robosuite.renderers.igibson package

Submodules

robosuite.renderers.igibson.igibson_renderer module

robosuite.renderers.igibson.igibson_utils module

class robosuite.renderers.igibson.igibson_utils.MujocoCamera(camera_link_name, offset_pos=array([0, 0, 0]), offset_ori=array([0, 0, 0, 1]), fov=45, active=True, modes=None, camera_name=None, mujoco_env=None)

Bases: object

Camera class to define camera locations and its activation state (to render from them or not)

activate()
deactivate()
get_pose()
is_active()
switch()
class robosuite.renderers.igibson.igibson_utils.MujocoRobot

Bases: object

class robosuite.renderers.igibson.igibson_utils.TensorObservable(name, sensor, corrupter=None, filter=None, delayer=None, sampling_rate=20, enabled=True, active=True)

Bases: robosuite.utils.observables.Observable

Extends observable class to handle torch tensors.

update(timestep, obs_cache, force)

Updates internal values for this observable, if enabled.

Parameters

  • timestep (float) – Amount of simulation time (in sec) that has passed since last call.

  • obs_cache (dict) – Observation cache mapping observable names to pre-computed values to pass to sensor. This will be updated in-place during this call.

  • force (bool) – If True, will force the observable to update its internal value to the newest value.

robosuite.renderers.igibson.igibson_utils.adjust_convention(img, convention)

Inverts (could) the image according to the given convention

Parameters

  • img (np.ndarray) – Image numpy array

  • convention (int) – -1 or 1 depending on macros.IMAGE_CONVENTION

Returns

Inverted or non inverted (vertically) image.

Return type

np.ndarray

robosuite.renderers.igibson.igibson_utils.get_texture_id(intensity, name, self, resolution=1)

Create dummy png or size resolution from intensity values and load the texture in renderer.

Parameters

  • intensity (float, np.ndarray) – Could be any intensity value

  • name (string) – name which will be used to save the file

  • resolution (int, optional) – Resolution at which dummy texture file is written. Defaults to 1.

Returns

texture_id of iG renderer.

Return type

int

robosuite.renderers.igibson.igibson_utils.load_object(renderer, geom, geom_name, geom_type, geom_orn, geom_pos, geom_rgba, geom_size, geom_scale, geom_material, parent_body, class_id, visual_objects, meshes)

Function that initializes the meshes in the memeory with appropriate materials.

robosuite.renderers.igibson.igibson_utils.random_string()

Generate a random string.

robosuite.renderers.igibson.parser module

class robosuite.renderers.igibson.parser.Parser(renderer, env, segmentation_type)

Bases: robosuite.renderers.base_parser.BaseParser

create_class_mapping()

Create class name to index mapping for both semantic and instance segmentation.

get_class_id(geom_index, element_id)

Given index of the geom object get the class id based on self.segmentation type.

parse_cameras()

Parse cameras and initialize the cameras.

parse_geometries()

Iterate through each goemetry and load it in the iGibson renderer.

parse_materials()

Parse all materials and use texture mapping to initialize materials

parse_meshes()

Create mapping of meshes.

parse_textures()

Parse and load all textures and store them

Module contents