habitat.tasks.rearrange.rearrange_task.RearrangeTask class

Defines additional logic for valid collisions and gripping shared between all rearrangement tasks.

Methods

def _duplicate_sensor_suite(self, sensor_suite: core.simulator.SensorSuite) -> None: Modifies the sensor suite in place to duplicate articulated agent specific sensors between the two articulated agents.
def add_perf_timing(self, *args, **kwargs)
def get_action_name(self, action_index: typing.Union[int, numpy.integer])
def get_coll_forces(self, articulated_agent_id)
def get_cur_collision_info(self, agent_idx) -> utils.CollisionDetails
def get_n_targets(self) -> int
def overwrite_sim_config(self, config: typing.Any, episode: core.dataset.Episode) -> typing.Any
def reset(self, episode: core.dataset.Episode, fetch_observations: bool = True)
def seed(self, seed: int) -> None
def set_args(self, **kwargs)
def set_sim_reset(self, sim_reset)
def step(self, action: typing.Dict[str, typing.Any], episode: core.dataset.Episode)

def __init__(self, *args, sim, dataset = None, should_place_articulated_agent = True, **kwargs) -> None