def render_compass()

in safety_gym/envs/engine.py [0:0]

• 11 lines of code
• 1 McCabe index (conditional complexity)

    def render_compass(self, pose, color, offset):
        ''' Render a compass observation '''
        robot_pos = self.world.robot_pos()
        robot_mat = self.world.robot_mat()
        # Truncate the compass to only visualize XY component
        compass = np.concatenate([self.obs_compass(pose)[:2] * 0.15, [offset]])
        pos = robot_pos + np.matmul(compass, robot_mat.transpose())
        self.viewer.add_marker(pos=pos,
                               size=.05 * np.ones(3),
                               type=const.GEOM_SPHERE,
                               rgba=np.array(color) * 0.5,
                               label='')