habitat.datasets.rearrange.navmesh_utils.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 __init__(self, integration_frequency: float = 60.0)
Initialize the internal VelocityControl object.

Method documentation

def habitat.datasets.rearrange.navmesh_utils.SimpleVelocityControlEnv.act(self, trans: _magnum.Matrix4, vel: typing.List[float]) -> _magnum.Matrix4

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.datasets.rearrange.navmesh_utils.SimpleVelocityControlEnv.__init__(self, integration_frequency: float = 60.0)

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.