How to set object' orientations?

[dexin-wang]

I noticed that the OnTop and Inside functions sample the object rotation based on the object's orientations, and orientations are all empty lists.
I want to sample the x or y axis rotation when setting the OnTop and Inside states of the object. Is this possible?
I currently think of an indirect method, which is to rotate the object along the x and y axes after setting the OnTop state, and adjust the object's z coordinate based on the aabb before and after.
But is there a more direct way?
Thank you very much.

[hang-yin]

@ChengshuLi probably has a great answer to this.

[ChengshuLi]

@dexin-wang For the OnTo and Inside sampling, the current code already randomizes orientation in the z-axis (yaw angle). And the code also assumes that the default orientation ([0, 0, 0, 1]) is a stable orientation.

If you want to randomize the orientation more aggressively, you can sample a random orientation in the following lines:

OmniGibson/omnigibson/utils/object_state_utils.py

Lines 134 to 137 in 255a4e4

	if hasattr(objA, "orientations") and objA.orientations is not None:
	orientation = objA.sample_orientation()
	else:
	orientation = th.tensor([0, 0, 0, 1.0])

The downside is that this random orientation might not be stable, so even if you successfully place the object, it might roll away.