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minosworld / minos

MINOS: Multimodal Indoor Simulator
MIT License
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Collision = True, but 'forces': {'type': 'force', 'data': array([0., 0., 0., 0.] #72

Closed ducha-aiki closed 6 years ago

ducha-aiki commented 6 years ago

It usually happens, when agent diagonally moves into chairs or something like this. I often cannot see obstacle visually, because it is too low. But high enough to block the way. Is is intentional behaviour or a bug?

msavva commented 6 years ago

The forces field is an array which reports a contact force value for each force sensor. The contact force for each sensor is computed by detecting colliding surfaces within a threshold distance from the sensor position in the direction of the sensor orientation. The default force sensor array in minos/config/sensors.yml is composed of four sensors placed on the surface of a cylinder (pointing outward from the center). Thus, it is possible to collide with a surface while all four sensors report no contact force, especially if the motion is diagonal to the agent orientation.

ducha-aiki commented 6 years ago

Thank you for clarification! I was under impression, that force sensor is not point, but whole sector