habitat.config.default_structured_configs.RearrangePickRewardMeasurementConfig class

Rearrangement Only. Requires the end_effector_sensor lab sensor. The reward for the pick task.

Special methods

def __init__(self, type: str = 'RearrangePickReward', dist_reward: float = 2.0, pick_reward: float = 2.0, constraint_violate_pen: float = 1.0, drop_pen: float = 0.5, wrong_pick_pen: float = 0.5, force_pen: float = 0.0001, max_force_pen: float = 0.01, force_end_pen: float = 1.0, use_diff: bool = True, drop_obj_should_end: bool = True, wrong_pick_should_end: bool = True, count_coll_pen: float = -1.0, max_count_colls: int = -1, count_coll_end_pen: float = 1.0, max_target_distance: float = -1.0, max_target_distance_pen: float = 1.0, non_desire_ee_local_pos_dis: float = -1.0, non_desire_ee_local_pos_pen: float = 1.0, non_desire_ee_local_pos: typing.Optional[typing.List[float]] = None, camera_looking_down_angle: float = -1.0, camera_looking_down_pen: float = 1.0) -> None
def __repr__(self)

Data

camera_looking_down_angle: float = -1.0
camera_looking_down_pen: float = 1.0
constraint_violate_pen: float = 1.0
count_coll_end_pen: float = 1.0
count_coll_pen: float = -1.0
dist_reward: float = 2.0
drop_obj_should_end: bool = True
drop_pen: float = 0.5
force_end_pen: float = 1.0
force_pen: float = 0.0001
max_count_colls: int = -1
max_force_pen: float = 0.01
max_target_distance: float = -1.0
max_target_distance_pen: float = 1.0
non_desire_ee_local_pos: typing.Optional[typing.List[float]] = None
non_desire_ee_local_pos_dis: float = -1.0
non_desire_ee_local_pos_pen: float = 1.0
pick_reward: float = 2.0
type: str = 'RearrangePickReward'
use_diff: bool = True
wrong_pick_pen: float = 0.5
wrong_pick_should_end: bool = True