Initialize a grasp manager for the simulator instance provided. :param config: The task's "SIMULATOR" subconfig node. Defines grasping parame

Initialize a standard ObjectSampler but construct the object_set to correspond with specific object instances provided.

ao_sampler_params : {ao_handle -> {link_name -> (min, max)}}

Initialize the generator object for a particular configuration. Loads yaml, sets up samplers and debug visualization settings.

:param name: The name of the Receptacle. Should be unique and descriptive for any one object. :param bounds: The AABB of the Receptac

Initialize the debugger provided a Simulator and the uuid of the debug sensor. NOTE: Expects the debug sensor attached to and coincid

r"""A Wrapper for tensorboard SummaryWriter. It creates a dummy writer when log_dir is empty string or None. It also has functionality that

Args: cfg (CfgNode): instance_mode (ColorMode):

r"""The main logic for handling how episodes will be iterated. :return: next episode.