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rs_int_example

main()

Demonstrates how to use the action primitives to pick and place an object in a crowded scene.

It loads Rs_int with a robot, and the robot picks and places an apple.

Source code in omnigibson/examples/action_primitives/rs_int_example.py 
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def main():
    """
    Demonstrates how to use the action primitives to pick and place an object in a crowded scene.

    It loads Rs_int with a robot, and the robot picks and places an apple.
    """
    # Load the config
    config_filename = os.path.join(og.example_config_path, "fetch_primitives.yaml")
    config = yaml.load(open(config_filename, "r"), Loader=yaml.FullLoader)

    # Update it to run a grocery shopping task
    config["scene"]["scene_model"] = "Rs_int"
    config["scene"]["not_load_object_categories"] = ["ceilings"]
    config["objects"] = [
        {
            "type": "DatasetObject",
            "name": "apple",
            "category": "apple",
            "model": "agveuv",
            "position": [-0.3, -1.1, 0.5],
            "orientation": [0, 0, 0, 1],
        },
    ]

    # Load the environment
    env = og.Environment(configs=config)
    scene = env.scene
    robot = env.robots[0]

    # Allow user to move camera more easily
    og.sim.enable_viewer_camera_teleoperation()

    controller = StarterSemanticActionPrimitives(env, enable_head_tracking=False)
    cabinet = scene.object_registry("name", "bottom_cabinet_slgzfc_0")
    apple = scene.object_registry("name", "apple")

    # Grasp apple
    print("Executing controller")
    execute_controller(controller.apply_ref(StarterSemanticActionPrimitiveSet.GRASP, apple), env)
    print("Finished executing grasp")

    # Place on cabinet
    print("Executing controller")
    execute_controller(controller.apply_ref(StarterSemanticActionPrimitiveSet.PLACE_ON_TOP, cabinet), env)
    print("Finished executing place")