Object Interactions

Overview

AirGen's object functionalities offer dynamic interaction capabilities with the environment. Users can place, manipulate, and remove objects, setting up diverse robot testing scenarios.

Spawn an object: Spawns a new object from a library of existing objects in the simulation context. For example, the following code spawns a cube 20 meters in front of the robot.

client = airgen.VehicleClient()
asset_list = client.simListAssets()
pose = client.simGetVehiclePose()
pose.position.x_val += 20
scale = airgen.Vector3r(1,1,1)
client.simSpawnObject("Cube_new", "Cube", pose, scale, physics_enabled=True)

List available assets: Returns a list of all the assets available within the scope of the current scene.

Once an object is created, its location/size etc. can be customized. For example, we can use the following functions to get and change the characteristics of the cube we spawned earlier.

Get current pose of an object: simGetObjectPose fetches the current pose of a specified object.
```
pose = client.simGetObjectPose("Cube_new")
```
Change object pose: simSetObjectPose can be used to change an object's position and orientation.
```
pose.position.x_val += 5
client.simSetObjectPose("Cube_new", pose)
```

Get current scale of an object:

scale = client.simGetObjectScale("Cube_new")

Change scale of an object:

client.simSetObjectScale("Cube_new", airgen.Vector3r(5, 5, 5))

List all objects in a scene: To get a list of all the objects in a scene (and to select the ones we wish to control), we can use simListSceneObjects(). The objects can also be filtered using wildcards to find some that fit a name pattern.
```
obj_list = client.simListSceneObjects()
cubes_list = client.simListSceneObjects('Cube.*')
```
Remove an object: Finally, to remove an object from a scene, we can use simDestroyObject.
```
client.simDestroyObject("Cube_new")
```

Quick Tips:

Ensure object paths are correct to avoid spawn errors.
Handle physics-enabled objects with caution.
Save your environment state often.