r"""Called to produce an action to perform in an environment. :param observations: observations coming in from environment to be

Check for the existence of the provided directory_path and create it if not found.

3x3 convolution with padding

Cull a list of strings to the subset of strings containing any of the "included_substrings" and none of the "excluded_substrings". Returns th

r"""Return an image with the agent image composited onto it. Args: image: the image onto which to put the agent. agent_center_coor

Scrape and return a list of all Receptacles defined in the metadata belonging to the scene's currently instanced objects.

Generates a stream of responses using the CogVLM model in inference mode. It's optimized to handle continuous input-output interactions with

Isolates boilerplate necessary to extract receptacle global transform of the Receptacle at the current state.

Input: `pose` FloatTensor(bs, 3) `grid_size` 4-tuple (bs, _, grid_h, grid_w) `device` torch.device (cpu or gpu) Outpu

Get the number of rearrange targets.

Returns the next action along the shortest path.

Initialize a new Simulator object with a selected scene and dataset.

r"""Return :py:`True` if the agent can stand at the specified point. :param point: the point to check.

Produce a video from a set of debug observations.

Generate and register a custom template for a wireframe box of given size. Return the new template's handle.

r"""Reset method is called from ``Env`` on each reset for each new episode. Goal of the method is to reset ``Action``'s state for each

r"""Samples a navigable point from the simulator. A point is defined as navigable if the agent can be initialized at that point. :ret

Create a constraint between the end-effector and the marker on the articulated object to be grasped. :param marker_name: The

r"""Perform actions in the vectorized environments. :param data: list of size _num_envs containing keyword arguments to pass to :

:param name: The name of the Receptacle. Should be unique and descriptive for any one object. :param parent_object_handle: The rigid

r"""Internal method to switch the scene. Moves remaining episodes from current scene to the end and switch to next scene episodes.

Initialize and cache all ArticulatedObject state samplers from configuration.

Extracts object sampler parameters from the yaml config file and constructs the sampler objects.

Initialize target samplers. Expects self.episode_data to be populated by object samples.

Extracts and validates scene, object, and receptacle sets from the config and fills internal datastructures for later reference. Assu

Initialize the scene sampler.