habitat.tasks.rearrange.social_nav.oracle_social_nav_actions.OracleNavRandCoordAction class

Oracle Nav RandCoord Action. Selects a random position in the scene and navigates there until reaching. When the arg is 1, does replanning.


def _compute_robot_to_human_min_step(self, robot_trans, human_pos, human_pos_list)
The function to compute the minimum step to reach the goal
def _find_path_given_start_end(self, start, end)
Helper function to find the path given starting and end locations
def _path_to_point(self, point)
Obtain path to reach the coordinate point. If agent_pos is not given the path starts at the agent base pos, otherwise it starts at the agent_pos value :param point: Vector3 indicating the target point
def _reach_human(self, robot_pos, human_pos, base_T)
Check if the agent reaches the human or not
def lazy_inst_humanoid_controller(self, task, config)
def reset(self, *args, **kwargs)
def step(self, *args, **kwargs)
def update_base(self)

Special methods

def __init__(self, *args, task, **kwargs)


_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.