If you haven't done so already, please read the documentation for robots in TDW.
Robots are partially supported in Obi. This is limitation on the backend. Robots in TDW use a Unity component called "ArticulationBody" which is far more stable than a Rigidbody. Obi, however, uses Rigidbodies, not ArticulationBodies. The result is that it treats robots more like a static element in the environment.
In this example, we'll add an Obi fluid, an object, and a robot. Notice how the fluid flows around both the robot and the object, but pushes only the object.
from tdw.controller import Controller
from tdw.add_ons.obi import Obi
from tdw.add_ons.third_person_camera import ThirdPersonCamera
from tdw.add_ons.robot import Robot
from tdw.obi_data.fluids.cube_emitter import CubeEmitter
c = Controller()
# Add Obi.
obi = Obi()
# Add a robot.
robot = Robot(name="fetch", position={"x": -0.5, "y": 0, "z": 0})
# Add a camera.
camera = ThirdPersonCamera(position={"x": 2.7, "y": 2.5, "z": -1.75},
look_at={"x": 0, "y": 0, "z": 0})
c.add_ons.extend([obi, robot, camera])
# Create the scene, including an object.
commands = [Controller.get_add_scene(scene_name="tdw_room")]
commands.extend(Controller.get_add_physics_object(model_name="rh10",
object_id=Controller.get_unique_id(),
position={"x": 0.5, "y": 0, "z": 0}))
c.communicate(commands)
# Create a fluid.
obi.create_fluid(fluid="water",
object_id=Controller.get_unique_id(),
position={"x": 0, "y": 0.5, "z": 1},
rotation={"x": 0, "y": 180, "z": 0},
speed=3,
shape=CubeEmitter(size={"x": 0.5, "y": 0.5, "z": 0.5}))
for i in range(100):
c.communicate([])
c.communicate({"$type": "terminate"})Result:
Magnebots aren't supported in Obi. Magnebots grasp objects by temporarily destroying Rigidbody components; this disrupts the Obi simulation. It may be possible to fix this in future TDW updates.
Next: Obi and Flex
Example controllers:
- obi_robot.py Add a robot and an Obi fluid to the scene.
Python API: