object_base
BaseObject
Bases: EntityPrim
, Registerable
This is the interface that all OmniGibson objects must implement.
Source code in omnigibson/objects/object_base.py
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highlighted
property
writable
Returns:
Type | Description |
---|---|
bool
|
Whether the object is highlighted or not |
is_active
property
Returns:
Type | Description |
---|---|
bool
|
True if this object is currently considered active -- e.g.: if this object is currently awake |
mass
property
writable
Returns:
Type | Description |
---|---|
float
|
Cumulative mass of this potentially articulated object. |
uuid
property
Returns:
Type | Description |
---|---|
int
|
8-digit unique identifier for this object. It is randomly generated from this object's name but deterministic |
volume
property
writable
Returns:
Type | Description |
---|---|
float
|
Cumulative volume of this potentially articulated object. |
__init__(name, relative_prim_path=None, category='object', scale=None, visible=True, fixed_base=False, visual_only=False, kinematic_only=None, self_collisions=False, prim_type=PrimType.RIGID, load_config=None, **kwargs)
Parameters:
Name | Type | Description | Default |
---|---|---|---|
name |
str
|
Name for the object. Names need to be unique per scene |
required |
relative_prim_path |
None or str
|
The path relative to its scene prim for this object. If not specified, it defaults to / |
None
|
category |
str
|
Category for the object. Defaults to "object". |
'object'
|
scale |
None or float or 3 - array
|
if specified, sets either the uniform (float) or x,y,z (3-array) scale for this object. A single number corresponds to uniform scaling along the x,y,z axes, whereas a 3-array specifies per-axis scaling. |
None
|
visible |
bool
|
whether to render this object or not in the stage |
True
|
fixed_base |
bool
|
whether to fix the base of this object or not |
False
|
visual_only |
bool
|
Whether this object should be visual only (and not collide with any other objects) |
False
|
kinematic_only |
None or bool
|
Whether this object should be kinematic only (and not get affected by any collisions). If None, then this value will be set to True if @fixed_base is True and some other criteria are satisfied (see object_base.py post_load function), else False. |
None
|
self_collisions |
bool
|
Whether to enable self collisions for this object |
False
|
prim_type |
PrimType
|
Which type of prim the object is, Valid options are: {PrimType.RIGID, PrimType.CLOTH} |
RIGID
|
load_config |
None or dict
|
If specified, should contain keyword-mapped values that are relevant for loading this prim at runtime. |
None
|
kwargs |
dict
|
Additional keyword arguments that are used for other super() calls from subclasses, allowing for flexible compositions of various object subclasses (e.g.: Robot is USDObject + ControllableObject). Note that this base object does NOT pass kwargs down into the Prim-type super() classes, and we assume that kwargs are only shared between all SUBclasses (children), not SUPERclasses (parents). |
{}
|
Source code in omnigibson/objects/object_base.py
dump_state(serialized=False)
Dumps the state of this object in either dictionary of flattened numerical form.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
serialized |
bool
|
If True, will return the state of this object as a 1D numpy array. Otherewise, will return a (potentially nested) dictionary of states for this object |
False
|
Returns:
Type | Description |
---|---|
dict or n - array
|
Either: - Keyword-mapped states of this object, or - encoded + serialized, 1D numerical th.Tensor capturing this object's state |
Source code in omnigibson/objects/object_base.py
get_base_aligned_bbox(link_name=None, visual=False, xy_aligned=False)
Get a bounding box for this object that's axis-aligned in the object's base frame.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
link_name |
None or str
|
If specified, only get the bbox for the given link |
None
|
visual |
bool
|
Whether to aggregate the bounding boxes from the visual meshes. Otherwise, will use collision meshes |
False
|
xy_aligned |
bool
|
Whether to align the bounding box to the global XY-plane |
False
|
Returns:
Type | Description |
---|---|
4 - tuple
|
|
Source code in omnigibson/objects/object_base.py
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prebuild(stage)
Implement this function to provide pre-building functionality on an USD stage that is not loaded into Isaac Sim. This is useful for pre-compiling scene USDs, speeding up load times especially for parallel envs.