RearrangeEpisode class
Specifies additional objects, targets, markers, and ArticulatedObject states for a particular instance of an object rearrangement task.
Special methods
- def __getstate__(self)
- def __init__(self, *, episode_id: typing.Optional[str] = None, scene_id: typing.Optional[str] = None, scene_dataset_config: str = 'default', additional_obj_config_paths: typing.List[str] = [], start_position: typing.Optional[typing.List[float]] = None, start_rotation: typing.Optional[typing.List[float]] = None, info: typing.Optional[typing.Dict[str, typing.Any]] = None, ao_states: typing.Dict[str, typing.Dict[int, float]], rigid_objs: typing.List[typing.Tuple[str, numpy.ndarray]], targets: typing.Dict[str, numpy.ndarray], markers: typing.List[typing.Dict[str, typing.Any]] = [], target_receptacles: typing.List[typing.Tuple[str, int]] = [], goal_receptacles: typing.List[typing.Tuple[str, int]] = [], name_to_receptacle: typing.Dict[str, str] = {}) -> None
- Method generated by attrs for class RearrangeEpisode.
- def __setstate__(self, state)
Properties
- ao_states: typing.Dict[str, typing.Dict[int, float]] get set del
- Lists modified ArticulatedObject states for the scene: {instance_handle -> {link, state}}
- rigid_objs: typing.List[typing.Tuple[str, numpy.ndarray]] get set del
- A list of objects to add to the scene, each with: (handle, transform)
- targets: typing.Dict[str, numpy.ndarray] get set del
- Maps an object instance to a new target location for placement in the task. {instance_name -> target_transform}
- markers: typing.List[typing.Dict[str, typing.Any]] get set del
- Indicate points of interest in the scene such as grasp points like handles. {marker name -> (type, (params))}
- target_receptacles: typing.List[typing.Tuple[str, int]] get set del
- The names and link indices of the receptacles containing the target objects.
- goal_receptacles: typing.List[typing.Tuple[str, int]] get set del
- The names and link indices of the receptacles containing the goals.
- name_to_receptacle: typing.Dict[str, str] get set del
- Map ManagedObject instance handles to containing Receptacle unique_names.
- episode_id: str get set del
- scene_id: str get set del
- scene_dataset_config: str get set del
- additional_obj_config_paths: typing.List[str] get set del
- start_position: typing.List[float] get set del
- start_rotation: typing.List[float] get set del
- info: typing.Optional[typing.Dict[str, typing.Any]] get set del