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vr_scene_tour_demo

Example script for interacting with OmniGibson scenes with VR.

main(scene_model=None)

Users can navigate around and interact with a selected scene using VR.

Source code in OmniGibson/omnigibson/examples/teleoperation/vr_scene_tour_demo.py 
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def main(scene_model: Optional[str] = None):
    """
    Users can navigate around and interact with a selected scene using VR.
    """

    # Choose the scene model to load
    if not scene_model:
        scenes = get_available_behavior_1k_scenes()
        scene_model = choose_from_options(options=scenes, name="scene model")

    # Create the config for generating the environment we want
    scene_cfg = {"type": "InteractiveTraversableScene", "scene_model": scene_model}
    cfg = dict(scene=scene_cfg)

    # Create the environment
    env = og.Environment(configs=cfg)
    env.reset()
    # start vrsys
    vrsys = OVXRSystem(
        robot=None,
        show_control_marker=True,
        system="SteamVR",
        eef_tracking_mode="disabled",
        align_anchor_to="touchpad",
    )
    vrsys.start()
    # set headset position to be 1m above ground and facing +x
    vrsys.xr_core.schedule_set_camera(
        vrsys.og2xr(th.tensor([0.0, 0.0, 1.0]), th.tensor([-0.5, 0.5, 0.5, -0.5])).numpy()
    )

    # main simulation loop
    is_done_with_sim = False

    def _exit():
        nonlocal is_done_with_sim
        is_done_with_sim = True

    KeyboardEventHandler.add_keyboard_callback(
        key=lazy.carb.input.KeyboardInput.SPACE,
        callback_fn=_exit,
    )
    stepping = False

    def _toggle_stepping():
        nonlocal stepping
        stepping = not stepping

    KeyboardEventHandler.add_keyboard_callback(
        key="right_a",
        callback_fn=_toggle_stepping,
    )
    should_reset = False

    def _queue_reset():
        nonlocal should_reset
        should_reset = True

    KeyboardEventHandler.add_keyboard_callback(
        key="right_b",
        callback_fn=_queue_reset,
    )
    while not is_done_with_sim:
        # step the VR system to get the latest data from VR runtime
        vrsys.update(optimized_for_tour=True)
        if stepping:
            og.sim.step()
        else:
            og.sim.render()
        if should_reset:
            env.reset()
            should_reset = False

    # Shut down the environment cleanly at the end
    vrsys.stop()
    og.clear()