def is_body_action(action_name: str):
r"""Checks to see if :p:`action_name` is a body action
:param action_name: Name of the action
"""
move_fn = registry.get_move_fn(action_name)
assert move_fn is not None, f"No move_fn for action '{action_name}'"
return move_fn.body_action
def action(
self,
obj: hsim.SceneNode,
action_name: str,
actuation_spec: ActuationSpec,
apply_filter: bool = True,
) -> bool:
r"""Performs the action specified by :p:`action_name` on the object
:param obj: `scene.SceneNode` to perform the action on
:param action_name: Name of the action. Used to query the
`registry` to retrieve the function which implements
this action
:param actuation_spec: Specifies the parameters needed by the function
:param apply_filter: Whether or not to apply the `move_filter_fn`
after the action
:return: Whether or not the action taken resulted in a collision
"""
start_pos = obj.absolute_translation
move_fn = registry.get_move_fn(action_name)
assert move_fn is not None, f"No move_fn for action '{action_name}'"
move_fn(obj, actuation_spec)
end_pos = obj.absolute_translation
collided = False
if apply_filter:
filter_end = self.move_filter_fn(start_pos, end_pos)
# Update the position to respect the filter
obj.translate(filter_end - end_pos)
dist_moved_before_filter = (end_pos - start_pos).dot()
dist_moved_after_filter = (filter_end - start_pos).dot()
# NB: There are some cases where ||filter_end - end_pos|| > 0 when a
# collision _didn't_ happen. One such case is going up stairs. Instead,
# we check to see if the the amount moved after the application of the filter
# is _less_ the the amount moved before the application of the filter
collided = (dist_moved_after_filter +
EPS) < dist_moved_before_filter
return collided