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articulation tasks commit

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This commit is contained in:
Leon998
2026-03-18 00:03:11 +08:00
parent 7411e0e004
commit cf8b043bc8
4 changed files with 623 additions and 27 deletions
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10
workflows/simbox/core/objects/articulated_object.py
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@@ -19,15 +19,16 @@ class ArticulatedObject(Articulation):
def __init__(self, asset_root, root_prim_path, cfg, *args, **kwargs):
self.asset_root = asset_root
self.object_name = cfg["name"]
self.asset_relative_path = cfg["path"]
self.object_dir = os.path.join(asset_root, cfg["path"])
self.usd_path = os.path.join(asset_root, cfg["path"])
self._root_prim_path = root_prim_path
object_info_path = os.path.join(asset_root, cfg["obj_info_path"])
info_name = cfg["info_name"]
object_info_path = self.usd_path.replace("instance.usd", f"Kps/{info_name}/info.json")
with open(object_info_path, "r", encoding="utf-8") as f:
object_info = json.load(f)
self.category = cfg["category"]
self.cfg = cfg
self.get_articulated_info(object_info)
self.cfg["scale"] = self.object_scale[:3]
super().__init__(prim_path=self.object_prim_path, name=cfg["name"], *args, **kwargs)
def update_articulated_info(self, obj_info_path):
@@ -81,7 +82,6 @@ class ArticulatedObject(Articulation):
for key, item in self.object_keypoints.items():
self.object_keypoints[key] = np.append(item, [1.0], axis=0)
self.object_scale = np.array(object_info["object_scale"])
self.object_usd = os.path.join(self.object_dir, "instance.usd")
for key, item in object_info.items():
if key in prim_path_list:
setattr(self, key, self._root_prim_path + object_info[key])
@@ -96,7 +96,7 @@ class ArticulatedObject(Articulation):
self.object_joint_number = 0
# Contact plane normal
self.contact_plane_normal = None
add_reference_to_stage(usd_path=self.object_usd, prim_path=self.object_prim_path)
add_reference_to_stage(usd_path=self.usd_path, prim_path=self.object_prim_path)
def get_joint_position(self, stage):
joint_parent_prim = stage.GetPrimAtPath(self.object_joint_path.rsplit("/", 1)[0])