def agent_state(self) -> Dict[str, Union[Dict[str, float], float]]:
"""Return agent position, rotation and horizon."""
return {
**str_to_pos_for_cache(self.agent_position),
"rotation": {
"x": 0.0,
"y": self.agent_rotation,
"z": 0.0
},
"horizon": 1.0,
}
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
def to_pos(s):
if isinstance(s, (Dict, Tuple)):
return s
if isinstance(s, float):
return {"x": 0, "y": s, "z": 0}
return str_to_pos_for_cache(s)
def currently_reachable_points(self) -> List[Dict[str, float]]:
"""List of {"x": x, "y": y, "z": z} locations in the scene that are
currently reachable."""
return [str_to_pos_for_cache(pos) for pos in self.view_cache]
