habitat.tasks.rearrange.articulated_agent_manager.ArticulatedAgentManager class

Handles creating, updating and managing all agent instances.

Methods

def first_setup(self)
def get_agent_index_from_name(self, agent_name: str) -> typing.Optional[int]: Get the index of an agent from its name. Returns None if the name does not exist.
def get_agent_name_from_index(self, agent_index: int) -> typing.Optional[str]: Get the name of the agent from its index. Returns None if the index does not exist.
def on_new_scene(self) -> None: Call on a new scene. This will destroy and re-create the robot simulator instances.
def post_obj_load_reconfigure(self): Called at the end of the simulator reconfigure method. Used to set the starting configurations of the robots if specified in the task config.
def pre_obj_clear(self) -> None: Must call before all objects in the scene are removed before the next episode. This will reset the grasp constraints and any references to previously existing objects.
def update_agents(self): Update all agent instance managers.
def update_debug(self): Only call when in debug mode. This renders visualization helpers for the agents.

def __getitem__(self, key: int) -> ArticulatedAgentData: Fetches the agent data at the agent index.
def __init__(self, cfg: DictConfig, sim: Simulator)
def __len__(self) -> int: The number of agents.

articulated_agents_iter: typing.Iterator[articulated_agents.MobileManipulator] get: Iterator over all agent interfaces.
grasp_iter: typing.Iterator[rearrange_grasp_manager.RearrangeGraspManager] get