SimpleVelocityControlEnv class
A simple environment to control the velocity of the robot. Assumes x-forward in robot local space.
Methods
- def act(self, trans: _magnum.Matrix4, vel: typing.List[float]) -> _magnum.Matrix4
- Integrate the current linear and angular velocity and return the new transform.
Special methods
- def __format__(self, format_spec, /)
- Default object formatter.
- def __init__(self, integration_frequency: float = 60.0)
- Initialize the internal VelocityControl object.
Method documentation
def habitat.
Integrate the current linear and angular velocity and return the new transform.
| Parameters | |
|---|---|
| trans | The current agent transformation matrix. |
| vel | 2D list of linear (forward) and angular (about Y) velocity. |
def habitat.
Default object formatter.
Return str(self) if format_spec is empty. Raise TypeError otherwise.
def habitat.
Initialize the internal VelocityControl object.
| Parameters | |
|---|---|
| integration_frequency | The frequency of integration. Number of integration steps in a second. Integration step size = 1.0/integration_frequency. |