Skip to content

sample_kinematics_demo

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

Demo to use the raycasting-based sampler to load objects onTop and/or inside another Loads a cabinet, a microwave open on top of it, and two plates with apples on top, one inside and one on top of the cabinet Then loads a shelf and cracker boxes inside of it

Source code in omnigibson/examples/object_states/sample_kinematics_demo.py 
 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
109
def main(random_selection=False, headless=False, short_exec=False):
    """
    Demo to use the raycasting-based sampler to load objects onTop and/or inside another
    Loads a cabinet, a microwave open on top of it, and two plates with apples on top, one inside and one on top of the cabinet
    Then loads a shelf and cracker boxes inside of it
    """
    og.log.info(f"Demo {__file__}\n    " + "*" * 80 + "\n    Description:\n" + main.__doc__ + "*" * 80)

    # Create the scene config to load -- empty scene
    cfg = {
        "scene": {
            "type": "Scene",
        },
    }

    # Define objects we want to sample at runtime
    microwave_cfg = dict(
            type="DatasetObject",
            name="microwave",
            category="microwave",
            model="hjjxmi",
            scale=0.5,
    )

    cabinet_cfg = dict(
            type="DatasetObject",
            name="cabinet",
            category="bottom_cabinet",
            model="bamfsz",
    )

    plate_cfgs = [dict(
            type="DatasetObject",
            name=f"plate{i}",
            category="plate",
            model="iawoof",
            bounding_box=np.array([0.25, 0.25, 0.05]),
    ) for i in range(2)]

    apple_cfgs = [dict(
            type="DatasetObject",
            name=f"apple{i}",
            category="apple",
            model="agveuv",
    ) for i in range(4)]

    shelf_cfg = dict(
            type="DatasetObject",
            name=f"shelf",
            category="shelf",
            model="pkgbcp",
            bounding_box=np.array([1.0, 0.4, 2.0]),
    )

    box_cfgs = [dict(
            type="DatasetObject",
            name=f"box{i}",
            category="cracker_box",
            model="cmdigf",
            bounding_box=np.array([0.2, 0.05, 0.3]),
    ) for i in range(5)]


    # Compose objects cfg
    objects_cfg = [
        microwave_cfg,
        cabinet_cfg,
        *plate_cfgs,
        *apple_cfgs,
        shelf_cfg,
        *box_cfgs,
    ]

    # Update their spawn positions so they don't collide immediately
    for i, obj_cfg in enumerate(objects_cfg):
        obj_cfg["position"] = [100 + i, 100 + i, 100 + i]

    cfg["objects"] = objects_cfg

    # Create the environment
    env = og.Environment(configs=cfg, action_timestep=1/60., physics_timestep=1/60.)
    env.step([])

    # Sample microwave and boxes
    sample_boxes_on_shelf(env)
    sample_microwave_plates_apples(env)

    max_steps = 100 if short_exec else -1
    step = 0
    while step != max_steps:
        env.step(np.array([]))
        step += 1

    # Always close environment at the end
    env.close()