refactor navmesh_utils SimpleVelocityControlEnv and de-duplicate #1970
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…ward. Refactor full stack to de-duplicate implementation.
facebook-github-bot
added
the
CLA Signed
jimmytyyang
approved these changes
May 24, 2024
| linear_velocity = vel[0] | ||
| angular_velocity = vel[1] | ||
| # Map velocity actions | ||
| self.vel_control.linear_velocity = mn.Vector3( | ||
| [0.0, 0.0, -linear_velocity] | ||
| [linear_velocity, 0.0, 0.0] |
There was a problem hiding this comment.
hi alex, do you know why we do this at first place?
There was a problem hiding this comment.
why [0.0, 0.0, -linear_velocity]?
There was a problem hiding this comment.
Originally, this was aligned with Habitat's coordinate system. Typical Agent "forward" direction in local space is -Z.
In this PR I unified the treatment to use the X-forward convention of the articulated_agent
aclegg3
deleted the
alex-05_21-refactor_SimpleVelocityControlEnv_x_forward
branch
dannymcy
pushed a commit
to dannymcy/habitat-lab
that referenced
this pull request
Jun 26, 2024
…ebookresearch#1970) * refactor navmesh_utils SimpleVelocityControlEnv to conform with x-forward. Refactor full stack to de-duplicate implementation.
dannymcy
pushed a commit
to dannymcy/habitat-lab
that referenced
this pull request
Jul 8, 2024
…ebookresearch#1970) * refactor navmesh_utils SimpleVelocityControlEnv to conform with x-forward. Refactor full stack to de-duplicate implementation.
dannymcy
pushed a commit
to dannymcy/habitat-lab
that referenced
this pull request
Jul 8, 2024
…ebookresearch#1970) * refactor navmesh_utils SimpleVelocityControlEnv to conform with x-forward. Refactor full stack to de-duplicate implementation.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Motivation and Context
SimpleVelocityControlEnv and similar utils were duplicated with minor convention differences. This PR unifies the conventions and imports a single implementation in the oracle nav skills.
How Has This Been Tested
CI
Types of changes
Checklist