habitat.tasks.rearrange.sub_tasks.articulated_object_sensors module

Classes

class ArtJointSensor

Gets the joint state (position and velocity) of the articulated object specified by the use_marker_name property in the task object.

class ArtJointSensorNoVel

Gets the joint state (just position) of the articulated object specified by the use_marker_name property in the task object.

class ArtObjAtDesiredState

class ArtObjReward

A general reward definition for any tasks involving manipulating articulated objects.

class ArtObjState

Measures the current joint state of the target articulated object.

class ArtObjSuccess

Measures if the target articulated object joint state is at the success criteria.

class EndEffectorDistToMarker

The distance of the end-effector to the target marker on the articulated object.

class MarkerRelPosSensor

Tracks the relative position of a marker to the robot end-effector specified by use_marker_name in the task. This use_marker_name must exist in the task and refer to the name of a marker in the simulator.