igibson.utils package¶

Submodules¶

igibson.utils.assets_utils module¶

igibson.utils.assets_utils.change_data_path()¶

igibson.utils.assets_utils.download_assets()¶: Download iGibson assets

igibson.utils.assets_utils.download_dataset(url)¶: Download Gibson dataset

igibson.utils.assets_utils.download_demo_data()¶: Download iGibson demo dataset

igibson.utils.assets_utils.download_ext_scene_assets()¶

igibson.utils.assets_utils.download_ig_dataset()¶: Download iGibson dataset

igibson.utils.assets_utils.get_3dfront_scene_path(scene_name)¶

Get 3D-FRONT scene path

Parameters: scene_name – scene name
Returns: file path to the scene name

igibson.utils.assets_utils.get_all_object_models()¶

Get iGibson all object models

Returns: a list of all object model paths

igibson.utils.assets_utils.get_cubicasa_scene_path(scene_name)¶

Get cubicasa scene path

Parameters: scene_name – scene name
Returns: file path to the scene name

igibson.utils.assets_utils.get_ig_assets_version()¶

Get iGibson asset version

Returns: iGibson asset version

igibson.utils.assets_utils.get_ig_category_ids()¶

Get iGibson object categories

Returns: file path to the scene name

igibson.utils.assets_utils.get_ig_category_path(category_name)¶

Get iGibson object category path

Parameters: category_name – object category
Returns: file path to the object category

igibson.utils.assets_utils.get_ig_model_path(category_name, model_name)¶

Get iGibson object model path

Parameters

category_name – object category
model_name – object model

Returns

file path to the object model

igibson.utils.assets_utils.get_ig_scene_path(scene_name)¶

Get iGibson scene path

Parameters: scene_name – scene name
Returns: file path to the scene name

igibson.utils.assets_utils.get_scene_path(scene_id)¶

Gibson scene path

Parameters: scene_id – scene id
Returns: scene path for this scene_id

igibson.utils.assets_utils.get_texture_file(mesh_file)¶

Get texture file

Parameters: mesh_file – mesh obj file
Returns: texture file path

igibson.utils.constants module¶

Constant Definitions

class igibson.utils.constants.OccupancyGridState¶

Bases: object

FREESPACE = 1.0¶

OBSTACLES = 0.0¶

UNKNOWN = 0.5¶

class igibson.utils.constants.PyBulletSleepState¶

Bases: enum.IntEnum

An enumeration.

AWAKE = 1¶

class igibson.utils.constants.SemanticClass¶

Bases: enum.IntEnum

An enumeration.

BACKGROUND = 0¶

ROBOTS = 1¶

SCENE_OBJS = 3¶

USER_ADDED_OBJS = 2¶

class igibson.utils.constants.ShadowPass¶

Bases: enum.IntEnum

An enumeration.

HAS_SHADOW_RENDER_SCENE = 2¶

HAS_SHADOW_RENDER_SHADOW = 1¶

NO_SHADOW = 0¶

igibson.utils.generate_trav_map module¶

igibson.utils.map_utils module¶

class igibson.utils.map_utils.Plane(orig, normal)¶: Bases: object

igibson.utils.map_utils.compute_triangle_plane_intersections(vertices, faces, tid, plane, dists, dist_tol=1e-08)¶: Compute the intersection between a triangle and a plane Returns a list of intersections in the form (INTERSECT_EDGE, <intersection point>, <edge>) for edges intersection (INTERSECT_VERTEX, <intersection point>, <vertex index>) for vertices This return between 0 and 2 intersections : - 0 : the plane does not intersect the plane - 1 : one of the triangle’s vertices lies on the plane (so it just “touches” the plane without really intersecting) - 2 : the plane slice the triangle in two parts (either vertex-edge, vertex-vertex or edge-edge)

igibson.utils.map_utils.gen_map(vertices, faces, output_folder, img_filename_format='floor_{}.png')¶

igibson.utils.map_utils.gen_trav_map(vertices, faces, output_folder, add_clutter=False, trav_map_filename_format='floor_trav_{}.png', obstacle_map_filename_format='floor_{}.png')¶: Generate traversability maps.

igibson.utils.map_utils.get_xy_floors(vertices, faces, dist_threshold=-0.98)¶

igibson.utils.map_utils.point_to_plane_dist(p, plane)¶

igibson.utils.mesh_util module¶

3D mesh manipulation utilities.

igibson.utils.mesh_util.anorm(x, axis=None, keepdims=False)¶: Compute L2 norms alogn specified axes.

igibson.utils.mesh_util.frustum(left, right, bottom, top, znear, zfar)¶: Create view frustum matrix.

igibson.utils.mesh_util.homotrans(M, p)¶

igibson.utils.mesh_util.load_obj(fn)¶

Load 3d mesh form .obj’ file.

