Changing scene/object property on the fly about robosuite HOT 4 CLOSED

In case any body need this, I managed to change the pos with:
env.sim.model.geom_pos[env.sim.model.geom_name2id("cube")] = <new pose>

from robosuite.

We do not provide functionalities to remove/add/modify objects on the fly because the xml for the environment is fixed. What you could do is to add all objects, and just "teleport" them away somewhere (because you can change their location) when you don't need them.

from robosuite.

Thanks for the immediate response. Can you give an example of how you would change the position of the objects? I have tried to do that by modifying "env.sim.data.body_xpos[env.cube_body_id]" in the Sawyer-Lift env but that does not seem to work for me.

from robosuite.

Thanks, Yuchen! In case it's helpful for anyone else, another way to change or set positions of objects is:

env.sim.data.set_joint_qpos(<obj>, <pos_quat_array>)

e.g. env.sim.data.set_joint_qpos(env.model.mujoco_objects[0].joints[0], np.concatenate([np.ones(3)*j/100, np.array([1, 0, 0, 0])]))

from robosuite.