OracleNavActionConfig class
Rearrangement Only, Oracle navigation action. This action takes as input a discrete ID which refers to an object in the PDDL domain. The oracle navigation controller then computes the actions to navigate to that desired object.
Special methods
- def __init__(self, type: str = 'OracleNavAction', motion_control: str = 'base_velocity', num_joints: int = 17, turn_velocity: float = 1.0, forward_velocity: float = 1.0, turn_thresh: float = 0.1, dist_thresh: float = 0.2, lin_speed: float = 10.0, ang_speed: float = 10.0, allow_dyn_slide: bool = True, allow_back: bool = True, spawn_max_dist_to_obj: float = 2.0, num_spawn_attempts: int = 200, human_stop_and_walk_to_robot_distance_threshold: float = -1.0) -> None
- def __repr__(self)
Data
- allow_back: bool = True
- allow_dyn_slide: bool = True
- ang_speed: float = 10.0
- dist_thresh: float = 0.2
- forward_velocity: float = 1.0
- human_stop_and_walk_to_robot_distance_threshold: float = -1.0
- lin_speed: float = 10.0
- motion_control: str = 'base_velocity'
- num_joints: int = 17
- num_spawn_attempts: int = 200
- spawn_max_dist_to_obj: float = 2.0
- turn_thresh: float = 0.1
- turn_velocity: float = 1.0
- type: str = 'OracleNavAction'