habitat.tasks.rearrange.rearrange_sensors module

Classes

class AbsGoalSensor
class AbsTargetStartSensor: Relative position from end effector to target object
class ArmDepthBBoxSensor: Bounding box sensor to check if the object is in frame
class BadCalledTerminate: Returns 0 if the agent has called the stop action when the success condition is also met or not called the stop action when the success condition is not met. Returns 1 otherwise.
class BaseToObjectDistance: Gets the distance between the base and all current target object COMs.
class DidViolateHoldConstraintMeasure
class DoesWantTerminate: Returns 1 if the agent has called the stop action and 0 otherwise.
class EEPositionSensor
class EndEffectorToGoalDistance
class EndEffectorToObjectDistance: Gets the distance between the end-effector and all current target object COMs.
class EndEffectorToRestDistance: Distance between current end effector position and position where end effector rests within the robot body.
class ForceTerminate: If the accumulated force throughout this episode exceeds the limit.
class GfxReplayMeasure
class GoalSensor: Relative to the end effector
class HasFinishedHumanoidPickSensor: Returns 1 if the agent has finished the oracle nav action. Returns 0 otherwise.
class HasFinishedOracleNavSensor: Returns 1 if the agent has finished the oracle nav action. Returns 0 otherwise.
class HumanoidJointSensor
class IsHoldingSensor: Binary if the robot is holding an object or grasped onto an articulated object.
class JointSensor
class JointVelocitySensor
class LocalizationSensor: The position and angle of the articulated_agent in world coordinates.
class MultiObjSensor: Abstract parent class for a sensor that specifies the locations of all targets.
class NumStepsMeasure: The number of steps elapsed in the current episode.
class ObjAtGoal: Returns if the target object is at the goal (binary) for each of the target objects in the scene.
class ObjectToGoalDistance: Euclidean distance from the target object to the goal.
class PositionGpsCompassSensor
class RearrangeReward: An abstract class defining some measures that are always a part of any reward function in the Habitat 2.0 tasks.
class RelativeRestingPositionSensor
class RestingPositionSensor: Desired resting position in the articulated_agent coordinate frame.
class ReturnToRestDistance: Distance between end-effector and resting position if the articulated agent is holding the object.
class RobotCollisions: Returns a dictionary with the counts for different types of collisions.
class RobotForce: The amount of force in newton’s accumulatively applied by the robot.
class RuntimePerfStats
class TargetCurrentSensor: This is the ground truth object position sensor relative to the robot end-effector coordinate frame.
class TargetGoalGpsCompassSensor
class TargetStartGpsCompassSensor
class TargetStartSensor: Relative position from end effector to target object
class ZeroMeasure: The number of steps elapsed in the current episode.