controller.step(
    action="MoveAhead",
    moveMagnitude=None
)

# Other supported directions
controller.step("MoveBack")
controller.step("MoveLeft")
controller.step("MoveRight")

Movement Parameters

moveMagnitude

: Optional[float] = None

Overrides the initialized step size of

gridSize

. The units are specified in meters. By default, the

gridSize

is initialized to 0.25 meters.

Agent Rotation

Changes the yaw rotation of the agent's body. Supported action directions are

RotateRight

and

RotateLeft

controller.step(
    action="RotateRight",
    degrees=None
)

# Other supported direction
controller.step("RotateLeft")

Rotate Parameters

degrees

: Optional[float] = None

Overrides the initialized rotation amount of

rotateStepDegrees

Camera Rotation

We can adjust the camera's pitch by utilizing the

LookUp

and

LookDown

commands. Both increment in

30^\circ

intervals, with angles being clamped between

60^\circ

in the downward direction and

30^\circ

in the upward direction.

controller.step(
    action="LookUp",
    degrees=30
)

# Other supported direction
controller.step("LookDown")

Camera Rotation Parameters

degrees

: float = 30

Specifies the number of degrees to look up or down. Must be greater than $0$ .

Crouch

controller.step(action="Crouch")

Crouch Description

Crouches the agent from a standing position. The standing position is roughly $0.22$ meters taller than the crouching position.

Stand

controller.step(action="Stand")

Stand Description

Stands the agent from a crouching position. The crouching position is roughly $0.22$ meters shorter than the standing position.

Teleport

allows the agent to set its pose to anywhere in the scene in a single step. Valid poses do not place the agent outside the outer boundaries of the scene or in an area that it collides with an object.

controller.step(
    action="Teleport",
    position=dict(x=1, y=0.9, z=-1.5),
    rotation=dict(x=0, y=270, z=0),
    horizon=30,
    standing=True
)

Teleport Parameters

position

: Optional[dict[str, float]] = None

The position of the agent's body in global 3D coordinate space. If unspecified, the position of the agent remains the same.

rotation

: Optional[dict[str, float]] = None

The rotation of the agent's body in global 3D space. Here, the rotation changes the agent's yaw rotation.

Remark

The default agent's body cannot change in pitch or roll; hence, why the $x, z=0$ .

If unspecified, the rotation of the agent remains the same.

horizon

: Optional[float] = None

The

horizon

change's the camera's rotation. Values are clamped between [-30:60].

Since the agent looks up and down in $30^\circ$ increments, it most common for the horizon to be in $\lbrace -30, 0, 30, 60\rbrace$ .

Warning

Negative camera

horizon

values correspond to agent looking up, whereas positive

horizon

values correspond to the agent looking down.

If unspecified, the horizon of the agent remains the same.

standing

: Optional[bool] = None

Denotes whether the agent is in a standing or crouched position. If unspecified, the standing state of the agent remains the same.

In addition to being able to

Teleport

, we also have an equivalent action

TeleportFull

that strictly requires every degree of freedom to be specified. The strictness of this action is often useful in large projects, where we don't want to any part of the agent implied implicitly.

Warning

TeleportFull

does not guarantee backwards compatibility in future releases. If a new degree of freedom is added to the agent, it will be added as a required parameter. If this is an issue, we recommend using

Teleport

controller.step(
    action="TeleportFull",
    position=dict(x=1, y=0.9, z=-1.5),
    rotation=dict(x=0, y=270, z=0),
    horizon=30,
    standing=True
)

TeleportFull Parameters

position

: dict[str, float]

required

The position of the agent's body in global 3D coordinate space.

rotation

: dict[str, float]

required

The rotation of the agent's body in global 3D space. Here, the rotation changes the agent's yaw rotation.

Remark

The default agent's body cannot change in pitch or roll; hence, why the $x, z=0$ .

horizon

: float

required

The

horizon

change's the camera's rotation. Values are clamped between [-30:60].

Since the agent looks up and down in $30^\circ$ increments, it most common for the horizon to be in $\lbrace -30, 0, 30, 60\rbrace$ .

Warning

Negative camera

horizon

values correspond to agent looking up, whereas positive

horizon

values correspond to the agent looking down.

standing

: bool

required

Denotes whether the agent is in a standing or crouched position.

It is often useful to randomize the position of the agent in the scene, before starting an episode. Here, we can use:

GetReachablePositions, which does an optimized BFS over a grid spaced out by the initialized
gridSize
. The valid positions are then added and returned in a list.
Teleport
, which can take a given position, and transform the agent to that position.

The process is illustrated below:

Step 1: Get the Positions

positions = controller.step(
    action="GetReachablePositions"
).metadata["actionReturn"]

Response

[
    dict(x=(...), y=(...), z=(...)),
    dict(x=(...), y=(...), z=(...)),
    dict(x=(...), y=(...), z=(...)),
    {...}
    dict(x=(...), y=(...), z=(...)),
]

Step 2: Teleport to a Position

import random
position = random.choice(positions)
controller.step(
    action="Teleport",
    position=position
)

Get Reachable Positions Response

actionReturn

: list[dict[str, float]]

A list of each position that the agent can be at, without colliding into any other objects or going beyond the walls.

Done

The

Done

action nothing to the state of the environment. But, it returns a cleaned up event with respect to the metadata.

controller.step(action="Done")

It is often used in the definition of a successful navigation task (see Anderson et al.), where the agent must call the done action to signal that it knows that it's done, rather than arbitrarily or biasedly guessing.

Warning

The

Done

action does literally nothing to the state of the environment. For instance, if the agent calls

Done

and then

MoveAhead

, the

Done

action will have no affect on preventing a

MoveAhead

action from executing.