def __call__(
self, scene_node: habitat_sim.SceneNode, actuation_spec: MoveSpec
):
up_ax = (
np.array(scene_node.absolute_transformation().rotation_scaling())
@ habitat_sim.geo.UP
)
scene_node.translate_local(up_ax * actuation_spec.forward_amount)
def __call__(
self, scene_node: habitat_sim.SceneNode, actuation_spec: SpinSpec
):
# Rotate about the +y (up) axis
rotation_ax = habitat_sim.geo.LEFT
scene_node.rotate_local(mn.Deg(actuation_spec.spin_amount), rotation_ax)
# Calling normalize is needed after rotating to deal with machine precision errors
scene_node.rotation = scene_node.rotation.normalized()
def _random_tilt_impl(
scene_node: habitat_sim.SceneNode,
move_amount: float,
angle: float,
noise_amount: float,
):
scene_node.reset_transformation()
scene_node.rotate_x_local(scene_node, angle, 0)
def _strafe_impl(scene_node: habitat_sim.SceneNode, forward_amount: float,
strafe_angle: float):
forward_ax = (scene_node.absolute_transformation()[0:3, 0:3]
@ habitat_sim.geo.FRONT)
rotation = habitat_sim.utils.quat_from_angle_axis(
np.deg2rad(strafe_angle), habitat_sim.geo.UP)
move_ax = habitat_sim.utils.quat_rotate_vector(rotation, forward_ax)
scene_node.translate_local(move_ax * forward_amount)
def _custom_action_impl(
scene_node: habitat_sim.SceneNode,
delta_dist: float, # in metres
delta_dist_angle: float, # in degrees
delta_angle: float # in degrees
):
forward_ax = (
np.array(scene_node.absolute_transformation().rotation_scaling())
@ habitat_sim.geo.FRONT)
move_angle = np.deg2rad(delta_dist_angle)
rotation = habitat_sim.utils.quat_from_angle_axis(move_angle,
habitat_sim.geo.UP)
move_ax = habitat_sim.utils.quat_rotate_vector(rotation, forward_ax)
scene_node.translate_local(move_ax * delta_dist)
scene_node.rotate_local(mn.Deg(delta_angle), habitat_sim.geo.UP)
def _strafe_impl(
scene_node: habitat_sim.SceneNode,
move_amount: float,
strafe_angle: float,
noise_amount: float,
):
forward_ax = (
scene_node.absolute_transformation()[0:3, 0:3] @ habitat_sim.geo.FRONT)
strafe_angle = np.deg2rad(strafe_angle)
strafe_angle = np.random.uniform((1 - noise_amount) * strafe_angle,
(1 + noise_amount) * strafe_angle)
rotation = habitat_sim.utils.quat_from_angle_axis(np.deg2rad(strafe_angle),
habitat_sim.geo.UP)
move_ax = habitat_sim.utils.quat_rotate_vector(rotation, forward_ax)
move_amount = np.random.uniform((1 - noise_amount) * move_amount,
(1 + noise_amount) * move_amount)
scene_node.translate_local(move_ax * move_amount)
def __call__(self, scene_node: habitat_sim.SceneNode,
actuation_spec: MoveAndSpinSpec):
forward_ax = (scene_node.absolute_transformation()[0:3, 0:3]
@ habitat_sim.geo.FRONT)
scene_node.translate_local(forward_ax *
actuation_spec.forward_amount)
# Rotate about the +y (up) axis
rotation_ax = habitat_sim.geo.UP
scene_node.rotate_local(np.deg2rad(actuation_spec.spin_amount),
rotation_ax)
# Calling normalize is needed after rotating to deal with machine precision errors
scene_node.normalize()
def _noisy_move(scene_node: habitat_sim.SceneNode, forward_amount: float,
spin_amount: float, noise: bool):
forward_ax = (
np.array(scene_node.absolute_transformation().rotation_scaling())
@ habitat_sim.geo.FRONT)
forward_noise = np.random.normal(forward_amount,
FORWARD_NOISE) if noise else 0
forward = np.clip(forward_amount + forward_noise,
np.maximum(forward_amount - FN_CLIP_RATIO * X, 0),
forward_amount + FN_CLIP_RATIO * X)
scene_node.translate_local(forward_ax * forward)
spin_noise = np.random.normal(0,
SPIN_NOISE) * 180 / 3.141592 if noise else 0
spin = np.clip(spin_amount + spin_noise,
spin_amount - SN_CLIP_RATIO * THETA,
spin_amount + SN_CLIP_RATIO * THETA)
#print('forward : {}, spin : {}'.format(forward,spin))
# Rotate about the +y (up) axis
rotation_ax = habitat_sim.geo.UP
scene_node.rotate_local(mn.Deg(spin), rotation_ax)
# Calling normalize is needed after rotating to deal with machine precision errors
scene_node.rotation = scene_node.rotation.normalized()