How to render the env whilst evaluating a behavior?

[aly-pr]

Hi,

I am using a custom behaviour, I would like to render the environment during the behavior evaluation. For example, the bahavior is path planning and I want to visualize candidates before one is selected. At the moment render is called after step and at this point all candidates have been evaluated and only the "best" has been selected.

Is it possible to get a handle to env inside the behavior? As far as I can tell we only have access to the ego_object

[aly-pr]

one hack I am using for now is:

env.robot.ego_object.env = env

[hanruihua]

Hi,

I recommend to use the irsim.global_param.env_param, which is a global param that can be invoked everywhere.

For example, you can give the handle to env_param by:

irsim.global_param.env_param.env_handle = env

And in you behavior method, just import irsim.global_param.env_param , and you can use the env_handle to visualize your results.

This usage is similar to the env_param.logger.

[aly-pr]

amazing, thanks