SetArticulatedObjectTask class
Base class for all tasks involving manipulating articulated objects.
Methods
- def _disable_art_sleep(self)
- Disables the sleeping state of the articulated object. Use when setting the articulated object joint states.
- 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 _get_look_pos(self) -> numpy.ndarray
- The point defining where the robot should face at the start of the episode.
- def _get_spawn_region(self) -> _magnum.Range2D
- The region on the ground the robot can be placed.
- def _reset_art_sleep(self) -> None
- Resets the sleeping state of the target articulated object.
- def _sample_robot_start(self, T) -> typing.Tuple[float, numpy.ndarray]
- Returns the start face direction and the starting position of the robot.
- def _set_link_state(self, art_pos: numpy.ndarray) -> None
- Set the joint state of all the joints on the target articulated object.
- 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 get_use_marker(self) -> marker_info.MarkerInfo
- The marker the agent should interact with.
- def overwrite_sim_config(self, config: typing.Any, episode: core.dataset.Episode) -> typing.Any
- def reset(self, episode: core.dataset.Episode)
- def seed(self, seed: int) -> None
- def set_args(self, marker, obj, **kwargs)
- def set_sim_reset(self, sim_reset)
- def step(self, action: typing.Dict[str, typing.Any], episode: core.dataset.Episode)
Special methods
- def __init__(self, *args, config, dataset = None, **kwargs)
Properties
- abs_targ_idx get
- action_space: gym.spaces.space.Space get
- desired_resting get
- is_episode_active get
- should_end: bool get set
- success_js_state: float get
- The success state of the articulated object desired joint.
- targ_idx get
- use_marker_name: str get
- The name of the target marker the agent interacts with.