igibson.sensors package

Submodules

igibson.sensors.bump_sensor module

class igibson.sensors.bump_sensor.BumpSensor(env)

Bases: igibson.sensors.sensor_base.BaseSensor

Bump sensor

get_obs(env)

Get Bump sensor reading

Returns

Bump sensor reading

igibson.sensors.dropout_sensor_noise module

class igibson.sensors.dropout_sensor_noise.DropoutSensorNoise(env)

Bases: igibson.sensors.sensor_noise_base.BaseSensorNoise

Naive dropout sensor noise model

add_noise(obs)

Add naive sensor dropout to perceptual sensor, such as RGBD and LiDAR scan

Parameters
  • sensor_reading – raw sensor reading, range must be between [0.0, 1.0]

  • noise_rate – how much noise to inject, 0.05 means 5% of the data will be replaced with noise_value

  • noise_value – noise_value to overwrite raw sensor reading

Returns

sensor reading corrupted with noise

set_noise_rate(noise_rate)

Set noise rate

Parameters

noise_rate – noise rate

set_noise_value(noise_value)

Set noise value

Parameters

noise_value – noise value

igibson.sensors.scan_sensor module

class igibson.sensors.scan_sensor.ScanSensor(env, modalities)

Bases: igibson.sensors.sensor_base.BaseSensor

1D LiDAR scanner sensor and occupancy grid sensor

get_local_occupancy_grid(scan)

Get local occupancy grid based on current 1D scan

Param

1D LiDAR scan

Returns

local occupancy grid

get_obs(env)

Get current LiDAR sensor reading and occupancy grid (optional)

Returns

LiDAR sensor reading and local occupancy grid, normalized to [0.0, 1.0]

igibson.sensors.sensor_base module

class igibson.sensors.sensor_base.BaseSensor(env)

Bases: object

Base Sensor class. Sensor-specific get_obs method is implemented in subclasses

abstract get_obs(env)

Get sensor reading

Param

environment instance

Returns

observation (numpy array or a dict that maps str to numpy array)

igibson.sensors.sensor_noise_base module

class igibson.sensors.sensor_noise_base.BaseSensorNoise(env)

Bases: object

Base SensorNoise class. Sensor noise-specific add_noise method is implemented in subclasses

abstract add_noise(obs)

Add sensor noise to sensor reading

Parameters

obs – raw observation

Returns

observation with noise

igibson.sensors.velodyne_sensor module

class igibson.sensors.velodyne_sensor.VelodyneSensor(env)

Bases: igibson.sensors.sensor_base.BaseSensor

16-beam Velodyne LiDAR sensor

get_obs(env)

Get velodyne LiDAR sensor reading

Returns

velodyne sensor reading

igibson.sensors.vision_sensor module

class igibson.sensors.vision_sensor.VisionSensor(env, modalities)

Bases: igibson.sensors.sensor_base.BaseSensor

Vision sensor (including rgb, rgb_filled, depth, 3d, seg, normal, optical flow, scene flow)

get_depth(raw_vision_obs)
Returns

depth sensor reading, normalized to [0.0, 1.0]

get_highlight(raw_vision_obs)
get_ins_seg(raw_vision_obs)
Returns

semantic segmentation mask, between 0 and MAX_INSTANCE_COUNT

get_normal(raw_vision_obs)
Returns

surface normal reading

get_obs(env)

Get vision sensor reading

Returns

vision sensor reading

get_optical_flow(raw_vision_obs)
Returns

optical flow sensor reading

get_pc(raw_vision_obs)
Returns

pointcloud sensor reading

get_raw_modalities(modalities)

Helper function that gathers raw modalities (e.g. depth is based on 3d)

Returns

raw modalities to query the renderer

get_rgb(raw_vision_obs)
Returns

RGB sensor reading, normalized to [0.0, 1.0]

get_rgb_filled(raw_vision_obs)
Returns

RGB-filled sensor reading by passing through the “Goggle” neural network

get_scene_flow(raw_vision_obs)
Returns

scene flow sensor reading

get_seg(raw_vision_obs)
Returns

semantic segmentation mask, between 0 and MAX_CLASS_COUNT

Module contents