3d6b73753a
- Add pick_test_tube task: USDC asset repackaging, grasp generation, task config - Add tools: usdc_to_obj.py, repackage_test_tube.py, fix_test_tube_materials.py - Add custom_task_guide.md: full Chinese documentation for creating custom tasks - Add crawled InternDataEngine online docs (23 pages) - Add grasp generation script (gen_tube_grasp.py) and pipeline config
372 lines
11 KiB
Markdown
372 lines
11 KiB
Markdown
# Source: https://internrobotics.github.io/InternDataEngine-Docs/concepts/objects.html
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# Objects [](#objects)
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InternDataEngine supports various types of objects for simulation tasks. All object classes are located in `workflows/simbox/core/objects/ `.
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## Supported Object Types [](#supported-object-types)
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| Class | Description |
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| `RigidObject ` | Rigid body objects with physics properties (graspable objects) |
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| `GeometryObject ` | Static geometry objects without physics (tables, fixtures) |
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| `ArticulatedObject ` | Articulated objects with joints (microwaves, drawers) |
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| `PlaneObject ` | Simple planes with textures (floors, backgrounds) |
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| `XFormObject ` | Transform-only objects |
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| `ShapeObject ` | Basic geometric shapes |
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| `ConveyorObject ` | Conveyor belt objects |
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## RigidObject [](#rigidobject)
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`RigidObject `is used for objects that have physical properties and can be manipulated by robots. It inherits from Isaac Sim's `RigidPrim `and supports collision detection, mass properties, and texture randomization.
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__init__(self, asset_root, root_prim_path, cfg, *args, **kwargs)
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Initialize a rigid object in the simulation scene.
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Parameters:
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- **asset_root **( str ): Root path for asset files.
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- **root_prim_path **( str ): Root prim path in USD stage.
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- **cfg **( dict ): Configuration dictionary containing:
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- **name **( str ): Object name.
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- **path **( str ): USD file path relative to asset_root.
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- **prim_path_child **( str ): Child prim path for rigid body.
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- **translation **( list , optional): Initial translation [x, y, z].
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- **euler **( list , optional): Initial euler rotation [rx, ry, rz] in degrees.
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- **scale **( list , optional): Scale factor [sx, sy, sz].
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- **mass **( float , optional): Object mass.
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- ** **kwargs **: Additional keyword arguments passed to `RigidPrim `.
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### Config Example [](#config-example)
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yaml
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```
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objects:
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-
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name: pick_object_left
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path: pick_and_place/pre-train-pick/assets/omniobject3d-banana/omniobject3d-banana_001/Aligned_obj.usd
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target_class: RigidObject
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dataset: oo3d
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category: "omniobject3d-banana"
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prim_path_child: Aligned
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translation: [0.0, 0.0, 0.0]
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euler: [0.0, 0.0, 0.0]
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scale: [0.001, 0.001, 0.001]
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apply_randomization: True
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orientation_mode: "suggested"
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```
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### Configuration Parameters [](#configuration-parameters)
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- **name **( str ): Unique identifier for this object instance.
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- **path **( str ): Path to the USD file containing the object mesh.
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- **target_class **( str ): Must be `RigidObject `for rigid bodies.
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- **dataset **( str ): Dataset source identifier.
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- **category **( str ): Object category name.
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- **prim_path_child **( str ): Name of the child prim that contains the mesh.
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- **translation **( list ): Initial position [x, y, z] in world coordinates.
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- **euler **( list ): Initial rotation in degrees [roll, pitch, yaw].
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- **scale **( list ): Scale factors for each axis.
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- **apply_randomization **( bool ): Whether to apply domain randomization.
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- **orientation_mode **( str ): Orientation mode for randomization.
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## GeometryObject [](#geometryobject)
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`GeometryObject `is used for static objects without physics simulation. It's ideal for environmental objects like tables, shelves, or fixtures that don't need to interact physically with other objects.
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__init__(self, asset_root, root_prim_path, cfg, *args, **kwargs)
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Initialize a geometry object in the simulation scene.
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Parameters:
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- **asset_root **( str ): Root path for asset files.
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- **root_prim_path **( str ): Root prim path in USD stage.
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- **cfg **( dict ): Configuration dictionary containing:
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- **name **( str ): Object name.
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- **path **( str ): USD file path relative to asset_root.
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- **prim_path_child **( str , optional): Child prim path suffix.
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- ** **kwargs **: Additional keyword arguments passed to `GeometryPrim `.
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Difference from RigidObject:
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- No physics simulation (no mass, no collision response)
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- Lighter weight for static environment objects
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- Cannot be grasped or moved by robots
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### Config Example [](#config-example-1)
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yaml
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```
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objects:
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name: table
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path: table0/instance.usd
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target_class: GeometryObject
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translation: [0.0, 0.0, 0.375]
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scale: [0.001, 0.001053, 0.001056]
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```
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### Configuration Parameters [](#configuration-parameters-1)
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- **name **( str ): Unique identifier for this object.
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- **path **( str ): Path to the USD file.
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- **target_class **( str ): Must be `GeometryObject `for static geometry.
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- **translation **( list ): Position in world coordinates.
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- **scale **( list ): Scale factors for each axis.
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## PlaneObject [](#planeobject)
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`PlaneObject `creates simple planes with optional texture mapping. It's commonly used for floors, backgrounds, and other flat surfaces.
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__init__(self, asset_root, root_prim_path, cfg, *args, **kwargs)
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Initialize a plane object in the simulation scene.
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Parameters:
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- **asset_root **( str ): Root path for asset files.
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- **root_prim_path **( str ): Root prim path in USD stage.
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- **cfg **( dict ): Configuration dictionary containing:
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- **name **( str ): Object name.
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- **size **( list ): Plane dimensions [width, height].
