The agent can use these actions to manipulate itself and navigate through the environment.
Rotate the agent by 90 degrees to the right of its current facing
event = controller.step(dict(action='RotateRight'))
Rotate the agent by 90 degrees to the left of its current facing
event = controller.step(dict(action='RotateLeft'))
Angle the agent’s view up in 30 degree increments (max upward angle is 30 degrees above the forward horizon)
event = controller.step(dict(action='LookUp'))
Angle the agent’s view down in 30 degree increments (max downward angle is 60 degrees below the forward horizon)
event = controller.step(dict(action='LookDown'))
Move the agent forward by gridSize.
event = controller.step(dict(action='MoveAhead'))
| Parameter | Type | Description | Default |
|---|---|---|---|
| moveMagnitude | float | Specify move distance and overwrite gridSize value |
0.0 (will default to gridSize) |
Move the agent right by gridSize (without changing view direction).
event = controller.step(dict(action='MoveRight'))
| Parameter | Type | Description | Default |
|---|---|---|---|
| moveMagnitude | float | Specify move distance and overwrite gridSize value |
0.0 (will default to gridSize) |
Move the agent left by gridSize (without changing view direction).
event = controller.step(dict(action='MoveLeft'))
| Parameter | Type | Description | Default |
|---|---|---|---|
| moveMagnitude | float | Specify move distance and overwrite gridSize value |
0.0 (will default to gridSize) |
Move the agent backward by gridSize (without changing view direction).
event = controller.step(dict(action='MoveBack'))
| Parameter | Type | Description | Default |
|---|---|---|---|
| moveMagnitude | float | Specify move distance and overwrite gridSize value |
0.0 (will default to gridSize) |
Make the Agent crouch, lowering the camera angle. Note this does not change the Agent’s collision, so crouching will not allow the agent to go under things that would block it while standing.
event = controller.step(dict(action='Crouch'))
Make the Agent Stand if it is currently crouching, returning the Camera position to default.
event = controller.step(dict(action='Stand'))
Move the agent to any location in the scene. Using this command it is possible to put the agent into places that would not normally be possible to navigate to, but it can be useful if you need to place an agent in the exact same spot for a task.
controller.step(dict(action='Teleport', x=0.999, y=1.01, z=-0.3541))
| Parameter | Type | Description | Default |
|---|---|---|---|
| x | float | x coordinate in 3D scene space | 0.0 |
| y | float | y coordinate in 3D scene space | 0.0 |
| z | float | z coordinate in 3D scene space | 0.0 |
Move the agent to any location in the scene. Using this command it is possible to put the agent into places that would not normally be possible to navigate to, but it can be useful if you need to place an agent in the exact same spot for a task. Identical to Telport, but also allows rotation and horizon to be passed in.
event = controller.step(dict(action='TeleportFull', x=0.999, y=1.01, z=-0.3541, rotation=90.0, horizon=30.0))
| Parameter | Type | Description | Default |
|---|---|---|---|
| x | float | x coordinate in 3D scene space | 0.0 |
| y | float | y coordinate in 3D scene space | 0.0 |
| z | float | z coordinate in 3D scene space | 0.0 |
| rotation | float | Rotation about the Y axis to change the forward orientation of the Agent relative to world x/z axes | 0.0 |
| horizon | float | Rotation about the X axis to change the Up/Down look angle of the Agent. Any angle can be used here, but values of -30.0, 0.0, 30.0, 60.0 will mimic the maximum and minimum angles used by the LookUp and LookDown actions | 0.0 |
The horizon angle values describe the rotation about the Agent’s X-Axis. This axis has “right hand” facing with respect to the forward Z-Axis, and because of this the values are slightly misleading as the (-30.0) horizon will actually angle the agent’s forward Z direction 30 degrees upward. Because horizon values describe changes about the X-Axis, positive and negative angles can result in the same end position.
| Horizon Angle Value | Change in Forward Z |
|---|---|
| -30.0 (330.0) | Look 30 Degrees Up |
| 0.0 | Look straight ahead |
| 30.0 | Look 30 Degrees Down |
| 60.0 | Look 60 Degrees Down |
Returns valid coordinates that the Agent can reach without colliding with the environment or Sim Objects. This can be used in tandem with Teleport to warp the Agent as needed. This is useful for things like randomizing the initial position of the agent without clipping into the environment.
event = controller.step(dict(action='GetReachablePositions'))
Continue on to the Object Interaction documentation for Information about manipulating objects found within the framework.