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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/utils/dr.py
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@@ -108,17 +108,11 @@ def update_articulated_objs(cfg):
for obj_cfg in cfg["objects"]:
apply_randomization = obj_cfg.get("apply_randomization", False)
if apply_randomization and obj_cfg["target_class"] == "ArticulatedObject":
dirs = os.path.join(cfg["asset_root"], os.path.dirname(obj_cfg["path"]))
dirs = os.path.join(cfg["asset_root"], os.path.dirname(os.path.dirname(obj_cfg["path"])))
paths = glob.glob(os.path.join(dirs, "*"))
paths.sort()
path = random.choice(paths)
# left hearth 0.5: [1, 2, 5, 6, 13, ] ;
# left hearth 0.785 [3, 4, 7, 8, 9, 11, 12, 14, 15, 16, 17]
# left hearth no planning [0, 10, 18, 19]
# right hearth 0.5: [0, 1, 4, 10, 11]
# right hearth 0.785: [2, 3, 5, 6, 7, 8, 9, ]
info_name = obj_cfg["info_name"]
info_path = f"{path}/Kps/{info_name}/info.json"
with open(info_path, "r", encoding="utf-8") as file:
@@ -126,7 +120,7 @@ def update_articulated_objs(cfg):
scale = info["object_scale"][:3]
asset_root = cfg["asset_root"]
obj_cfg["path"] = path.replace(f"{asset_root}/", "", 1)
obj_cfg["path"] = path.replace(f"{asset_root}/", "", 1) + "/instance.usd"
obj_cfg["category"] = path.split("/")[-2]
obj_cfg["obj_info_path"] = info_path.replace(f"{asset_root}/", "", 1)
obj_cfg["scale"] = scale