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- **translation **( list , optional): Position [x, y, z].
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- **euler **( list , optional): Rotation in degrees [roll, pitch, yaw].
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- **texture **( dict , optional): Texture configuration.
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- ** **kwargs **: Additional keyword arguments.
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### Config Example [](#config-example-2)
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yaml
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```
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objects:
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name: floor
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target_class: PlaneObject
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size: [5.0, 5.0]
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translation: [0, 0, 0]
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texture:
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texture_lib: "floor_textures"
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apply_randomization: True
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texture_id: 1
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texture_scale: [1.0, 1.0]
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-
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name: background0
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target_class: PlaneObject
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size: [3.0, 5.0]
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translation: [-2, 0, 1]
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euler: [0.0, 90.0, 0.0]
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texture:
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texture_lib: "background_textures"
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apply_randomization: True
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texture_id: 1
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texture_scale: [1.0, 1.0]
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-
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name: background1
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target_class: PlaneObject
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size: [3.0, 5.0]
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translation: [2, 0, 1]
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euler: [0.0, 90.0, 0.0]
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texture:
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texture_lib: "background_textures"
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apply_randomization: True
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texture_id: 1
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texture_scale: [1.0, 1.0]
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-
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name: background2
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target_class: PlaneObject
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size: [5.0, 3.0]
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translation: [0, -2, 1]
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euler: [90.0, 0.0, 0.0]
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texture:
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texture_lib: "background_textures"
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apply_randomization: True
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texture_id: 1
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texture_scale: [1.0, 1.0]
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name: background3
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target_class: PlaneObject
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size: [5.0, 3.0]
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translation: [0, 2, 1]
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euler: [90.0, 0.0, 0.0]
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texture:
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texture_lib: "background_textures"
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apply_randomization: True
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texture_id: 1
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texture_scale: [1.0, 1.0]
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```
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### Configuration Parameters [](#configuration-parameters-2)
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- **name **( str ): Unique identifier for the plane.
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- **target_class **( str ): Must be `PlaneObject `.
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- **size **( list ): Plane dimensions [width, height].
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- **translation **( list ): Position [x, y, z].
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- **euler **( list ): Rotation angles [roll, pitch, yaw] in degrees.
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- **texture.texture_lib **( str ): Name of texture library folder.
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- **texture.apply_randomization **( bool ): Whether to randomize texture selection.
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- **texture.texture_id **( int ): Specific texture ID (used when randomization is False).
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- **texture.texture_scale **( list ): Scale factors for texture UV mapping.
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## ArticulatedObject [](#articulatedobject)
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`ArticulatedObject `handles objects with movable joints, such as microwaves, drawers, and cabinets. It inherits from Isaac Sim's `Articulation `class and provides methods for joint control and state retrieval.
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__init__(self, asset_root, root_prim_path, cfg, *args, **kwargs)
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Initialize an articulated object in the simulation scene. Loads articulation info from the specified `info.json `file.
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Parameters:
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- **asset_root **( str ): Root path for asset files.
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- **root_prim_path **( str ): Root prim path in USD stage.
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- **cfg **( dict ): Configuration dictionary containing:
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- **name **( str ): Object name.
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- **path **( str ): USD file path relative to asset_root.
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- **info_name **( str ): Name of the skill folder containing `info.json `.
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- **category **( str ): Object category identifier.
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- **euler **( list , optional): Initial rotation [roll, pitch, yaw].
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- **joint_position_range **( list , optional): Random range for initial joint position [min, max].
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- **apply_randomization **( bool , optional): Whether to apply domain randomization.
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- ** **kwargs **: Additional keyword arguments passed to `Articulation `.
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get_articulated_info(self, object_info)
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Parse and store articulation information from the object's info.json file. This method extracts keypoints, joint paths, scale information, and axis orientations.
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Parameters:
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- **object_info **( dict ): Dictionary loaded from `Kps/{skill}/info.json `containing:
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- **object_keypoints **( dict ): Keypoint positions in link_0 frame.
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- **object_scale **( list ): Object scale factors.
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- **object_prim_path **( str ): Prim path for the object.
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- **object_link_path **( str ): Prim path for the articulated link.
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- **object_base_path **( str ): Prim path for the base link.
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- **object_joint_path **( str ): Prim path for the joint.
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- **joint_index **( int ): Index of the main joint.
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- **object_link0_rot_axis **( str ): Rotation axis of the link.
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- **object_base_front_axis **( str ): Front axis of the base.
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get_joint_position(self, stage)
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Count and configure joints in the articulated object. This method identifies prismatic and revolute joints, and optionally fixes the base of the articulated object.
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Parameters:
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- **stage **( UsdStage ): The USD stage containing the articulation.
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Sets the following attributes:
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- **object_joint_number **( int ): Total number of joints found.
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### Config Example [](#config-example-3)
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yaml
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```
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objects:
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name: close_v_left
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target_class: ArticulatedObject
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info_name: "close_v"
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euler: [0.0, 0.0, 90.0]
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joint_position_range: [0.6, 0.8]
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apply_randomization: False
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path: "art/microwave_gr/microwave7119/instance.usd"
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category: "microwave_gr"
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```
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### Configuration Parameters [](#configuration-parameters-3)
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- **name **( str ): Unique identifier for the articulated object.
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- **target_class **( str ): Must be `ArticulatedObject `.
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- **info_name **( str ): Name of the skill folder containing `info.json `.
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- **euler **( list ): Initial rotation [roll, pitch, yaw] in degrees.
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- **joint_position_range **( list ): Random range for initial joint position [min, max].
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- **apply_randomization **( bool ): Whether to apply domain randomization.
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- **path **( str ): Path to the USD file (relative to asset_root).
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- **category **( str ): Object category identifier. |