Args:: fn: Input file name or file-like object.
Returns:: dictionary with the following keys (some of which may be missing): position: np.float32, (n, 3) array, vertex positions uv: np.float32, (n, 2) array, vertex uv coordinates normal: np.float32, (n, 3) array, vertex uv normals face: np.int32, (k*3,) traingular face indices

igibson.utils.mesh_util.lookat(eye, target=[0, 0, 0], up=[0, 1, 0])¶: Generate LookAt modelview matrix.

igibson.utils.mesh_util.mat2xyz(mat)¶

igibson.utils.mesh_util.normalize(v, axis=None, eps=1e-10)¶: L2 Normalize along specified axes.

igibson.utils.mesh_util.normalize_mesh(mesh)¶: Scale mesh to fit into -1..1 cube

igibson.utils.mesh_util.ortho(left, right, bottom, top, znear, zfar)¶: Create orthonormal projection matrix.

igibson.utils.mesh_util.perspective(fovy, aspect, znear, zfar)¶: Create perspective projection matrix.

igibson.utils.mesh_util.quat2rotmat(quat)¶

Parameters: quat – quaternion in w,x,y,z
Returns: rotation matrix 4x4

igibson.utils.mesh_util.safemat2quat(mat)¶

Parameters: mat – 4x4 matrix
Returns: quaternion in w,x,y,z

igibson.utils.mesh_util.sample_view(min_dist, max_dist=None)¶: Sample random camera position. Sample origin directed camera position in given distance range from the origin. ModelView matrix is returned.

igibson.utils.mesh_util.save_obj(vertices_info, faces_info, fn)¶

igibson.utils.mesh_util.transform_vertex(vertices, pose_rot, pose_trans)¶

igibson.utils.mesh_util.xyz2mat(xyz)¶

igibson.utils.mesh_util.xyzw2wxyz(orn)¶

Parameters: orn – quaternion in xyzw
Returns: quaternion in wxyz

igibson.utils.monitor module¶

class igibson.utils.monitor.Monitor(env, filename, allow_early_resets=False, reset_keywords=())¶

Bases: gym.core.Wrapper

EXT = 'monitor.csv'¶

close()¶

Override close in your subclass to perform any necessary cleanup.

Environments will automatically close() themselves when garbage collected or when the program exits.

f = None¶

get_episode_lengths()¶

get_episode_rewards()¶

get_total_steps()¶

igibson.utils.monitor.get_monitor_files(dir)¶

igibson.utils.monitor.load_results(dir)¶

igibson.utils.motion_planning_wrapper module¶

igibson.utils.semantics_utils module¶

igibson.utils.semantics_utils.get_class_name_to_class_id(starting_class_id=<SemanticClass.SCENE_OBJS: 3>)¶

Get mapping from semantic class name to class id

Parameters: starting_class_id – starting class id for scene objects

igibson.utils.tf_utils module¶

igibson.utils.tf_utils.make_gpu_session(num_gpu=1)¶

igibson.utils.urdf_utils module¶

igibson.utils.urdf_utils.parse_urdf(tree)¶: Parse URDF for spliting by floating joints later

igibson.utils.urdf_utils.round_up(n, decimals=0)¶: Helper function to round a float

igibson.utils.urdf_utils.save_urdfs_without_floating_joints(tree, file_prefix)¶: Split one URDF into multiple URDFs if there are floating joints and save them

igibson.utils.urdf_utils.splitter(parent_map, child_map, joint_map, single_child_link)¶: Recursively split URDFs by floating joints

igibson.utils.urdf_utils.transform_element_xyzrpy(element, transformation)¶

Transform a URDF element by transformation

Parameters

element – URDF XML element
transformation – transformation that should be applied to the element

igibson.utils.utils module¶

igibson.utils.utils.cartesian_to_polar(x, y)¶: Convert cartesian coordinate to polar coordinate

igibson.utils.utils.get_rpy_from_transform(transform)¶: Returns the roll, pitch, yaw angles (Euler) for a given rotation or homogeneous transformation matrix transformation = Array with the rotation (3x3) or full transformation (4x4)

igibson.utils.utils.get_transform_from_xyz_rpy(xyz, rpy)¶: Returns a homogeneous transformation matrix (numpy array 4x4) for the given translation and rotation in roll,pitch,yaw xyz = Array of the translation rpy = Array with roll, pitch, yaw rotations

igibson.utils.utils.l2_distance(v1, v2)¶: Returns the L2 distance between vector v1 and v2.

igibson.utils.utils.parse_config(config)¶: Parse iGibson config file / object

igibson.utils.utils.quatFromXYZW(xyzw, seq)¶: Convert quaternion from XYZW (pybullet convention) to arbitrary sequence.

igibson.utils.utils.quatToXYZW(orn, seq)¶: Convert quaternion from arbitrary sequence to XYZW (pybullet convention).

igibson.utils.utils.quatXYZWFromRotMat(rot_mat)¶: Convert quaternion from rotation matrix

igibson.utils.utils.quat_pos_to_mat(pos, quat)¶: Convert position and quaternion to transformation matrix

igibson.utils.utils.rotate_vector_2d(v, yaw)¶: Rotates 2d vector by yaw counterclockwise

igibson.utils.utils.rotate_vector_3d(v, r, p, y, cck=True)¶: Rotates 3d vector by roll, pitch and yaw counterclockwise

igibson.utils.vision_utils module¶

class igibson.utils.vision_utils.RandomScale(minsize, maxsize, interpolation=2)¶

Bases: object

Rescale the input PIL.Image to the given size. Args: size (sequence or int): Desired output size. If size is a sequence like (w, h), output size will be matched to this. If size is an int, smaller edge of the image will be matched to this number. i.e, if height > width, then image will be rescaled to (size * height / width, size) interpolation (int, optional): Desired interpolation. Default is PIL.Image.BILINEAR

igibson.utils package¶

Submodules¶

igibson.utils.assets_utils module¶

igibson.utils.constants module¶

igibson.utils.generate_trav_map module¶

igibson.utils.map_utils module¶

igibson.utils.mesh_util module¶

igibson.utils.monitor module¶

igibson.utils.motion_planning_wrapper module¶

igibson.utils.semantics_utils module¶

igibson.utils.tf_utils module¶

igibson.utils.urdf_utils module¶

igibson.utils.utils module¶

igibson.utils.vision_utils module¶

Module contents¶