igibson.scenes package¶

Submodules¶

igibson.scenes.empty_scene module¶

class igibson.scenes.empty_scene.EmptyScene¶

Bases: igibson.scenes.scene_base.Scene

A empty scene for debugging

get_random_point(floor=None)¶: Get a random point in the region of [-5, 5] x [-5, 5]

get_shortest_path(floor, source_world, target_world, entire_path=False)¶: Get a trivial shortest path because the scene is empty

load()¶: Load the scene into pybullet

igibson.scenes.gibson_indoor_scene module¶

class igibson.scenes.gibson_indoor_scene.StaticIndoorScene(scene_id, trav_map_resolution=0.1, trav_map_erosion=2, trav_map_type='with_obj', build_graph=True, num_waypoints=10, waypoint_resolution=0.2, pybullet_load_texture=False)¶

Bases: igibson.scenes.indoor_scene.IndoorScene

Static indoor scene class for iGibson. Contains the functionalities for navigation such as shortest path computation

get_floor_height(floor=0)¶

Return the current floor height (in meter)

Returns: current floor height

get_random_floor()¶

Get a random floor

Returns: random floor number

load()¶: Load the scene (including scene mesh and floor plane) into pybullet

load_floor_metadata()¶: Load floor metadata

load_floor_planes()¶: Load additional floor planes (because the scene mesh can have bumpy floor surfaces)

load_scene_mesh()¶: Load scene mesh

reset_floor(floor=0, additional_elevation=0.02, height=None)¶

Resets the floor plane to a new floor

Parameters

floor – Integer identifying the floor to move the floor plane to
additional_elevation – Additional elevation with respect to the height of the floor
height – Alternative parameter to control directly the height of the ground plane

igibson.scenes.igibson_indoor_scene module¶

class igibson.scenes.igibson_indoor_scene.InteractiveIndoorScene(scene_id, trav_map_resolution=0.1, trav_map_erosion=2, trav_map_type='with_obj', build_graph=True, num_waypoints=10, waypoint_resolution=0.2, pybullet_load_texture=False, texture_randomization=False, link_collision_tolerance=0.03, object_randomization=False, object_randomization_idx=None, should_open_all_doors=False, load_object_categories=None, load_room_types=None, load_room_instances=None, seg_map_resolution=0.1, scene_source='IG')¶

Bases: igibson.scenes.gibson_indoor_scene.StaticIndoorScene

Create an interactive scene defined with iGibson Scene Description Format (iGSDF). iGSDF is an extension of URDF that we use to define an interactive scene. It has support for URDF scaling, URDF nesting and randomization. InteractiveIndoorScene inherits from StaticIndoorScene the functionalities to compute shortest path and other navigation functionalities.

add_object(category, model=None, model_path=None, filename=None, bounding_box=None, scale=None, object_name=None, joint_name=None, joint_type=None, joint_parent=None, position=None, orientation_rpy=None, in_rooms=None)¶

Adds an object to the scene

Parameters

category – object category, e.g. door
model – object model in the object dataset
model_path – folder path of that object model
filename – urdf file path of that object model
bounding_box – bounding box of this object
scale – scaling factor of this object
object_name – object name, unique for each object instance, e.g. door_3
joint_name – name of the joint that connects the object to the scene
joint_type – type of the joint that connects the object to the scene
joint_parent – parent of the joint that connects the object to the scene (i.e. world)
position – position of the joint that connects the object to the scene
orientation_rpy – orientation of the joint that connects the object to the scene
in_rooms – which room(s) this object is in. It can be in more than one rooms if it sits at room boundary (e.g. doors)

check_collision(body_a, body_b=None, link_a=None, fixed_body_ids=None)¶: Helper function to check for collision for scene quality

check_scene_quality(body_ids, fixed_body_ids)¶

Helper function to check for scene quality. 1) Objects should have no collision with each other. 2) Fixed, articulated objects that cannot fully extend their joints should be less than self.link_collision_tolerance

Parameters

body_ids – body ids of all scene objects
fixed_body_ids – body ids of all fixed scene objects

Returns

whether scene passes quality check

filter_rooms_and_object_categories(load_object_categories, load_room_types, load_room_instances)¶

Handle partial scene loading based on object categories, room types or room instances

Parameters

load_object_categories – only load these object categories into the scene (a list of str)
load_room_types – only load objects in these room types into the scene (a list of str)
load_room_instances – only load objects in these room instances into the scene (a list of str)

force_wakeup_scene_objects()¶: Force wakeup sleeping objects

get_body_ids()¶

Return the body ids of all scene objects

Returns: body ids

get_num_objects()¶

Get the number of objects

Returns: number of objects

get_random_point_by_room_instance(room_instance)¶

Sample a random point by room instance

Parameters: room_instance – room instance (e.g. bathroom_1)
Returns: floor (always 0), a randomly sampled point in [x, y, z]

get_random_point_by_room_type(room_type)¶

Sample a random point by room type

Parameters: room_type – room type (e.g. bathroom)
Returns: floor (always 0), a randomly sampled point in [x, y, z]

get_room_instance_by_point(xy)¶

Return the room instance given a point

Parameters: xy – 2D location in world reference frame (metric)
Returns: room instance that this point is in or None, if this point is not on the room segmentation map

get_room_type_by_point(xy)¶

Return the room type given a point

Parameters: xy – 2D location in world reference frame (metric)
Returns: room type that this point is in or None, if this point is not on the room segmentation map

load()¶: Load all scene objects into pybullet

load_avg_obj_dims()¶: Load average object dimensions for scene objects

load_overlapped_bboxes()¶: Load overlapped bounding boxes in scene definition. E.g. a dining table usually has overlaps with the surrounding dining chairs

