iTHOR 虚拟环境简述

iTHOR（Interactive THOR）是由AI2开发的，一个基于 AI2-THOR 框架构建交互式高度逼真的虚拟环境，来测试和训练机器人和智能体，在室内环境中执行任务的能力。

1. 仿真流程

2. 场景

默认有120个场景，其中厨房、客厅、卧室和淋浴间各30个。

controller.ithor_scenes(
    include_kitchens=True,
    include_living_rooms=True,
    include_bedrooms=True,
    include_bathrooms=True
)
# 返回
[
    "FloorPlan1",
    "FloorPlan2",
    {...},
    "FloorPlan201",
    {...},
    "FloorPlan301",
    {...},
    "FloorPlan430",
]

3. 对象

有一些默认具备的对象，不同对象有不同的属性、场景以及可以被操作的行为，目前默认已经具备2000多个对象，部分对象及其对应索引英文如下：

闹钟、铝箔、苹果、苹果片、扶手椅、棒球棒、篮球、浴缸、浴缸盆、床、百叶窗、书、靴子、瓶子、碗、盒子、面包、面包片、黄油刀、橱柜、蜡烛、CD、手机、椅子、布、咖啡机、咖啡桌、台面、信用卡、杯子、窗帘、桌子、台灯、桌面、餐桌、洗碗海绵、狗床、抽屉、梳妆台、哑铃、鸡蛋、鸡蛋饼干、水龙头、地板、落地灯、脚凳、叉子、冰箱、垃圾袋、垃圾桶、手巾手巾架、室内植物、水壶、钥匙扣、刀、勺子、笔记本电脑、洗衣篮、生菜、切片生菜、电灯开关、微波炉、镜子、杯子、报纸、奥斯曼、绘画、锅、纸巾卷、笔、铅笔、胡椒壶、枕头、盘子、柱塞、海报、锅、土豆、土豆切片*、遥控器、房间装饰、保险箱、盐瓶、刷子、架子、置物架、淋浴间、淋浴门、淋浴玻璃、淋浴头、边桌、水槽、洗手盆、肥皂吧、肥皂瓶、沙发、抹刀，勺子、喷雾瓶、雕像、凳子、炉灶燃烧器、炉灶旋钮、桌面装饰、靶盘、泰迪熊、电视、网球拍、纸巾盒、烤面包机、卫生间、卫生纸、卫生纸衣架、番茄、番茄片、毛巾、毛巾架、电视架、吸尘器、花瓶、手表、水壶、窗户、葡萄酒瓶

AlarmClock, AluminumFoil, Apple, Apple Sliced*, ArmChair, Baseball Bat, BasketBall, Bathtub, BathtubBasin, Bed, Blinds, Book, Boots, Bottle, Bowl, Box, Bread, BreadSliced, ButterKnife, Cabinet, Candle, CD, CellPhone, Chair, Cloth, CoffeMachine, CoffeeTable, CounterTop, CreditCard, Cup, Curtains, Desk, DeskLamp, Desktop, DiningTable, Dish Sponge, DogBed, Drawer, Dresser, Dumbbell, Egg, EggCracked, Faucet, Floor, FloorLamp, Footstool, Fork, Fridge, GargageBag, GarbageCan, HandTowel, HandTowelHolder, House Plant, Kettle, Key Chain, Knife, Ladle, Laptop, Laundry Hamper, Lettuce, LettuceSliced, LightSwitch, Microwave, Mirror, Mug, Newspaper, Ottoman, Painting, Pan, PaperTowelRoll, Pen, Pencil, PepperShaker, Pillow, Plate, Plunger, Poster, Pot, Potato, PotatoSliced*, RemoteControl, RoomDecor, Safe, SaltShaker, ScrubBrush, Shelf, ShelvingUnit, ShowerCurtain, ShowerDoor, ShowerGlass, ShowerHead, SideTable, Sink, SinkBasin, SoapBar, SoapBottle, Sofa, Spatula, Spoon, SprayBottle, Statue, Stool, StoveBurner, StoveKnob, TableTopDecor, TargetCircle, TeddyBear, Television, TennisRacket, TissueBox, Toaster, Toilet, ToiletPaper, ToiletPaperHanger, Tomate, TomatoSliced, Towel, TowelHolder, TVStand, VacuumCleaner, Vase, Watch, WateringCan, Window, WineBottle

4. 对象属性

包括质量、温度、位姿、禁用、启用、移除等，分别通过controller.step()的标准动作设置，SetMassProperties、SetRoomTempDecayTimeForType、SetObjectPoses，比如：

controller.step
(
    action="SetRoomTempDecayTimeForType",
    objectType="Bread",
    TimeUntilRoomTemp=20.0
)