igibson.objects package

Submodules

igibson.objects.articulated_object module

class igibson.objects.articulated_object.ArticulatedObject(filename, scale=1)

Bases: igibson.objects.object_base.Object

Articulated objects are defined in URDF files. They are passive (no motors).

class igibson.objects.articulated_object.RBOObject(name, scale=1)

Bases: igibson.objects.articulated_object.ArticulatedObject

RBO object from assets/models/rbo Reference: https://tu-rbo.github.io/articulated-objects/

class igibson.objects.articulated_object.URDFObject(name, category, model='random', model_path=None, filename=None, bounding_box=None, scale=None, avg_obj_dims=None, joint_friction=None, in_rooms=None)

Bases: igibson.objects.object_base.Object

URDFObjects are instantiated from a URDF file. They can be composed of one or more links and joints. They should be passive. We use this class to parse our modified link tag for URDFs that embed objects into scenes

force_wakeup()

Force wakeup sleeping objects

prepare_texture()

Set up mapping from visual meshes to randomizable materials

randomize_texture()

Randomize texture and material for each link / visual shape

remove_floating_joints(folder='')

Split a single urdf to multiple urdfs if there exist floating joints

rename_urdf()

Helper function that renames the file paths in the object urdf from relative paths to absolute paths

reset()

Reset the object to its original pose and joint configuration

scale_object()

Scale the object according to the given bounding box

update_friction()

Update the surface lateral friction for each link based on its material

igibson.objects.cube module

class igibson.objects.cube.Cube(pos=[1, 2, 3], dim=[1, 2, 3], visual_only=False, mass=1000, color=[1, 1, 1, 1])

Bases: igibson.objects.object_base.Object

Cube shape primitive

igibson.objects.object_base module

class igibson.objects.object_base.Object

Bases: object

Base Object class

get_orientation()

Get object orientation

Returns

quaternion in xyzw

get_position()

Get object position

Returns

position in xyz

load()

Load the object into pybullet. _load() will be implemented in the subclasses

set_orientation(orn)

Set object orientation

Parameters

orn – quaternion in xyzw

set_position(pos)

Set object position

Parameters

pos – position in xyz

set_position_orientation(pos, orn)

Set object position and orientation

Parameters

• pos – position in xyz

• orn – quaternion in xyzw

igibson.objects.pedestrian module

class igibson.objects.pedestrian.Pedestrian(style='standing', pos=[0, 0, 0])

Bases: igibson.objects.object_base.Object

Pedestiran object

reset_position_orientation(pos, orn)

Reset pedestrian position and orientation by changing constraint

igibson.objects.shapenet_object module

class igibson.objects.shapenet_object.ShapeNetObject(path, scale=1.0, position=[0, 0, 0], orientation=[0, 0, 0])

Bases: igibson.objects.object_base.Object

ShapeNet object Reference: https://www.shapenet.org/

igibson.objects.soft_object module

class igibson.objects.soft_object.SoftObject(filename, basePosition=[0, 0, 0], baseOrientation=[0, 0, 0, 1], scale=-1, mass=-1, collisionMargin=-1, useMassSpring=0, useBendingSprings=0, useNeoHookean=0, springElasticStiffness=1, springDampingStiffness=0.1, springBendingStiffness=0.1, NeoHookeanMu=1, NeoHookeanLambda=1, NeoHookeanDamping=0.1, frictionCoeff=0, useFaceContact=0, useSelfCollision=0)

Bases: igibson.objects.object_base.Object

Soft object (WIP)

add_anchor(nodeIndex=-1, bodyUniqueId=-1, linkIndex=-1, bodyFramePosition=[0, 0, 0], physicsClientId=0)

Create soft body anchor

igibson.objects.visual_marker module

class igibson.objects.visual_marker.VisualMarker(visual_shape=2, rgba_color=[1, 0, 0, 0.5], radius=1.0, half_extents=[1, 1, 1], length=1, initial_offset=[0, 0, 0])

Bases: igibson.objects.object_base.Object

Visual shape created with shape primitives

set_color(color)

Set the color of the marker

Parameters

color – normalized rgba color

igibson.objects.visual_shape module

class igibson.objects.visual_shape.VisualShape(filename, scale=1.0)

Bases: igibson.objects.object_base.Object

Visual shape created with mesh file

igibson.objects.ycb_object module

class igibson.objects.ycb_object.YCBObject(name, scale=1)

Bases: igibson.objects.object_base.Object

YCB Object from assets/models/ycb Reference: https://www.ycbbenchmarks.com/

Module contents