SYMBOL INDEX (164 symbols across 35 files)

FILE: aloha_sim/run_eval.py
  function _append_task_instruction (line 68) | def _append_task_instruction(
  function run_episode (line 77) | def run_episode(
  function main (line 130) | def main(_):

FILE: aloha_sim/task_suite.py
  function create_task_env (line 99) | def create_task_env(

FILE: aloha_sim/tasks/base/aloha2_task.py
  class GripperLimit (line 80) | class GripperLimit:
  class GeomGroup (line 135) | class GeomGroup(enum.IntFlag):
  class AlohaTask (line 145) | class AlohaTask(composer.Task):
    method __init__ (line 148) | def __init__(
    method root_entity (line 288) | def root_entity(self) -> composer.Entity:
    method task_observables (line 292) | def task_observables(self) -> Mapping[str, observable.Observable]:
    method action_spec (line 297) | def action_spec(self, physics: mjcf.Physics) -> specs.BoundedArray:
    method convert_gripper (line 319) | def convert_gripper(
    method before_step (line 331) | def before_step(
    method get_reward (line 364) | def get_reward(self, physics: mjcf.Physics) -> float:
    method get_discount (line 367) | def get_discount(self, physics: mjcf.Physics) -> float:
    method should_terminate_episode (line 372) | def should_terminate_episode(self, physics: mjcf.Physics) -> bool:
    method initialize_episode (line 379) | def initialize_episode(
  class AlohaObservables (line 393) | class AlohaObservables(composer.Observables):
    method as_dict (line 396) | def as_dict(
    method joints_pos (line 402) | def joints_pos(self) -> observable.Observable:
    method commanded_joints_pos (line 424) | def commanded_joints_pos(self) -> observable.Observable:
    method joints_vel (line 451) | def joints_vel(self) -> observable.Observable:
    method physics_state (line 458) | def physics_state(self) -> observable.Observable:
  class Arena (line 462) | class Arena(composer.Arena):
    method __init__ (line 468) | def __init__(
    method _build (line 482) | def _build(self, name: str | None = None) -> None:

FILE: aloha_sim/tasks/base/desktop.py
  class Desktop (line 48) | class Desktop(aloha2_task.AlohaTask):
    method __init__ (line 51) | def __init__(
    method initialize_episode (line 101) | def initialize_episode(self, physics, random_state):

FILE: aloha_sim/tasks/base/dining.py
  class Dining (line 39) | class Dining(aloha2_task.AlohaTask):
    method __init__ (line 42) | def __init__(
    method _sample_props (line 162) | def _sample_props(self, random_state):
    method initialize_episode (line 230) | def initialize_episode(self, physics, random_state):

FILE: aloha_sim/tasks/base/dish_on_rack.py
  class DishOnRack (line 59) | class DishOnRack(aloha2_task.AlohaTask):
    method __init__ (line 62) | def __init__(
    method initialize_episode (line 139) | def initialize_episode(self, physics, random_state):

FILE: aloha_sim/tasks/base/drawer.py
  class Drawer (line 47) | class Drawer(aloha2_task.AlohaTask):
    method __init__ (line 51) | def __init__(
    method initialize_episode (line 103) | def initialize_episode(self, physics, random_state):

FILE: aloha_sim/tasks/base/laptop.py
  class Laptop (line 47) | class Laptop(aloha2_task.AlohaTask):
    method __init__ (line 50) | def __init__(
    method initialize_episode (line 100) | def initialize_episode(self, physics, random_state):

FILE: aloha_sim/tasks/base/marker.py
  class Marker (line 50) | class Marker(aloha2_task.AlohaTask):
    method __init__ (line 53) | def __init__(
    method initialize_episode (line 122) | def initialize_episode(

FILE: aloha_sim/tasks/base/tools.py
  class Tools (line 39) | class Tools(aloha2_task.AlohaTask):
    method __init__ (line 42) | def __init__(
    method _sample_props (line 152) | def _sample_props(self, physics, random_state):
    method initialize_episode (line 250) | def initialize_episode(self, physics, random_state):

FILE: aloha_sim/tasks/base/towel.py
  class Towel (line 46) | class Towel(aloha2_task.AlohaTask):
    method __init__ (line 49) | def __init__(
    method get_reward (line 93) | def get_reward(self, physics):
    method initialize_episode (line 96) | def initialize_episode(self, physics, random_state):

FILE: aloha_sim/tasks/blocks_spelling.py
  function block_xml_pattern (line 55) | def block_xml_pattern(letter, assets_dir):
  class BlocksSpelling (line 73) | class BlocksSpelling(aloha2_task.AlohaTask):
    method __init__ (line 80) | def __init__(
    method get_reward (line 124) | def get_reward(self, physics):
    method initialize_episode (line 163) | def initialize_episode(self, physics, random_state):
    method get_instruction (line 168) | def get_instruction(self) -> str:

FILE: aloha_sim/tasks/bowl_on_rack.py
  class BowlOnRack (line 24) | class BowlOnRack(dish_on_rack.DishOnRack):
    method __init__ (line 27) | def __init__(
    method get_reward (line 57) | def get_reward(self, physics):
    method get_instruction (line 108) | def get_instruction(self):

