habitat_sim.agent module

Actions

We currently have the following actions added by default. Any action not registered with an explicit name is given the snake case version of the class name, i.e. MoveForward can be accessed with the name move_forward. See registry.register_move_fn, SceneNodeControl, and ActuationSpec

    if constraint is not None:
        rotation = scene_node.rotation

        if (
            abs(float(rotation.angle())) > 0
            and 1.0 - abs(rotation.axis().normalized()[axis]) > 1e-3
        ):
            raise RuntimeError(
                "Constrained look only works for a singular look action type"
            )

        look_vector = rotation.transform_vector(FRONT)
        if axis == 0:
            look_angle = mn.Rad(np.arctan2(look_vector[1], -look_vector[2]))
        elif axis == 1:
            look_angle = -mn.Rad(np.arctan2(look_vector[0], -look_vector[2]))

        new_angle = look_angle + mn.Deg(theta)

        constraint = mn.Deg(constraint)

        if new_angle > constraint:
            theta = constraint - look_angle
        elif new_angle < -constraint:
            theta = -constraint - look_angle

    _rotate_local_fns[axis](scene_node, mn.Deg(theta))
    scene_node.rotation = scene_node.rotation.normalized()


@registry.register_move_fn(body_action=True)
class MoveBackward(SceneNodeControl):
    def __call__(self, scene_node: SceneNode, actuation_spec: ActuationSpec) -> None:
        _move_along(scene_node, actuation_spec.amount, _Z_AXIS)


@registry.register_move_fn(body_action=True)
class MoveForward(SceneNodeControl):
    def __call__(self, scene_node: SceneNode, actuation_spec: ActuationSpec) -> None:
        _move_along(scene_node, -actuation_spec.amount, _Z_AXIS)


@registry.register_move_fn(body_action=True)
class MoveRight(SceneNodeControl):
    def __call__(self, scene_node: SceneNode, actuation_spec: ActuationSpec) -> None:
        _move_along(scene_node, actuation_spec.amount, _X_AXIS)


@registry.register_move_fn(body_action=True)
class MoveLeft(SceneNodeControl):
    def __call__(self, scene_node: SceneNode, actuation_spec: ActuationSpec) -> None:
        _move_along(scene_node, -actuation_spec.amount, _X_AXIS)


@registry.register_move_fn(body_action=False)
class MoveUp(SceneNodeControl):
    def __call__(self, scene_node: SceneNode, actuation_spec: ActuationSpec) -> None:
        _move_along(scene_node, actuation_spec.amount, _Y_AXIS)


@registry.register_move_fn(body_action=False)
class MoveDown(SceneNodeControl):
    def __call__(self, scene_node: SceneNode, actuation_spec: ActuationSpec) -> None:
        _move_along(scene_node, -actuation_spec.amount, _Y_AXIS)


@registry.register_move_fn(body_action=False)
class LookLeft(SceneNodeControl):
    def __call__(self, scene_node: SceneNode, actuation_spec: ActuationSpec) -> None:
        _rotate_local(
            scene_node, actuation_spec.amount, _Y_AXIS, actuation_spec.constraint
        )


@registry.register_move_fn(body_action=False)
class LookRight(SceneNodeControl):
    def __call__(self, scene_node: SceneNode, actuation_spec: ActuationSpec) -> None:
        _rotate_local(
            scene_node, -actuation_spec.amount, _Y_AXIS, actuation_spec.constraint
        )


registry.register_move_fn(LookLeft, name="turn_left", body_action=True)
registry.register_move_fn(LookRight, name="turn_right", body_action=True)


@registry.register_move_fn(body_action=False)
class LookUp(SceneNodeControl):
    def __call__(self, scene_node: SceneNode, actuation_spec: ActuationSpec) -> None:
        _rotate_local(
            scene_node, actuation_spec.amount, _X_AXIS, actuation_spec.constraint
        )


@registry.register_move_fn(body_action=False)
class LookDown(SceneNodeControl):
    def __call__(self, scene_node: SceneNode, actuation_spec: ActuationSpec) -> None:
        _rotate_local(
            scene_node, -actuation_spec.amount, _X_AXIS, actuation_spec.constraint
        )


