habitat.tasks.rearrange.sub_tasks.articulated_object_task.SetArticulatedObjectTask class

Base class for all tasks involving manipulating articulated objects.


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.
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)


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.