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wip_solve_behavior_task

main()

Demonstrates how to use the action primitives to solve a simple BEHAVIOR-1K task.

It loads Benevolence_1_int with a Fetch robot, and the robot attempts to solve the picking_up_trash task using a hardcoded sequence of primitives.

Source code in omnigibson/examples/action_primitives/wip_solve_behavior_task.py 
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def main():
    """
    Demonstrates how to use the action primitives to solve a simple BEHAVIOR-1K task.

    It loads Benevolence_1_int with a Fetch robot, and the robot attempts to solve the
    picking_up_trash task using a hardcoded sequence of primitives.
    """
    # Load the config
    config_filename = os.path.join(og.example_config_path, "fetch_primitives.yaml")
    config = yaml.load(open(config_filename, "r"), Loader=yaml.FullLoader)

    # Update it to run a grocery shopping task
    config["scene"]["scene_model"] = "Benevolence_1_int"
    config["scene"]["load_task_relevant_only"] = True
    config["scene"]["not_load_object_categories"] = ["ceilings"]
    config["task"] = {
        "type": "BehaviorTask",
        "activity_name": "picking_up_trash",
        "activity_definition_id": 0,
        "activity_instance_id": 0,
        "predefined_problem": None,
        "online_object_sampling": False,
    }

    # Load the environment
    env = og.Environment(configs=config)
    scene = env.scene
    robot = env.robots[0]

    # Allow user to move camera more easily
    og.sim.enable_viewer_camera_teleoperation()

    controller = StarterSemanticActionPrimitives(env, enable_head_tracking=False)

    # Grasp can of soda
    grasp_obj = scene.object_registry("name", "can_of_soda_89")
    print("Executing controller")
    execute_controller(controller.apply_ref(StarterSemanticActionPrimitiveSet.GRASP, grasp_obj), env)
    print("Finished executing grasp")

    # Place can in trash can
    print("Executing controller")
    trash = scene.object_registry("name", "trash_can_85")
    execute_controller(controller.apply_ref(StarterSemanticActionPrimitiveSet.PLACE_INSIDE, trash), env)
    print("Finished executing place")