Skip to content

attachment_demo

main(random_selection=False, headless=False, short_exec=False)

Demo of attachment of different parts of a shelf

Source code in omnigibson/examples/object_states/attachment_demo.py 
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
def main(random_selection=False, headless=False, short_exec=False):
    """
    Demo of attachment of different parts of a shelf
    """
    cfg = yaml.load(open(f"{og.example_config_path}/default_cfg.yaml", "r"), Loader=yaml.FullLoader)
    # Add objects that we want to create
    obj_cfgs = []
    obj_cfgs.append(dict(
        type="LightObject",
        name="light",
        light_type="Sphere",
        radius=0.01,
        intensity=5000,
        position=[0, 0, 1.0],
    ))

    base_z = 0.2
    delta_z = 0.01

    idx = 0
    obj_cfgs.append(dict(
        type="DatasetObject",
        name="shelf_back_panel",
        category="shelf_back_panel",
        model="gjsnrt",
        position=[0, 0, 0.01],
        abilities={"attachable": {}},
    ))
    idx += 1

    xs = [-0.4, 0.4]
    for i in range(2):
        obj_cfgs.append(dict(
            type="DatasetObject",
            name=f"shelf_side_{i}",
            category="shelf_side",
            model="bxfkjj",
            position=[xs[i], 0, base_z + delta_z * idx],
            abilities={"attachable": {}},
        ))
        idx += 1

    ys = [-0.93, -0.61, -0.29, 0.03, 0.35, 0.68]
    for i in range(6):
        obj_cfgs.append(dict(
            type="DatasetObject",
            name=f"shelf_shelf_{i}",
            category="shelf_shelf",
            model="ymtnqa",
            position=[0, ys[i], base_z + delta_z * idx],
            abilities={"attachable": {}},
        ))
        idx += 1

    obj_cfgs.append(dict(
        type="DatasetObject",
        name="shelf_top_0",
        category="shelf_top",
        model="pfiole",
        position=[0, 1.0, base_z + delta_z * idx],
        abilities={"attachable": {}},
    ))
    idx += 1

    obj_cfgs.append(dict(
        type="DatasetObject",
        name=f"shelf_baseboard",
        category="shelf_baseboard",
        model="hlhneo",
        position=[0, -0.97884506, base_z + delta_z * idx],
        abilities={"attachable": {}},
    ))
    idx += 1

    cfg["objects"] = obj_cfgs

    env = og.Environment(configs=cfg)

    # Set viewer camera pose
    og.sim.viewer_camera.set_position_orientation(
        position=np.array([-1.689292, -2.11718198, 0.93332228]),
        orientation=np.array([0.57687967, -0.22995655, -0.29022759, 0.72807814]),
    )

    for _ in range(10):
        env.step([])

    shelf_baseboard = og.sim.scene.object_registry("name", "shelf_baseboard")
    shelf_baseboard.set_position_orientation([0, -0.979, 0.26], [0, 0, 0, 1])
    shelf_baseboard.keep_still()
    shelf_baseboard.set_linear_velocity([-0.2, 0, 0])

    input("Shelf parts fall to their correct poses and get automatically attached to the back panel.\n"
          "You can try to drag the shelf to hit the floor to break it apart. Press [ENTER] to continue.\n")

    for _ in range(1000):
        og.sim.step()

    og.shutdown()