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cc396fd | 1 2 3 4 5 6 7 8 9 10 11 12 | """No-flow line-of-sight controller."""
import numpy as np
from experiments.shared.src.control.geometric import goal_action
from experiments.shared.src.vision.pose_from_image import estimate_pose_from_clean_image
def plan(state, task, config):
pose = estimate_pose_from_clean_image(state)
goal = np.asarray(task["goal"], dtype=np.float32)
return goal_action(pose, goal, int(config["action_dim"]), float(config["gain"]), 0.6)
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