@registry.register_move_fn(body_action=False)
class RotateSensorClockwise(SceneNodeControl):
    def __call__(self, scene_node: SceneNode, actuation_spec: ActuationSpec) -> None:
        _rotate_local(
            scene_node, actuation_spec.amount, _Z_AXIS, actuation_spec.constraint
        )


@registry.register_move_fn(body_action=False)
class RotateSensorAntiClockwise(SceneNodeControl):
    def __call__(self, scene_node: SceneNode, actuation_spec: ActuationSpec) -> None:
        _rotate_local(
            scene_node, -actuation_spec.amount, _Z_AXIS, actuation_spec.constraint
        )

And noisy actions from PyRobot. See PyRobotNoisyActuationSpec

    # Same deal with rotation about + EPS and why we multiply by the sign
    rot_noise *= np.sign(rotate_amount + 1e-8)

    scene_node.rotate_y_local(mn.Deg(rotate_amount) + mn.Rad(rot_noise))
    scene_node.rotation = scene_node.rotation.normalized()


@registry.register_move_fn(body_action=True)
class PyrobotNoisyMoveBackward(SceneNodeControl):
    def __call__(
        self, scene_node: hsim.SceneNode, actuation_spec: ActuationSpec
    ) -> None:
        assert isinstance(actuation_spec, PyRobotNoisyActuationSpec)
        _noisy_action_impl(
            scene_node,
            -actuation_spec.amount,
            0.0,
            actuation_spec.noise_multiplier,
            pyrobot_noise_models[actuation_spec.robot][
                actuation_spec.controller
            ].linear_motion,
            "linear",
        )


@registry.register_move_fn(body_action=True)
class PyrobotNoisyMoveForward(SceneNodeControl):
    def __call__(
        self, scene_node: hsim.SceneNode, actuation_spec: ActuationSpec
    ) -> None:
        assert isinstance(actuation_spec, PyRobotNoisyActuationSpec)
        _noisy_action_impl(
            scene_node,
            actuation_spec.amount,
            0.0,
            actuation_spec.noise_multiplier,
            pyrobot_noise_models[actuation_spec.robot][
                actuation_spec.controller
            ].linear_motion,
            "linear",
        )


@registry.register_move_fn(body_action=True)
class PyrobotNoisyTurnLeft(SceneNodeControl):
    def __call__(
        self, scene_node: hsim.SceneNode, actuation_spec: ActuationSpec
    ) -> None:
        assert isinstance(actuation_spec, PyRobotNoisyActuationSpec)
        _noisy_action_impl(
            scene_node,
            0.0,
            actuation_spec.amount,
            actuation_spec.noise_multiplier,
            pyrobot_noise_models[actuation_spec.robot][
                actuation_spec.controller
            ].rotational_motion,
            "rotational",
        )


@registry.register_move_fn(body_action=True)
class PyrobotNoisyTurnRight(SceneNodeControl):
    def __call__(
        self, scene_node: hsim.SceneNode, actuation_spec: ActuationSpec
    ) -> None:
        assert isinstance(actuation_spec, PyRobotNoisyActuationSpec)
        _noisy_action_impl(
            scene_node,
            0.0,
            -actuation_spec.amount,
            actuation_spec.noise_multiplier,
            pyrobot_noise_models[actuation_spec.robot][
                actuation_spec.controller
            ].rotational_motion,
            "rotational",
        )

Action space path finding

See the nav.GreedyGeodesicFollower class.

Classes

class ActionSpec

Defines how a specific action is implemented

class SixDOFPose

Specifies a position with 6 degrees of freedom

class AgentState

class AgentConfiguration

class Agent

Implements an agent with multiple sensors

class ActuationSpec

Struct to hold parameters for the default actions

class ObjectControls

Used to implement actions

class SceneNodeControl

Base class for all controls

class PyRobotNoisyActuationSpec

Struct to hold parameters for pyrobot noise model