igibson.termination_conditions package¶
Submodules¶
igibson.termination_conditions.max_collision module¶
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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
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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
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igibson.termination_conditions.out_of_bound module¶
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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
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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
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igibson.termination_conditions.point_goal module¶
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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
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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
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igibson.termination_conditions.reaching_goal module¶
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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
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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
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igibson.termination_conditions.termination_condition_base module¶
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class
igibson.termination_conditions.termination_condition_base.
BaseTerminationCondition
(config)¶ Bases:
object
Base TerminationCondition class Condition-specific get_termination method is implemented in subclasses
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abstract
get_termination
(task, env)¶ Return whether the episode should terminate. Overwritten by subclasses.
- Parameters
task – task instance
env – environment instance
- Returns
done, info
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abstract
igibson.termination_conditions.timeout module¶
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class
igibson.termination_conditions.timeout.
Timeout
(config)¶ Bases:
igibson.termination_conditions.termination_condition_base.BaseTerminationCondition
Episode terminates if max_step steps have passed
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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
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