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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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29
workflows/simbox_dual_workflow.py
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@@ -87,21 +87,22 @@ class SimBoxDualWorkFlow(NimbusWorkFlow):
for obj_cfg in self.task_cfg["objects"]:
if obj_cfg["target_class"] == "ArticulatedObject":
asset_root = self.task_cfg["asset_root"]
art_paths = glob.glob(os.path.join(asset_root, obj_cfg["art_cat"], "*"))
art_paths.sort()
path = random.choice(art_paths)
info_name = obj_cfg["info_name"]
info_path = f"{path}/Kps/{info_name}/info.json"
with open(info_path, "r", encoding="utf-8") as f:
info = json.load(f)
scale = info["object_scale"][:3]
if obj_cfg.get("apply_randomization", False):
asset_root = self.task_cfg["asset_root"]
art_paths = glob.glob(os.path.join(asset_root, obj_cfg["art_cat"], "*"))
art_paths.sort()
path = random.choice(art_paths)
info_name = obj_cfg["info_name"]
info_path = f"{path}/Kps/{info_name}/info.json"
with open(info_path, "r", encoding="utf-8") as f:
info = json.load(f)
scale = info["object_scale"][:3]
obj_cfg["path"] = path.replace(f"{asset_root}/", "", 1)
obj_cfg["category"] = path.split("/")[-2]
obj_cfg["obj_info_path"] = info_path.replace(f"{asset_root}/", "", 1)
obj_cfg["scale"] = scale
self.task_cfg["data"]["collect_info"] = obj_cfg["category"]
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
self.task_cfg["data"]["collect_info"] = obj_cfg["category"]
self.task_cfg.pop("arena_file", None)
self.task_cfg.pop("camera_file", None)