Do you want to create your own activity in one of our scenes with our objects or your own? We provide all the necessary tools to generate activity definitions, sample them in our simulator and add any missing object you need.

Describe your activity in BDDL

Use our visual tool in our online server to generate the logic description in BDDL for your new activity.

Create your activity

Sample your activity in iGibson

Create multiple valid activity instances by sampling BDDL definitions with our generating code.

Instructions for sampling (coming soon)

Add new object models

Need a new object that is not in the dataset? Add your own object and use it in the activities.

Instructions to add objects (coming soon)