concepts.simulator.pybullet.default_env.BulletEnvBase

class BulletEnvBase

Bases: object

Methods

add_igibson_object_by_category(category, ...)
add_ocrtoc_object(identifier, location_3d[, ...])
add_shape_net_core_object(synset_identifier, ...)
add_ycb_simplified_object(identifier, ...[, ...])
find_igibson_object_by_category(category)
initialize_shapenet_core_loader(shapenet_dir)
list_ocrtoc_objects()
list_shape_net_core_objects()
list_ycb_simplified_objects()
seed(seed)

Attributes

client
igibson_root
np_random
ocrtoc_root
p
shapenet_core_loader
w
world
ycb_simple_root

__init__(client=None, np_random=None, seed=None, is_gui=True)

Parameters:

• client (BulletClient | None)

• np_random (RandomState | None)

• seed (int | None)

• is_gui (bool)

__new__(**kwargs)

add_igibson_object_by_category(category, location_3d, scale=1.0, name=None, *, urdf_file=None, static=False, quat=(0, 0, 0, 1))

Parameters:

• category (str)

• location_3d (Tuple[float, float, float] | List[float] | ndarray)

• scale (float)

• name (str | None)

• urdf_file (str | None)

• static (bool)

• quat (Tuple[float, float, float, float] | List[float] | ndarray)

add_ocrtoc_object(identifier, location_3d, scale=1.0, name=None, *, static=False, quat=(0, 0, 0, 1))

Parameters:

• identifier (str)

• location_3d (Tuple[float, float, float] | List[float] | ndarray)

• scale (float)

• name (str | None)

• static (bool)

• quat (Tuple[float, float, float, float] | List[float] | ndarray)

add_shape_net_core_object(synset_identifier, model_identifier, location_3d, scale=1.0, name=None, *, static=False, quat=(0, 0, 0, 1))

Parameters:

• synset_identifier (str)

• model_identifier (str)

• location_3d (Tuple[float, float, float] | List[float] | ndarray)

• scale (float)

• name (str | None)

• static (bool)

• quat (Tuple[float, float, float, float] | List[float] | ndarray)

add_ycb_simplified_object(identifier, location_3d, scale=1.0, name=None, *, static=False, quat=(0, 0, 0, 1))

Parameters:

• identifier (str)

• location_3d (Tuple[float, float, float] | List[float] | ndarray)

• scale (float)

• name (str | None)

• static (bool)

• quat (Tuple[float, float, float, float] | List[float] | ndarray)

find_igibson_object_by_category(category)

Parameters:

category (str)

Return type:

List[str]

initialize_shapenet_core_loader(shapenet_dir)

Parameters:

shapenet_dir (str)

list_ocrtoc_objects()

Return type:

List[str]

list_shape_net_core_objects()

Return type:

Dict[str, Dict[str, Any]]

list_ycb_simplified_objects()

Return type:

List[str]

seed(seed)

Parameters:

seed (int)

property client: BulletClient

property igibson_root: str

property np_random: RandomState

property ocrtoc_root: str

property p

property shapenet_core_loader: ShapeNetCoreLoader

property w

property world

property ycb_simple_root: str