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overlaid_demo

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

Demo of cloth objects that can be overlaid on rigid objects.

Loads a carpet on top of a table. Initially Overlaid will be True because the carpet largely covers the table. If you drag the carpet off the table or even just fold it into half, Overlaid will become False.

Source code in omnigibson/examples/object_states/overlaid_demo.py 
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def main(random_selection=False, headless=False, short_exec=False):
    """
    Demo of cloth objects that can be overlaid on rigid objects.

    Loads a carpet on top of a table. Initially Overlaid will be True because the carpet largely covers the table.
    If you drag the carpet off the table or even just fold it into half, Overlaid will become False.
    """
    og.log.info(f"Demo {__file__}\n    " + "*" * 80 + "\n    Description:\n" + main.__doc__ + "*" * 80)

    # Create the scene config to load -- empty scene + custom cloth object + custom rigid object
    cfg = {
        "scene": {
            "type": "Scene",
        },
        "objects": [
            {
                "type": "DatasetObject",
                "name": "carpet",
                "category": "carpet",
                "model": "ctclvd",
                "bounding_box": [1.346, 0.852, 0.017],
                "prim_type": PrimType.CLOTH,
                "abilities": {"cloth": {}},
                "position": [0, 0, 1.0],
            },
            {
                "type": "DatasetObject",
                "name": "breakfast_table",
                "category": "breakfast_table",
                "model": "rjgmmy",
                "bounding_box": [1.36, 1.081, 0.84],
                "prim_type": PrimType.RIGID,
                "position": [0, 0, 0.58],
            },
        ],
    }

    # Create the environment
    env = og.Environment(configs=cfg)

    # Grab object references
    carpet = env.scene.object_registry("name", "carpet")
    breakfast_table = env.scene.object_registry("name", "breakfast_table")

    # Set camera pose
    og.sim.viewer_camera.set_position_orientation(
        position=th.tensor([0.88215526, -1.40086216, 2.00311063]),
        orientation=th.tensor([0.42013364, 0.12342107, 0.25339685, 0.86258043]),
    )

    max_steps = 100 if short_exec else -1
    steps = 0

    print("\nTry dragging cloth around with CTRL + Left-Click to see the Overlaid state change:\n")

    while steps != max_steps:
        print(f"Overlaid {carpet.states[Overlaid].get_value(breakfast_table)}    ", end="\r")
        env.step(th.empty(0))
        steps += 1

    # Shut down env at the end
    og.clear()