Skip to content

NVlabs/scene_synthesizer

Folders and files

NameName
Last commit message
Last commit date

Latest commit

e065064 · Feb 14, 2025

History

39 Commits
Nov 21, 2024
Dec 3, 2024
Jan 4, 2025
Nov 21, 2024
Jan 25, 2025
Feb 12, 2025
Feb 12, 2025
Jan 4, 2025
Nov 15, 2024
Nov 4, 2024
Dec 6, 2024
Jan 4, 2025
Nov 15, 2024
Nov 4, 2024
Nov 15, 2024
Nov 21, 2024
Jan 4, 2025
Jan 4, 2025
Feb 14, 2025
Nov 19, 2024

Repository files navigation

PyPI - Version Static Badge Static Badge

scene_synthesizer

A python package to generate manipulation scenes. Check the documentation page for detailed installation instructions, API, and examples.

Installation

This project will download and install additional third-party open source software projects. Review the license terms of these open source projects before use (e.g. OpenUSD license).

Via pip

pip install scene-synthesizer[recommend]

Via git

# create and activate conda env or venv
git clone https://github.com/NVlabs/scene_synthesizer.git
cd scene_synthesizer/
pip install -e.[recommend]

See the documentation for detailed installation instructions.

Quick Start

import scene_synthesizer as synth
import scene_synthesizer.procedural_assets as pa

# create procedural assets
table = synth.procedural_assets.TableAsset(width=1.2, depth=0.8, height=0.75)
cabinet = synth.procedural_assets.CabinetAsset(width=0.5, height=0.5, depth=0.4, compartment_mask=[[0], [1]], compartment_types=['drawer','drawer'])

# load asset from file
# Make sure to first download the file:
# wget https://raw.githubusercontent.com/clemense/kitchen-assets-cc-by/refs/heads/main/assets/chair/meshes/chair.{mtl,obj}
chair = synth.Asset('chair.obj', up=(0, 0, 1), front=(-1, 0, 0))

# create scene
scene = synth.Scene()

# add table to scene
scene.add_object(table)
# put cabinet next to table
scene.add_object(cabinet, connect_parent_anchor=('right', 'front', 'bottom'), connect_obj_anchor=('left', 'front', 'bottom'))
# put chair in front of table
scene.add_object(chair, connect_parent_id='table', connect_parent_anchor=('center', 'front', 'bottom'), connect_obj_anchor=('center', 'center', 'bottom'))

# randomly place plate and glass on top of table
scene.label_support('table_surface', obj_ids='table')
scene.place_object('plate', synth.procedural_assets.PlateAsset(), support_id='table_surface')
scene.place_object('glass', synth.procedural_assets.GlassAsset(), support_id='table_surface')

# preview scene in an opengl window
scene.show()

# export scene in various formats
scene.export('scene.usd')
scene.export('scene.urdf')

License

The code is released under the Apache-2.0 license.

Contributions

Found a bug? Help us by reporting it! Want a new feature? Create an issue! Made something useful or fixed a bug? Start a PR! Check the contribution guidelines.

How can I cite this library?

@article{Eppner2024, 
    title = {scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation}, 
    author = {Clemens Eppner and Adithyavairavan Murali and Caelan Garrett and Rowland O'Flaherty and Tucker Hermans and Wei Yang and Dieter Fox},
    journal = {Journal of Open Source Software}
    publisher = {The Open Journal}, 
    year = {2024},
}