Update step methodology (stepping faster). Add water mask overlay. Reduce overlay alpha to 0.3

app.py

@@ -134,7 +134,7 @@ def build_masks(seg):
     return water_mask, garbage_mask, movable_mask
 
 # Garbage mask can be highlighted in red
-def highlight_chunk_masks_on_frame(frame, labels, objs, color_uncollected=(0, 0, 128), color_collected=(0, 128, 0), alpha=0.6):
+def highlight_chunk_masks_on_frame(frame, labels, objs, color_uncollected=(0, 0, 128), color_collected=(0, 128, 0), alpha=0.3):
     """
     Overlays semi-transparent colored regions for garbage chunks on the frame.
     `objs` must have 'pos' and 'col' keys. The collection status changes the overlay color.
@@ -151,6 +151,16 @@ def highlight_chunk_masks_on_frame(frame, labels, objs, color_uncollected=(0, 0,
         cv2.drawContours(overlay, contours, -1, color, thickness=cv2.FILLED)
     # Blend overlay with original frame using alpha
     return cv2.addWeighted(overlay, alpha, frame, 1 - alpha, 0)
+# Water mask to be blue
+def highlight_water_mask_on_frame(frame, binary_mask, color=(255, 0, 0), alpha=0.3):
+    """
+    Overlays semi-transparent colored mask (binary) on the frame.
+    """
+    overlay = frame.copy()
+    mask = binary_mask.astype(np.uint8) * 255
+    contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+    cv2.drawContours(overlay, contours, -1, color, thickness=cv2.FILLED)
+    return cv2.addWeighted(overlay, alpha, frame, 1 - alpha, 0)
 
 # ── A* and KNN over binary water grid ─────────────────────────────────
 def astar(start, goal, occ):
@@ -191,7 +201,7 @@ def knn_path(start, targets, occ):
 
 # ── Robot sprite/class -──────────────────────────────────────────────────
 class Robot:
-    def __init__(self, sprite, speed=2000): # Declare the robot's physical stats and routing (position, speed, movement, path)
+    def __init__(self, sprite, speed=5000): # Declare the robot's physical stats and routing (position, speed, movement, path)
         img = Image.open(sprite).convert("RGBA").resize((40, 40))
         self.png = np.array(img)
         if self.png.shape[-1] != 4:
@@ -199,12 +209,17 @@ class Robot:
         self.png = np.array(Image.open(sprite).convert("RGBA").resize((40,40)))
         self.pos = [0,0]; self.speed=speed
     def step(self, path):
-        if not path: return
-        dx,dy = path[0][0]-self.pos[0], path[0][1]-self.pos[1]
-        dist = (dx*dx+dy*dy)**0.5
-        if dist<=self.speed:
-            self.pos=list(path.pop(0)); return
-        r=self.speed/dist; self.pos=[int(self.pos[0]+dx*r), int(self.pos[1]+dy*r)]
+        while path:
+            dx, dy = path[0][0] - self.pos[0], path[0][1] - self.pos[1]
+            dist = (dx * dx + dy * dy) ** 0.5
+            if dist <= self.speed:
+                self.pos = list(path.pop(0))
+            else:
+                r = self.speed / dist
+                self.pos = [int(self.pos[0] + dx * r), int(self.pos[1] + dy * r)]
+            # Break after one logical move to avoid overshooting
+            break
+
 
 # ── FastAPI & HTML content (original styling) ───────────────────────────
 # HTML Content for UI (streamed with FastAPI HTML renderer)
@@ -458,7 +473,8 @@ def _pipeline(uid,img_path):
     for _ in range(15000): # safety frames
         frame=bg.copy()
         # Draw garbage chunk masks in red-to-green (semi-transparent)
-        frame = highlight_chunk_masks_on_frame(frame, labels, objs)
+        frame = highlight_chunk_masks_on_frame(frame, labels, objs)                               # 🔴 garbage overlay
+        frame = highlight_water_mask_on_frame(frame, water_mask)  # 🔵 water overlay
         # Draw object detections as red (to green) dots
         for o in objs:
             color = (0, 0, 128) if not o["col"] else (0, 128, 0)