FILE: aloha_sim/tasks/desktop_wrap_headphone.py
  class DesktopWrapHeadphone (line 74) | class DesktopWrapHeadphone(desktop.Desktop):
    method __init__ (line 77) | def __init__(
    method get_reward (line 125) | def get_reward(self, physics):
    method get_instruction (line 220) | def get_instruction(self):
    method initialize_episode (line 226) | def initialize_episode(self, physics, random_state):

FILE: aloha_sim/tasks/dining_place_in_container.py
  class DiningPlaceInContainer (line 26) | class DiningPlaceInContainer(dining.Dining):
    method __init__ (line 29) | def __init__(self,
    method get_reward (line 78) | def get_reward(self, physics):
    method get_instruction (line 159) | def get_instruction(self):

FILE: aloha_sim/tasks/drawer_open.py
  class DrawerOpen (line 23) | class DrawerOpen(drawer.Drawer):
    method get_reward (line 27) | def get_reward(self, physics):
    method get_instruction (line 41) | def get_instruction(self):

FILE: aloha_sim/tasks/hand_over.py
  class HandOverTaskConfig (line 59) | class HandOverTaskConfig:
  class HandOver (line 122) | class HandOver(aloha2_task.AlohaTask):
    method __init__ (line 129) | def __init__(
    method get_reward (line 245) | def get_reward(self, physics):
    method initialize_episode (line 340) | def initialize_episode(self, physics, random_state):
    method get_instruction (line 348) | def get_instruction(self):

FILE: aloha_sim/tasks/laptop_close.py
  class LaptopClose (line 26) | class LaptopClose(laptop.Laptop):
    method get_reward (line 29) | def get_reward(self, physics):
    method initialize_episode (line 42) | def initialize_episode(self, physics, random_state):
    method get_instruction (line 50) | def get_instruction(self):

FILE: aloha_sim/tasks/marker_remove_lid.py
  class MarkerRemoveLid (line 28) | class MarkerRemoveLid(marker.Marker):
    method __init__ (line 31) | def __init__(
    method _get_geometry_ids (line 44) | def _get_geometry_ids(
    method _get_all_elements_in_contact_with_prop (line 51) | def _get_all_elements_in_contact_with_prop(
    method _is_object_on_table (line 73) | def _is_object_on_table(
    method _is_object_being_grasped (line 79) | def _is_object_being_grasped(
    method _is_object_moving (line 87) | def _is_object_moving(
    method _is_lid_removed (line 96) | def _is_lid_removed(self, physics: mjcf.Physics) -> bool:
    method get_reward (line 105) | def get_reward(self, physics: mjcf.Physics) -> float:
    method get_instruction (line 120) | def get_instruction(self) -> str:

FILE: aloha_sim/tasks/test/aloha2_task_test.py
  class AlohaTaskTest (line 23) | class AlohaTaskTest(unittest.TestCase):
    method test_menagerie (line 25) | def test_menagerie(self):
    method _create_environment (line 31) | def _create_environment(
    method test_action_spec (line 54) | def test_action_spec(self):
    method test_close_gripper (line 75) | def test_close_gripper(self):
    method test_open_gripper (line 104) | def test_open_gripper(self):
    method test_table_height_offset_with_pbr_scene (line 118) | def test_table_height_offset_with_pbr_scene(self):
    method test_environment_with_delay (line 136) | def test_environment_with_delay(self, delay=0.02):
    method test_check_camera_extrinsics (line 175) | def test_check_camera_extrinsics(self):

FILE: aloha_sim/tasks/test/blocks_spelling_test.py
  class BlocksSpellingTests (line 26) | class BlocksSpellingTests(unittest.TestCase):
    method test_blocks_spelling (line 28) | def test_blocks_spelling(self):

FILE: aloha_sim/tasks/test/desktop_test.py
  class DesktopWrapHeadphoneTests (line 26) | class DesktopWrapHeadphoneTests(unittest.TestCase):
    method test_desktop_wrap_headphone (line 28) | def test_desktop_wrap_headphone(self):

FILE: aloha_sim/tasks/test/dining_test.py
  class DiningPlaceInContainerTests (line 26) | class DiningPlaceInContainerTests(unittest.TestCase):
    method test_dining_place_in_container_banana (line 28) | def test_dining_place_in_container_banana(self):
    method test_dining_place_in_container_pen (line 52) | def test_dining_place_in_container_pen(self):
    method test_dining_place_in_container_mug (line 76) | def test_dining_place_in_container_mug(self):

FILE: aloha_sim/tasks/test/dish_on_rack_test.py
  class BowlOnRackTests (line 26) | class BowlOnRackTests(unittest.TestCase):
    method test_bowl_on_rack (line 28) | def test_bowl_on_rack(self):

FILE: aloha_sim/tasks/test/drawer_test.py
  class OpenDrawerTests (line 26) | class OpenDrawerTests(unittest.TestCase):
    method test_open_drawer (line 28) | def test_open_drawer(self):

