Get short-term goal

Get short-term goal

This is how the target transforms should be accessed since multiprocessing does not allow pickling.

Function responsible for planning Args: planner_inputs (dict): dict with following keys: 'map

Function responsible for planning Args: planner_inputs (dict): dict with following keys: 'map

r"""Sampling function for aggressive filtering of straight-line episodes with shortest path geodesic distance to Euclid distance ratio thresho

r"""Sampling function for aggressive filtering of straight-line episodes with shortest path geodesic distance to Euclid distance ratio thresho

Generates the navmesh on the fly. This must be called AFTER adding articulated objects to the scene.

Reset any sampler internal state related to a specific scene or episode.

Sets the ArticulatedObject states for the episode which are differ from base scene state.

r"""Internal method that shuffles the remaining episodes. If self.group_by_scene is true, then shuffle groups of scenes.

Add one or more visualization objects to the simulation to represent the Receptacle. Return and forget the added objects for external managem

Generate a wire box object and optionally attach it to another existing object (automatically applies object scale). Returns the new object.

r"""Asynchronously step in the environments. :param data: list of size _num_envs containing keyword arguments to pass to :ref:`st

Pre-screen a potential placement by casting rays in the gravity direction from the object center of mass (and optionally each corner of its bound

r"""Line drawing algo based on http://eugen.dedu.free.fr/projects/bresenham/

:param targ_ee: 3D target position in the ROBOT BASE coordinate frame

r"""Calculate the meters_per_pixel for a given map resolution

Record and return a dict of state info. :param with_robot_js: If true, state dict includes robot joint positions in addition.

r"""Convert the top down map to RGB based on the indicator values. Args: top_down_map: A non-colored version of the map. fog_of_wa

r"""Draw translucent red strips on the border of input view to indicate a collision has taken place. Args: view: input view of size Hx

r"""Draws a line on the fog_of_war_mask mask between pt1 and pt2

r""".. :param agent: agent to be evaluated in environment. :param num_episodes: count of number of episodes for which the

Generates a response using the CogVLM2 model. It processes the chat history and image data, if any, and then invokes the model to generate a

Generate a fixed number of episodes.

Sample a new scene and re-initialize the Simulator. Return the generated scene's handle.

Generate a single episode, sampling the scene.

Scrapes the active SceneDataset from a Simulator for all receptacle names defined in rigid/articulated object and stage templates for investigati

Gets the angle between two vectors in radians.

Compute the cumulative bounding box of an ArticulatedObject by merging all link bounding boxes.

Return a list of object bounding box corners in object local space.

r"""Create a unified config with default values overwritten by values from :p:`config_paths` and overwritten by options from :p:`opts`. :para

Populates and resturns a default config for a RearrangeEpisode.