load_room_sem_ins_seg_map(seg_map_resolution)¶

Load room segmentation map

Parameters: seg_map_resolution – room segmentation map resolution

open_all_doors()¶: Attempt to open all doors to maximum values without collision

open_all_objs_by_categories(categories, mode='random', prob=1.0)¶

Attempt to open all objects of a number of categories without collision

Parameters

categories – object categories (a list of str)
mode – opening mode (zero, max, or random)
prob – opening probability

open_all_objs_by_category(category, mode='random', prob=1.0)¶

Attempt to open all objects of a certain category without collision

Parameters

category – object category (str)
mode – opening mode (zero, max, or random)
prob – opening probability

open_one_obj(body_id, mode='random')¶

Attempt to open one object without collision

Parameters

body_id – body id of the object
mode – opening mode (zero, max, or random)

randomize_texture()¶: Randomize texture/material for all objects in the scene

reset_scene_objects()¶: Reset the pose and joint configuration of all scene objects. Also open all doors if self.should_open_all_doors is True

seg_map_to_world(xy)¶

Transforms a 2D point in map reference frame into world (simulator) reference frame

Parameters: xy – 2D location in seg map reference frame (image)
Returns: 2D location in world reference frame (metric)

world_to_seg_map(xy)¶

Transforms a 2D point in world (simulator) reference frame into map reference frame

Parameters: xy – 2D location in world reference frame (metric)
Returns: 2D location in seg map reference frame (image)

igibson.scenes.indoor_scene module¶

class igibson.scenes.indoor_scene.IndoorScene(scene_id, trav_map_resolution=0.1, trav_map_erosion=2, trav_map_type='with_obj', build_graph=True, num_waypoints=10, waypoint_resolution=0.2, pybullet_load_texture=False)¶

Bases: igibson.scenes.scene_base.Scene

Indoor scene class for Gibson and iGibson. Contains the functionalities for navigation such as shortest path computation

build_trav_graph(maps_path, floor, trav_map)¶

Build traversibility graph and only take the largest connected component

Parameters

maps_path – String with the path to the folder containing the traversability maps
floor – floor number
trav_map – traversability map

get_random_point(floor=None)¶

Sample a random point on the given floor number. If not given, sample a random floor number.

Parameters: floor – floor number
Return floor: floor number
Return point: randomly sampled point in [x, y, z]

get_shortest_path(floor, source_world, target_world, entire_path=False)¶

Get the shortest path from one point to another point. If any of the given point is not in the graph, add it to the graph and create an edge between it to its closest node.

Parameters

floor – floor number
source_world – 2D source location in world reference frame (metric)
target_world – 2D target location in world reference frame (metric)
entire_path – whether to return the entire path

has_node(floor, world_xy)¶

Return whether the traversability graph contains a point

Parameters

floor – floor number
world_xy – 2D location in world reference frame (metric)

load_trav_map(maps_path)¶

Loads the traversability maps for all floors

Parameters: maps_path – String with the path to the folder containing the traversability maps

map_to_world(xy)¶

Transforms a 2D point in map reference frame into world (simulator) reference frame

Parameters: xy – 2D location in map reference frame (image)
Returns: 2D location in world reference frame (metric)

world_to_map(xy)¶

Transforms a 2D point in world (simulator) reference frame into map reference frame

Parameters: xy – 2D location in world reference frame (metric)
Returns: 2D location in map reference frame (image)

igibson.scenes.scene_base module¶

class igibson.scenes.scene_base.Scene¶

Bases: object

Base class for all Scene objects Contains the base functionalities and the functions that all derived classes need to implement

get_floor_height(floor=0)¶

Get the height of the given floor

Parameters: floor – Integer identifying the floor
Returns: Height of the given floor

get_random_floor()¶

Sample a random floor among all existing floor_heights in the scene While Gibson v1 scenes can have several floor_heights, the EmptyScene, StadiumScene and scenes from iGibson have only a single floor

Returns: An integer between 0 and NumberOfFloors-1

get_random_point(floor=None)¶

Sample a random valid location in the given floor

Parameters: floor – integer indicating the floor, or None if randomly sampled
Returns: A tuple of random floor and random valid point (3D) in that floor

get_shortest_path(floor, source_world, target_world, entire_path=False)¶

Query the shortest path between two points in the given floor

Parameters

floor – Floor to compute shortest path in
source_world – Initial location in world reference frame
target_world – Target location in world reference frame
entire_path – Flag indicating if the function should return the entire shortest path or not

Returns

Tuple of path (if indicated) as a list of points, and geodesic distance (lenght of the path)

load()¶

Load the scene into pybullet The elements to load may include: floor, building, objects, etc

Returns: A list of pybullet ids of elements composing the scene, including floors, buildings and objects

igibson.scenes.stadium_scene module¶

class igibson.scenes.stadium_scene.StadiumScene¶

Bases: igibson.scenes.scene_base.Scene

A simple stadium scene for debugging

get_random_point(floor=None)¶: Get a random point in the region of [-5, 5] x [-5, 5]

get_shortest_path(floor, source_world, target_world, entire_path=False)¶: Get a trivial shortest path because the scene is empty

load()¶: Load the scene into pybullet

igibson.scenes package¶

Submodules¶

igibson.scenes.empty_scene module¶

igibson.scenes.gibson_indoor_scene module¶

igibson.scenes.igibson_indoor_scene module¶

igibson.scenes.indoor_scene module¶

igibson.scenes.scene_base module¶

igibson.scenes.stadium_scene module¶

Module contents¶