igibson.termination_conditions package

Submodules

igibson.termination_conditions.max_collision module

class igibson.termination_conditions.max_collision.MaxCollision(config)

Bases: igibson.termination_conditions.termination_condition_base.BaseTerminationCondition

MaxCollision used for navigation tasks Episode terminates if the robot has collided more than max_collisions_allowed times

get_termination(task, env)

Return whether the episode should terminate. Terminate if the robot has collided more than self.max_collisions_allowed times

Parameters

  • task – task instance

  • env – environment instance

Returns

done, info

igibson.termination_conditions.out_of_bound module

class igibson.termination_conditions.out_of_bound.OutOfBound(config)

Bases: igibson.termination_conditions.termination_condition_base.BaseTerminationCondition

OutOfBound used for navigation tasks in InteractiveIndoorScene Episode terminates if the robot goes outside the valid region

get_termination(task, env)

Return whether the episode should terminate. Terminate if the robot goes outside the valid region

Parameters

  • task – task instance

  • env – environment instance

Returns

done, info

igibson.termination_conditions.point_goal module

class igibson.termination_conditions.point_goal.PointGoal(config)

Bases: igibson.termination_conditions.termination_condition_base.BaseTerminationCondition

PointGoal used for PointNavFixed/RandomTask Episode terminates if point goal is reached

get_termination(task, env)

Return whether the episode should terminate. Terminate if point goal is reached (distance below threshold)

Parameters

  • task – task instance

  • env – environment instance

Returns

done, info

igibson.termination_conditions.reaching_goal module

class igibson.termination_conditions.reaching_goal.ReachingGoal(config)

Bases: igibson.termination_conditions.termination_condition_base.BaseTerminationCondition

ReachingGoal used for ReachingRandomTask Episode terminates if reaching goal is reached

get_termination(task, env)

Return whether the episode should terminate. Terminate if reaching goal is reached (distance below threshold)

Parameters

  • task – task instance

  • env – environment instance

Returns

done, info

igibson.termination_conditions.termination_condition_base module

class igibson.termination_conditions.termination_condition_base.BaseTerminationCondition(config)

Bases: object

Base TerminationCondition class Condition-specific get_termination method is implemented in subclasses

abstract get_termination(task, env)

Return whether the episode should terminate. Overwritten by subclasses.

Parameters

  • task – task instance

  • env – environment instance

Returns

done, info

igibson.termination_conditions.timeout module

class igibson.termination_conditions.timeout.Timeout(config)

Bases: igibson.termination_conditions.termination_condition_base.BaseTerminationCondition

Episode terminates if max_step steps have passed

get_termination(task, env)

Return whether the episode should terminate. Terminate if max_step steps have passed

Parameters

  • task – task instance

  • env – environment instance

Returns

done, info

Module contents