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haosulab / ManiSkill

SAPIEN Manipulation Skill Framework, a GPU parallelized robotics simulator and benchmark
https://maniskill.readthedocs.io/en/latest/
Apache License 2.0
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Using own scenes #395

Open clemense opened 1 week ago

clemense commented 1 week ago

What's the interface in Maniskill to use my own scenes? The docs https://maniskill.readthedocs.io/en/latest/user_guide/tutorials/custom_reusable_scenes.html are unfortunately still WIP.

StoneT2000 commented 1 week ago

Hi @clemense thanks for raising the issue. Despite that being WIP, you can use your own scenes but you have to write code to read them and build objects inside them. https://github.com/haosulab/ManiSkill/blob/main/mani_skill/utils/scene_builder/replicacad/scene_builder.py is some example code you can try and follow but it requires you to have some understanding of how to build custom actors/articulations (see these docs)

Currently we have not decided on a "standard" format for scene definitions as multiple past frameworks (Meta's Habitat or AI2's THOR) have different JSON schemas and definitions and I am not an expert on this, so I have left it as WIP for now. We simply provide example code of how to build scenes from AI2 THOR and Habitat.