| """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) | |