Use controls to report if a collision occurred #70
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facebook-github-bot
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msavva
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Jun 7, 2019
| @@ -150,7 +150,7 @@ def detach(self): | |||
| for _, v in self.sensors.items(): | |||
| v.detach() | |||
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| def act(self, action_id: Any): | |||
| def act(self, action_id: Any) -> bool: | |||
| r"""Take the action specified by action_id | |||
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Add semantics of return value to docstring (i.e. collision during action)
| import habitat_sim.bindings as hsim | ||
| from habitat_sim import utils | ||
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| __all__ = ["ActuationSpec", "SceneNodeControl", "ObjectControls"] | ||
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| EPS = 1e-5 |
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Add brief comment about semantics of EPS for readability
| observations = self.get_sensor_observations() | ||
| observations["collided"] = collided |
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It would be good to document this added field somewhere
Ram81
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to Ram81/habitat-web-sim
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Dec 10, 2020
* Have controls report if the control function results in a collision * Some docs * Comments/docs
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Motivation and Context
Our current collision logic is a little buggy :( It also requires knowing if an action can results in a collision (i.e. move_forward can result in a collision but turn_left cannot); this problem will only get worse know that we allow people to define their own actions.
This PR seeks to resolve this by having the controls check if a collision occurred by checking to see if the filtering step caused us to move less than expected.
@msavva, thoughts in the API?
How Has This Been Tested
Visually/with the collision test in the api side.
Types of changes