added igibson environment files

alf/environments/igibson/configs/turtlebot_clip.yaml

@@ -0,0 +1,76 @@
+# scene
+scene: igibson
+scene_id: Rs_int
+build_graph: true
+load_texture: true
+pybullet_load_texture: true
+trav_map_type: no_obj
+trav_map_resolution: 0.1
+trav_map_erosion: 2
+should_open_all_doors: true
+
+# domain randomization
+texture_randomization_freq: null
+object_randomization_freq: null
+
+# robot
+robot: Turtlebot
+is_discrete: false
+velocity: 1.0
+robot_scale: 1.0
+
+# task
+task: point_nav_random
+target_dist_min: 1.0
+target_dist_max: 10.0
+goal_format: polar
+task_obs_dim: 4
+
+# reward
+reward_type: geodesic
+success_reward: 10.0
+potential_reward_weight: 1.0
+collision_reward_weight: -0.1
+
+# discount factor
+discount_factor: 0.99
+
+# termination condition
+dist_tol: 0.36  # body width
+max_step: 500
+max_collisions_allowed: 500
+
+# misc config
+initial_pos_z_offset: 0.1
+collision_ignore_link_a_ids: [1, 2, 3, 4]  # ignore collisions with these robot links
+
+# sensor spec
+output: [task_obs, rgb, depth]  # scan
+# image
+# ASUS Xtion PRO LIVE
+# https://www.asus.com/us/3D-Sensor/Xtion_PRO_LIVE
+fisheye: false
+image_width: 320  # 160
+image_height: 320  # 120
+vertical_fov: 75
+# depth
+depth_low: 0.8
+depth_high: 3.5
+# scan
+# Hokuyo URG-04LX-UG01
+# https://www.hokuyo-aut.jp/search/single.php?serial=166
+# n_horizontal_rays is originally 683, sub-sampled 1/3
+n_horizontal_rays: 228
+n_vertical_beams: 1
+laser_linear_range: 5.6
+laser_angular_range: 240.0
+min_laser_dist: 0.05
+laser_link_name: scan_link
+
+# sensor noise
+depth_noise_rate: 0.0
+scan_noise_rate: 0.0
+
+# visual objects
+visual_object_at_initial_target_pos: true
+target_visual_object_visible_to_agent: false

alf/environments/igibson/configs/turtlebot_object_nav_stadium.yaml

@@ -0,0 +1,78 @@
+# scene
+scene: stadium
+build_graph: false
+load_texture: true
+pybullet_load_texture: true
+trav_map_type: no_obj
+trav_map_resolution: 0.1
+trav_map_erosion: 2
+should_open_all_doors: true
+
+# domain randomization
+texture_randomization_freq: null
+object_randomization_freq: null
+
+# robot
+robot: Turtlebot
+is_discrete: false
+velocity: 1.0
+
+# task
+task: visual_object_nav
+object_dist_min: 4.0
+object_dist_max: 12.0
+object_dist_keepout: 3.0  # minimum distances between objects
+object_keepout_buffer_dist: 0.5  # object_keepout_buffer_dist + max object radius * 2 = actual object keepout dist
+num_objects: 5
+goal_format: polar
+task_obs_dim: 5
+
+# reward
+reward_type: l2
+success_reward: 10.0  # 10.0
+potential_reward_weight: 5.0  # 1.0
+collision_reward_weight: -0.5  # -0.1
+
+# discount factor
+discount_factor: 0.99
+
+# termination condition
+dist_tol: 1.0  # 0.5  # 0.36  # body width
+max_step: 600  # 500
+max_collisions_allowed: 600 # 500
+goal_buffer_dist: 1.2  # goal_buffer_dist + max object radius = actual dist_tol
+
+# misc config
+initial_pos_z_offset: 0.1
+collision_ignore_link_a_ids: [1, 2, 3, 4]  # ignore collisions with these robot links
+
+# sensor spec
+output: [task_obs, rgb, depth]  # , scan
+# image
+# ASUS Xtion PRO LIVE
+# https://www.asus.com/us/3D-Sensor/Xtion_PRO_LIVE
+fisheye: true
+image_width: 84  # 160
+image_height: 84  # 120
+vertical_fov: 45
+# depth
+depth_low: 0.8
+depth_high: 3.5
+# scan
+# Hokuyo URG-04LX-UG01
+# https://www.hokuyo-aut.jp/search/single.php?serial=166
+# n_horizontal_rays is originally 683, sub-sampled 1/3
+n_horizontal_rays: 228
+n_vertical_beams: 1
+laser_linear_range: 5.6
+laser_angular_range: 240.0
+min_laser_dist: 0.05
+laser_link_name: scan_link
+
+# sensor noise
+depth_noise_rate: 0.0
+scan_noise_rate: 0.0
+
+# visual objects
+visual_object_at_initial_pos: true
+target_visual_object_visible_to_agent: true

alf/environments/igibson/configs/turtlebot_point_nav_stadium.yaml

@@ -0,0 +1,74 @@
+# scene
+scene: stadium
+build_graph: false
+load_texture: true
+pybullet_load_texture: true
+trav_map_type: no_obj
+trav_map_resolution: 0.1
+trav_map_erosion: 2
+should_open_all_doors: true
+
+# domain randomization
+texture_randomization_freq: null
+object_randomization_freq: null
+
+# robot
+robot: Turtlebot
+is_discrete: false
+velocity: 1.0
+
+# task
+task: None # point_nav_random
+target_dist_min: 5.0
+target_dist_max: 10.0 # 10.0
+goal_format: polar
+task_obs_dim: 4
+
+# reward
+reward_type: l2
+success_reward: 10.0  # 10.0
+potential_reward_weight: 5.0  # 1.0
+collision_reward_weight: 0.0  # -0.1
+
+# discount factor
+discount_factor: 0.99
+
+# termination condition
+dist_tol: 0.5  # 0.5  # 0.36  # body width
+max_step: 500
+max_collisions_allowed: 500
+
+# misc config
+initial_pos_z_offset: 0.1
+collision_ignore_link_a_ids: [1, 2, 3, 4]  # ignore collisions with these robot links
+
+# sensor spec
+output: [rgb, depth]  # task_obs, , scan
+# image
+# ASUS Xtion PRO LIVE
+# https://www.asus.com/us/3D-Sensor/Xtion_PRO_LIVE
+fisheye: true
+image_width: 84  # 160
+image_height: 84  # 120
+vertical_fov: 45
+# depth
+depth_low: 0.8
+depth_high: 3.5
+# scan
+# Hokuyo URG-04LX-UG01
+# https://www.hokuyo-aut.jp/search/single.php?serial=166
+# n_horizontal_rays is originally 683, sub-sampled 1/3
+n_horizontal_rays: 228
+n_vertical_beams: 1
+laser_linear_range: 5.6
+laser_angular_range: 240.0
+min_laser_dist: 0.05
+laser_link_name: scan_link
+
+# sensor noise
+depth_noise_rate: 0.0
+scan_noise_rate: 0.0
+
+# visual objects
+visual_object_at_initial_target_pos: true
+target_visual_object_visible_to_agent: true

alf/environments/igibson/docker/10_nvidia.json

@@ -0,0 +1,6 @@
+{
+    "file_format_version" : "1.0.0",
+    "ICD" : {
+        "library_path" : "libEGL_nvidia.so.0"
+    }
+}