | 'timestamp': self.env.timestamp, |
| 78 | 'obs': self._render_dict['prev_obs'], |
| 79 | 'prev_obs': obs, |
| 80 | 'im_render': self._render_dict['prev_im_render'], |
| 81 | 'prev_im_render': obs_ma[self._ev_id]['birdview']['rendered'], |
| 82 | 'action': action, |
| 83 | 'reward_debug': info['reward_debug'], |
| 84 | 'terminal_debug': info['terminal_debug'] |
| 85 | } |
| 86 | return obs, reward, done, info |
| 87 | |
| 88 | |
| 89 | @staticmethod |
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