BaseVelNonCylinderAction class
The articulated agent base motion is constrained to the NavMesh and controlled with velocity commands integrated with the VelocityControl interface.
Optionally cull states with active collisions if config parameter allow_dyn_slide is True
Methods
- def collision_check(self, trans, target_trans, target_rigid_state, compute_sliding)
- trans: the transformation of the current location of the robot target_trans: the transformation of the target location of the robot given the center original Navmesh target_rigid_state: the target state of the robot given the center original Navmesh compute_sliding: if we want to compute sliding or not
- def reset(self, *args: typing.Any, **kwargs: typing.Any) -> None
- def step(self, *args, **kwargs)
- def update_base(self, if_rotation)
- Update the base of the robot if_rotation: if the robot is rotating or not
Special methods
- def __init__(self, *args, config, sim: rearrange_sim.RearrangeSim, **kwargs)
Properties
- _action_arg_prefix: str get
- Returns the action prefix to go in front of sensor / action names if there are multiple agents.
- _articulated_agent_mgr get
- Underlying articulated_agent manager for the articulated_agent instance the action is attached to.
- _ik_helper get
- The IK helper for this articulated_agent instance.
- action_space get
- cur_articulated_agent get
- The articulated_agent instance for this action.
- cur_grasp_mgr get
- The grasp manager for the articulated_agent instance for this action.