concepts.benchmark.manip_tabletop.pybullet_tabletop.TableTopEnv#

class TableTopEnv[source]#

Bases: object

TableTopEnv is a environment for manipulating tools in a 3D but table-top-only environment. So there is only minimal amount of 3D information involved.

The environment will be simulated by pybullet.

Methods

add_bar(size_2d, thickness, location_2d[, ...])

add_box(size, location_2d[, name, static, ...])

add_container(size_2d, depth, location_2d[, ...])

add_igibson_object_by_category(category, ...)

add_l_shape(size1_2d, size2_2d, thickness, ...)

add_l_shape_with_tip(size1_2d, size2_2d, ...)

add_plate(scale, location_2d[, name, ...])

add_region(size_2d, location_2d[, name, ...])

Add a visual-only region indicator to the environment.

add_robot([robot, pos])

Add a robot to the environment.

add_t_shape(size1_2d, size2_2d, thickness, ...)

add_t_shape_with_tip(size1_2d, size2_2d, ...)

add_thin_plate(scale, location_2d[, name, ...])

add_workspace([large])

Add a table-top workspace to the environment.

find_igibson_object_by_category(category)

reset()

Attributes

PLANE_FILE

PLANE_LARGE_FILE

WORKSPACE_FILE

WORKSPACE_LARGE_FILE

igibson_root

p

w

world

__init__(client=None)[source]#
Parameters:

client (BulletClient | None) –

__new__(**kwargs)#
add_bar(size_2d, thickness, location_2d, name='bar-shape', *, static=False, quat=(0, 0, 0, 1))[source]#
Parameters:
Return type:

int

add_box(size, location_2d, name='box', *, static=False, z_height=0, mass=0.2, lateral_friction=1.0, color_rgba=(1, 0.34, 0.34, 1.), quat=None)[source]#
Parameters:
Return type:

int

add_container(size_2d, depth, location_2d, name='container', *, static=True, color_rgba=(0.61176471, 0.45882353, 0.37254902, 1))[source]#
Parameters:
Return type:

int

add_igibson_object_by_category(category, location_3d, scale=1.0, name=None, *, urdf_file=None, static=False, quat=(0, 0, 0, 1))[source]#
Parameters:
add_l_shape(size1_2d, size2_2d, thickness, location_2d, name='l-shape', *, static=False, quat=(0, 0, 0, 1))[source]#
Parameters:
Return type:

int

add_l_shape_with_tip(size1_2d, size2_2d, size3_2d, thickness, location_2d, name='l-shape-with-tip', *, static=False, quat=(0, 0, 0, 1))[source]#
Parameters:
Return type:

int

add_plate(scale, location_2d, name='plate', *, static=False, z_height=0.0)[source]#
Parameters:
Return type:

int

add_region(size_2d, location_2d, name='region', *, color_rgba=(0.5, 0.5, 0.5, 1))[source]#

Add a visual-only region indicator to the environment.

Parameters:
Returns:

the body id of the region.

Return type:

int

add_robot(robot='panda', pos=None)[source]#

Add a robot to the environment.

Parameters:
  • robot (str) – the type of the robot. Currently only ['ur5', 'panda'] are supported.

  • pos (Tuple[float, float, float] | List[float] | ndarray | None) – the initial position of the robot. If not given, the robot will be placed at the origin.

Returns:

the body id of the robot.

Return type:

int

add_t_shape(size1_2d, size2_2d, thickness, location_2d, name='t-shape', *, static=False, quat=(0, 0, 0, 1))[source]#
Parameters:
Return type:

int

add_t_shape_with_tip(size1_2d, size2_2d, size3_2d, thickness, location_2d, name='t-shape-with-tip', *, static=False, quat=(0, 0, 0, 1))[source]#
Parameters:
Return type:

int

add_thin_plate(scale, location_2d, name='plate', *, static=False, z_height=0.0)[source]#
Parameters:
Return type:

int

add_workspace(large=False)[source]#

Add a table-top workspace to the environment.

Returns:

the body id of the collision shape of the body.

Parameters:

large (bool) –

Return type:

int

find_igibson_object_by_category(category)[source]#
Parameters:

category (str) –

Return type:

List[str]

reset()[source]#
Return type:

None

PLANE_FILE = 'assets://basic/plane/plane.urdf'#
PLANE_LARGE_FILE = 'assets://basic/plane/plane_large.urdf'#
WORKSPACE_FILE = 'assets://basic/plane/workspace.urdf'#
WORKSPACE_LARGE_FILE = 'assets://basic/plane/workspace_large.urdf'#
property igibson_root: str#
property p#
property w#
property world#