def teleport(self,
pose: Dict[str, float],
rotation: Dict[str, float],
horizon: float = 0.0):
self.agent_position = pos_to_str_for_cache(pose)
self.agent_rotation = (math.floor(rotation["y"] / 90.0) * 90
) # round to nearest 90 degree angle
return True
def step(
self, action_dict: Dict[str, Union[str, int,
float]]) -> ai2thor.server.Event:
"""Take a step in the ai2thor environment."""
self._last_action = action_dict["action"]
if action_dict["action"] == "RotateLeft":
self.agent_rotation = (self.agent_rotation - 90.0) % 360.0
elif action_dict["action"] == "RotateRight":
self.agent_rotation = (self.agent_rotation + 90.0) % 360.0
elif action_dict["action"] == "MoveAhead":
pos = str_to_pos_for_cache(self.agent_position)
if self.agent_rotation == 0.0:
pos["x"] += 0.25
elif self.agent_rotation == 90.0:
pos["z"] += 0.25
elif self.agent_rotation == 180.0:
pos["x"] -= 0.25
elif self.agent_rotation == 270.0:
pos["z"] -= 0.25
pos_string = pos_to_str_for_cache(pos)
if pos_string in self.view_cache:
self.agent_position = pos_to_str_for_cache(pos)
return self.last_event
