Skip to content

onfire_demo

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

Demo of on fire state. Loads a stove (toggled on), and two apples. The first apple will be ignited by the stove first, then the second apple will be ignited by the first apple.

Source code in omnigibson/examples/object_states/onfire_demo.py 
 11
 12
 13
 14
 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
110
111
def main(random_selection=False, headless=False, short_exec=False):
    """
    Demo of on fire state.
    Loads a stove (toggled on), and two apples.
    The first apple will be ignited by the stove first, then the second apple will be ignited by the first apple.
    """
    og.log.info(f"Demo {__file__}\n    " + "*" * 80 + "\n    Description:\n" + main.__doc__ + "*" * 80)

    # Define specific objects we want to load in with the scene directly
    obj_configs = []

    # Light
    obj_configs.append(
        dict(
            type="LightObject",
            light_type="Sphere",
            name="light",
            radius=0.01,
            intensity=1e8,
            position=[-2.0, -2.0, 1.0],
        )
    )

    # Stove
    obj_configs.append(
        dict(
            type="DatasetObject",
            name="stove",
            category="stove",
            model="yhjzwg",
            bounding_box=[1.185, 0.978, 1.387],
            position=[0, 0, 0.69],
        )
    )

    # 2 Apples
    for i in range(2):
        obj_configs.append(
            dict(
                type="DatasetObject",
                name=f"apple{i}",
                category="apple",
                model="agveuv",
                bounding_box=[0.065, 0.065, 0.077],
                position=[0, i * 0.07, 2.0],
                abilities={"flammable": {"ignition_temperature": 100, "distance_threshold": 0.5}},
            )
        )

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

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

    # Get reference to relevant objects
    stove = env.scene.object_registry("name", "stove")
    apples = list(env.scene.object_registry("category", "apple"))

    # Set camera to appropriate viewing pose
    og.sim.viewer_camera.set_position_orientation(
        position=th.tensor([-0.42246569, -0.34745704, 1.56810353]),
        orientation=th.tensor([0.50083786, -0.10407796, -0.17482619, 0.84128772]),
    )

    # Let objects settle
    for _ in range(10):
        env.step(th.empty(0))

    # Turn on the stove
    stove.states[object_states.ToggledOn].set_value(True)

    # The first apple will be affected by the stove
    apples[0].set_position_orientation(
        position=stove.states[object_states.HeatSourceOrSink].link.get_position_orientation()[0]
        + th.tensor([0.11, 0, 0.1])
    )

    # The second apple will NOT be affected by the stove, but will be affected by the first apple once it's on fire.
    apples[1].set_position_orientation(
        position=stove.states[object_states.HeatSourceOrSink].link.get_position_orientation()[0]
        + th.tensor([0.32, 0, 0.1])
    )

    steps = 0
    max_steps = -1 if not short_exec else 1000

    # Main recording loop
    while steps != max_steps:
        env.step(th.empty(0))
        temps = [f"{apple.states[object_states.Temperature].get_value():>20.2f}" for apple in apples]
        print(f"{'Apple temperature:':<20}", *temps, end="\r")
        steps += 1

    # Always close env at the end
    og.clear()