igibson.activity package

Submodules

igibson.activity.activity_base module

class igibson.activity.activity_base.iGBEHAVIORActivityInstance(behavior_activity, activity_definition=0, predefined_problem=None)

Bases: bddl.activity_base.BEHAVIORActivityInstance

check_scene()
clutter_scene()
debug_sampling(scene_object_scope_filtered, non_sampleable_obj_conditions, goal_condition_set=None)
get_task_obs(env)
import_agent()
import_scene()
initialize_simulator(simulator=None, mode='headless', scene_id=None, scene_kwargs=None, load_clutter=False, should_debug_sampling=False, online_sampling=True)

Get scene populated with objects such that scene satisfies initial conditions :param simulator: Simulator class, populated simulator that should completely

replace this function. Use if you would like to bypass internal Simulator instantiation and population based on initial conditions and use your own. Warning that if you use this option, we cannot guarantee that the final conditions will be reachable.

move_agent()
reset_scene(snapshot_id)
sample(kinematic_only=False)
save_scene()
igibson.activity.activity_base.main()

igibson.activity.bddl_backend module

class igibson.activity.bddl_backend.IGibsonBDDLBackend

Bases: bddl.backend_abc.BDDLBackend

get_predicate_class(predicate_name)

Given predicate_name, return an implementation of bddl.logic_base.AtomicFormula or subclasses.

class igibson.activity.bddl_backend.ObjectStateBinaryPredicate(scope, activity_instance, body, object_map)

Bases: bddl.logic_base.BinaryAtomicFormula

STATE_CLASS = None
STATE_NAME = None
class igibson.activity.bddl_backend.ObjectStateUnaryPredicate(scope, activity_instance, body, object_map)

Bases: bddl.logic_base.UnaryAtomicFormula

STATE_CLASS = None
STATE_NAME = None
igibson.activity.bddl_backend.get_binary_predicate_for_state(state_class, state_name)
igibson.activity.bddl_backend.get_unary_predicate_for_state(state_class, state_name)

igibson.activity.get_obj_shelf_heights module

Credit: Andrey Kurenkov

Module contents