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.
Methods
- 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)
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.