r""".. :param agent_id: id of agent. :return: state of agent corresponding to :p:`agent_id`.

r"""Collects data from all sensors and returns it packaged inside :ref:`Observations`.

r"""Extends the action space to accommodate a new action with the name :p:`name` :param name: The name of the new action :ret

r""".. :return: the current metric for :ref:`Measure`.

r"""Checks to see if action :p:`name` is already register :param name: The name to check :return: Whether or not :p:`name` already ex

This function computes evaluation metrics for the Object Goal task Returns: spl (float): Success weighted by Path Length

Get a mapping of object ids to goal positions for rearrange targets. :return: ([idx: int], [goal_pos: list]) The index of the target object

r"""Checks if dependencies measures are enabled and calculatethat the measure :param measure_name: a name of the measure for which has depende

Returns the observation. :param position: list containing 3 entries for :py:`(x, y, z)`. :param rotation: list with 4 entries for :py

Get the positions of all clutter RigidObjects in the scene as a numpy array.

r"""Update ``_metric``, this method is called from ``Env`` on each ``step``.

r""" Returns: current observation for Sensor.

Step the world and update the robot. :param dt: Timestep by which to advance the world. Multiple physics substeps can be excecuted within a s

r"""Creates a quaternions from coeffs in [x, y, z, w] format

r"""Rotates a vector by a quaternion Args: quaternion: The quaternion to rotate by v: The vector to rotate Returns: np

r"""Resets the environments and returns the initial observations. :return: initial observations from the environment.

r"""The PyRobot python3 version which is a dependency of Habitat-PyRobot integration relies on ROS running in python2.7. In order to import cv2 in

This function sends a request to the chat API to generate a response based on the given messages. Args: model (str): The

Create a new rigid point-to-point (ball joint) constraint between the robot and an object. :param pivot_in_link: The origin of the constraint

Removes any hold constraints currently active. :param force: If True, reset the collision group of the now released object immediately instea

Encodes an image file into a base64 string. Args: image_path (str): The path to the image file. This function op

r"""Calculates geodesic distance between two points. :param position_a: coordinates of first point. :param position_b: coordinates of

Get the initial positions of all objects targeted for rearrangement as a numpy array.

Point the debug camera at a target.

r"""Sets agent state similar to initialize_agent, but without agents creation. On failure to place the agent in the proper position, it is

Facilitates a simple chat interaction involving an image. COT1 Args: use_stream (bool): Specifies whether to use

r"""Returns a filter function that takes an episode and returns True if that episode is valid under the CONTENT_SCENES feild of the provided c

Render a debug observation of the current state and cache it. Optionally configure the camera transform. Optionally provide a

Returns true if the object is too far away from the gripper, meaning the agent violated the hold constraint.

r"""Takes Habitat Lab config and Habitat-Sim config structures. Overwrites Habitat-Sim config with Habitat Lab values, where a field name is prese

Parse receptacle metadata from the provided user subconfig object. :param user_subconfig: The Configuration object containing metadata parse

Defines what counts as a collision for the Rearrange environment execution

r"""Reset all the vectorized environments :return: list of outputs from the reset method of envs.

r""" Returns: SemanticScene which is a three level hierarchy of semantic annotations for the current scene. Specifical

Sets the simulation state from a cached state info dict. See capture_state(). :param set_hold: If true this will set the snapped o

Attempt to grasp an object, snapping/constraining it to the robot's end effector with 3 ball-joint constraints forming a fixed frame. :param

r"""Step method is called from ``Env`` on each ``step``. Can call simulator or task method, change task's state. :param kwargs: optio

r"""Perform an action in the environment and return observations. :param action: action (belonging to :ref:`action_space`) to be

Adds the sphere object to the specified position for visualization purpose. :param position: global position of the visual sphere :pa

Facilitates a simple chat interaction involving an image. Args: use_stream (bool): Specifies whether to use streaming fo

r"""Internal method that groups episodes by scene Groups will be ordered by the order the first episode of a given scene is in the lis

Compute a camera placement to view an ArticulatedObject and show/save an observation. Return the filepath. If peek_all_axis,