FILE: aloha_sim/tasks/test/hand_over_test.py
  class HandOverTests (line 26) | class HandOverTests(unittest.TestCase):
    method test_hand_over_pen (line 28) | def test_hand_over_pen(self):
    method test_hand_over_banana (line 53) | def test_hand_over_banana(self):

FILE: aloha_sim/tasks/test/laptop_test.py
  class LaptopTests (line 26) | class LaptopTests(unittest.TestCase):
    method test_laptop_close (line 28) | def test_laptop_close(self):

FILE: aloha_sim/tasks/test/marker_test.py
  class MarkerTests (line 26) | class MarkerTests(unittest.TestCase):
    method test_marker_remove_lid (line 28) | def test_marker_remove_lid(self):

FILE: aloha_sim/tasks/test/tools_test.py
  class DiningPlaceInContainerTests (line 26) | class DiningPlaceInContainerTests(unittest.TestCase):
    method test_tools_in_caddy_screwdriver_left (line 28) | def test_tools_in_caddy_screwdriver_left(self):
    method test_tools_in_caddy_screwdriver_right (line 53) | def test_tools_in_caddy_screwdriver_right(self):
    method test_tools_in_caddy_magnifier_left (line 78) | def test_tools_in_caddy_magnifier_left(self):
    method test_tools_in_caddy_magnifier_right (line 103) | def test_tools_in_caddy_magnifier_right(self):
    method test_tools_in_caddy_can_opener_left (line 128) | def test_tools_in_caddy_can_opener_left(self):
    method test_tools_in_caddy_can_opener_right (line 153) | def test_tools_in_caddy_can_opener_right(self):
    method test_tools_in_caddy_thumb_drive_left (line 178) | def test_tools_in_caddy_thumb_drive_left(self):
    method test_tools_in_caddy_thumb_drive_right (line 203) | def test_tools_in_caddy_thumb_drive_right(self):
    method test_tools_in_caddy_scissors_left (line 228) | def test_tools_in_caddy_scissors_left(self):
    method test_tools_in_caddy_scissors_right (line 253) | def test_tools_in_caddy_scissors_right(self):

FILE: aloha_sim/tasks/test/towel_test.py
  class TowelFoldInHalfTests (line 26) | class TowelFoldInHalfTests(unittest.TestCase):
    method test_towel_fold_in_half (line 28) | def test_towel_fold_in_half(self):

FILE: aloha_sim/tasks/tools_in_caddy.py
  class ToolsInCaddy (line 40) | class ToolsInCaddy(tools.Tools):
    method __init__ (line 43) | def __init__(
    method get_reward (line 53) | def get_reward(self, physics):
    method get_instruction (line 152) | def get_instruction(self):

FILE: aloha_sim/tasks/towel_fold_in_half.py
  class TowelFoldInHalf (line 24) | class TowelFoldInHalf(towel.Towel):
    method get_reward (line 27) | def get_reward(self, physics):
    method get_instruction (line 59) | def get_instruction(self):

FILE: aloha_sim/utils/oobb_utils.py
  class Aabb (line 25) | class Aabb:
  class Oobb (line 33) | class Oobb:
  function get_aabb_from_vertices (line 46) | def get_aabb_from_vertices(pts: np.ndarray) -> Aabb:
  function get_vertices_aabb (line 51) | def get_vertices_aabb(aabb: Aabb) -> np.ndarray:
  function aabb_to_oobb (line 65) | def aabb_to_oobb(aabb: Aabb) -> Oobb:
  function _rotate_vector3 (line 74) | def _rotate_vector3(rotation: np.ndarray, vector3: np.ndarray) -> np.nda...
  function _transform_point (line 89) | def _transform_point(
  function get_vertices_oobb (line 105) | def get_vertices_oobb(oobb: Oobb) -> np.ndarray:
  function get_oobb (line 114) | def get_oobb(
  function transform_oobb (line 175) | def transform_oobb(
  function overlap_aabb_oobb (line 202) | def overlap_aabb_oobb(aabb: Aabb, oobb: Oobb) -> bool:
  function overlap_oobb_oobb (line 251) | def overlap_oobb_oobb(oobb0: Oobb, oobb1: Oobb) -> bool:

FILE: aloha_sim/utils/success_detector_utils.py
  function any_props_moving (line 22) | def any_props_moving(props, physics, qvel_tol=_QVEL_TOL):

FILE: aloha_sim/viewer.py
  class NoPolicy (line 107) | class NoPolicy(gdmr_policy.Policy[np.ndarray]):
    method __init__ (line 110) | def __init__(self):
    method step (line 114) | def step(
    method initial_state (line 128) | def initial_state(
    method step_spec (line 135) | def step_spec(self, timestep_spec: gdmr_types.TimeStepSpec) -> tuple[
  function _key_callback (line 146) | def _key_callback(key: int) -> None:
  function _append_task_instruction (line 165) | def _append_task_instruction(
  function main (line 174) | def main(argv: Sequence[str]) -> None: