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[FEATURE] Access to ground truth object location #7

Open SilongYong opened 3 weeks ago

SilongYong commented 3 weeks ago

Hi,

Thanks for the amazing work GRID that pioneers the next-generation robot simulation platform.

I've walked through the documentation and didn't find a function that can output the ground truth object location in the scene.

The only thing I found similar is simGetDetections() and simListSceneObjects(), but the first only gives information about objects in the captured image and the second only gives object names.

I'd love to have such a feature that can output ground truth information for all the objects, which could serve as a basic functionality for planning-based task.

Best

saihv commented 1 week ago

@SilongYong Ground truth object locations would be accessible via the simGetObjectPose() function, and the list of objects in the scene can be accessed via simListSceneObjects(). Please see http://docs.scaledfoundations.ai/airgen/features/environment/objects.html

We are also working on the ability to show the object names as an overlay in the simulation directly (to help correlate object name with the location/appearance in real time).