Reality Gym

Reality Gym for URDFormer. If you want to try converting images into URDFs, check out URDFormer and Website.

This repo contains (a) URDF Assets from internet images (b) Mesh and texture randomization.

First, download and unzip the assets created from the internet images link. After this step, you repo should look like:

reality_gym/
├── assets/
│   ├── all_meshes/ (this contains all predefined geometries for doors, drawer, handles etc.)
│   └── cabinets/ (this contains details for each asset)
│       ├── images/ 
│       ├── labels/ (this contains GT labels for each asset, including bbox, class, positions, scales etc)
│       ├── textures/
│       ├── urdfs/
│   └── dishwashers
│       └── ...
│   └── fridges
│       └── ...
│   └── kitchens
│       └── ...
│   └── ovens
│       └── ...
│   └── washers
│       └── ...
│   └── partnet
...

To visualize kitchen GT assets, run:

python gt_demo.py --scene kitchens --texture

To visualize objects GT assets, run:

gt_demo.py --scene objects --texture