In this section, we include a description of most of the code examples you can find under
There may be new examples since we wrote this, so check that folder!
If you are interested in just getting started as an end-user, you only need check out
If you are looking for examples of BEHAVIOR, the benchmark of household activities that uses iGibson, please check the BEHAVIOR repository at https://github.com/StanfordVL/behavior.
environments: how to instantiate iGibson environments with interactive or static scenes, optionally with a scene selector.
learning: how to train RL policies for robot navigation using stable baselines 3, and how to save and replay demos of agents for imitation learning.
objects: how to create, load, and place objects to predefined locations or using a logic sampler (e.g. onTop(A, B)), how to change texture as a function of the temperature, and how to generate the minimum volume bounding boxes of objects.
object_states: how to change various objects states, including dusty, stained, (water sources) toggled on, (cleaning tool) soaked, sliced, and temperature, and how to save and reload object states.
observations: how to generate different observation modalities such as RGB, depth, LiDAR, segmentation, etc.
renderer: how to use the renderer directly, without the physics engine.
robots: how to (keyboard) control robots with differential drive controllers, IK controllers and sampling-based motion planners.
ros: how to run ROS with iGibson as if it is the real world.
scenes: how to load interactive and non-interactive scenes, how to use domain randomization (of object models and/or texture), and how to create a tour video of the scenes.
vr: how to use iGibson with VR.
web_ui: how to start a web server that hosts iGibson environments.