robocasa.models.scenes package#

Submodules#

robocasa.models.scenes.kitchen_arena module#

class robocasa.models.scenes.kitchen_arena.KitchenArena(layout_id, style_id, rng=None)#

Bases: robosuite.models.arenas.arena.Arena

Kitchen arena class holding all of the fixtures

Parameters

  • layout_id (int or LayoutType) – layout of the kitchen to load

  • style_id (int or StyleType) – style of the kitchen to load

  • rng (np.random.Generator) – random number generator used for initializing fixture state in the KitchenArena

get_fixture_cfgs()#

Returns config data for all fixtures in the arena

Returns

list of fixture configurations

Return type

list

robocasa.models.scenes.scene_builder module#

robocasa.models.scenes.scene_builder.check_syntax(fixture)#

Checks that specifications of a fixture follows syntax rules

robocasa.models.scenes.scene_builder.create_fixtures(layout_id, style_id, rng=None)#

Initializes fixtures based on the given layout yaml file and style type

Parameters

  • layout_id (int or LayoutType) – layout of the kitchen to load

  • style_id (int or StyleType) – style of the kitchen to load

  • rng (np.random.Generator) – random number generator used for initializing fixture state

robocasa.models.scenes.scene_registry module#

class robocasa.models.scenes.scene_registry.LayoutType(value)#

Bases: enum.IntEnum

Enum for available layouts in RoboCasa environment

ALL = -1#
DINING = -4#
GALLEY = 4#
G_SHAPED_LARGE = 8#
G_SHAPED_SMALL = 7#
ISLAND = -3#
L_SHAPED_LARGE = 3#
L_SHAPED_SMALL = 2#
NO_ISLAND = -2#
ONE_WALL_LARGE = 1#
ONE_WALL_SMALL = 0#
U_SHAPED_LARGE = 6#
U_SHAPED_SMALL = 5#
WRAPAROUND = 9#
class robocasa.models.scenes.scene_registry.StyleType(value)#

Bases: enum.IntEnum

Enums for available styles in RoboCasa environment

ALL = -1#
COASTAL = 2#
FARMHOUSE = 7#
INDUSTRIAL = 0#
MEDITERRANEAN = 9#
MODERN_1 = 3#
MODERN_2 = 4#
RUSTIC = 8#
SCANDANAVIAN = 1#
TRADITIONAL_1 = 5#
TRADITIONAL_2 = 6#
TRANSITIONAL_1 = 10#
TRANSITIONAL_2 = 11#
robocasa.models.scenes.scene_registry.get_layout_path(layout_id)#

Get corresponding blueprint filepath (yaml) for a layout

Parameters

layout_id (int or LayoutType) – layout id (int or enum)

Returns

yaml path for specified layout

Return type

str

robocasa.models.scenes.scene_registry.get_style_path(style_id)#

Get corresponding blueprint filepath (yaml) for a style

Parameters

style_id (int or StyleType) – style id (int or enum)

Returns

yaml path for specified style

Return type

str

robocasa.models.scenes.scene_registry.unpack_layout_ids(layout_ids)#
robocasa.models.scenes.scene_registry.unpack_style_ids(style_ids)#

robocasa.models.scenes.scene_utils module#

robocasa.models.scenes.scene_utils.get_relative_position(fixture, config, prev_fxtr, prev_fxtr_config)#

Calculates the position of fixture based on a specified side and alignment relative to prev_fixture

This assumes that the fixtures are properly centered!

robocasa.models.scenes.scene_utils.initialize_fixture(config, cur_fixtures, rng=None)#

initializes a fixture object based on the given configuration ignores positional arguments as it is changed later

Parameters

  • config (dict) – dictionary containing the fixture configuration. Serves as the arguments to initialize the fixture

  • cur_fixtures (dict) – dictionary containing the current fixtures

robocasa.models.scenes.scene_utils.load_style_config(style, fixture_config)#

Loads the style information for a given fixture. Style information can consist of which xml to use if there are multiple instances of a fixture, which texture to apply, which subcomponents to apply (panels/handles for a cab), etc.

Parameters

  • style (dict) – dictionary containing the style information for each fixture type

  • fixture_config (dict) – dictionary containing the fixture configuration

Module contents#