how to obtain the stage object in a scene?

[YueFan1014]

Hello, i am wondering how to get the stage object after loading a scene into habitat-sim? I want to get the bounding box of the stage in order to achieve the center point of the scene. I notice that there is rigid_object_manager and articulated_object_manager, but they cannot get the stage object. Is there any way to get the stage object? Thanks!

[aclegg3]

Hey @YueFan1014, because the stage is a singleton STATIC backdrop, we don't have a ManagedObject wrapper for that. However, you can get the bounding box of the scene via Simulator.get_active_scene_graph().get_root_node().cumulative_bb.

[YueFan1014]

Thanks!