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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 
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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],
        fixed_base=True,
        abilities={"attachable": {}},
    ))
    idx += 1

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

    obj_cfgs.append(dict(
        type="DatasetObject",
        name=f"shelf_side_right",
        category="shelf_side",
        model="yujrmw",
        position=[0.4, 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(np.array([-0.2, 0, 0]))

    shelf_side_left = og.sim.scene.object_registry("name", "shelf_side_left")
    shelf_side_left.set_position_orientation([-0.4, 0.0, 0.2], [0, 0, 0, 1])
    shelf_side_left.keep_still()

    input("\n\nShelf parts fall to their correct poses and get automatically attached to the back panel.\n"
          "You can try to drag (Shift + Left-CLICK + Drag) parts of the shelf to break it apart (you may need to zoom out and drag with a larger force).\n"
          "Press [ENTER] to continue.\n")

    for _ in range(5000):
        og.sim.step()

    og.shutdown()