CompositeArticulatedObjectStateSampler class
Samples multiple articulated states simultaneously with rejection of invalid configurations.
Methods
- def sample(self, sim: habitat_sim.simulator.Simulator, receptacles: typing.List[receptacle.Receptacle]) -> typing.Optional[typing.Dict[habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject, typing.Dict[int, float]]]
- Iterative rejection sampling of all joint states specified in parameters. Return a list of tuples (instance_handle, link_name, state) On failure, return None.
Special methods
- def __init__(self, ao_sampler_params: typing.Dict[str, typing.Dict[str, typing.Tuple[float, float, bool]]], apply_prob: typing.Optional[float]) -> None
- ao_sampler_params : {ao_handle -> {link_name -> (min, max)}}