Version 1.11.7

NVlabs · Dec 3, 2024 · c292bf8 · c292bf8
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diff --git a/README.md b/README.md
@@ -9,7 +9,7 @@ Check the [documentation](https://scene-synthesizer.github.io/) page for detaile
 
 ## Installation
 
-This project will download and install additional third-party open source software projects. Review the license terms of these open source projects before use.
+This project will download and install additional third-party open source software projects. Review the license terms of these open source projects before use (e.g. [OpenUSD license](https://openusd.org/license>)).
 
 ### Via pip
 ```

diff --git a/docs/conf.py b/docs/conf.py
@@ -82,6 +82,7 @@
     "sphinx.ext.todo",
     "sphinx_rtd_theme",
     "sphinx.ext.autosummary",  # Create neat summary tables
+    "sphinxcontrib.bibtex",
 ]
 autosummary_generate = True  # Turn on sphinx.ext.autosummary
 
@@ -152,3 +153,7 @@
 # html_theme_options = {"navigation_depth": 1}
 
 autodoc_preserve_defaults = True
+
+# sphinxcontrib-bibtex setting
+bibtex_bibfiles = ["../paper/paper.bib"]
+bibtex_default_style = 'unsrt'
diff --git a/docs/examples/isaaclab_rl.rst b/docs/examples/isaaclab_rl.rst
@@ -47,7 +47,85 @@ To do so we need to create an ``InteractiveScene`` and explicitly register all a
 We base our example on the `Issac-open-Drawer-Franka-v0 <https://isaac-sim.github.io/IsaacLab/main/source/overview/environments.html>`_.
 After copying the environment, make sure that the cabinet scene ``cabinet_env_cfg.py`` looks like this:
 
-.. literalinclude:: /../examples/isaaclab_kitchen_env_cfg.py
+.. code-block:: python
+
+    @configclass
+    class CabinetSceneCfg(InteractiveSceneCfg):
+        """Configuration for the kitchen scene with a robot and a kitchen.
+
+        This is the abstract base implementation, the exact scene is defined in the derived classes
+        which need to set the robot and end-effector frames
+        """
+
+        # robots, Will be populated by agent env cfg
+        robot: ArticulationCfg = MISSING
+        # End-effector, Will be populated by agent env cfg
+        ee_frame: FrameTransformerCfg = MISSING
+
+        kitchen = AssetBaseCfg(
+            prim_path="{ENV_REGEX_NS}/Kitchen",
+            # Make sure to set the correct path to the generated scene
+            spawn=sim_utils.UsdFileCfg(usd_path="/tmp/kitchen_with_joint.usd"),
+        )
+
+        cabinet = ArticulationCfg(
+            prim_path="{ENV_REGEX_NS}/Kitchen/base_cabinet",
+            # By doing spawn=None we're just registering the articulation, in this case one cabinet with a single joint
+            spawn=None,
+            init_state=ArticulationCfg.InitialStateCfg(
+                # Make sure that this is the exact transformation of the base_cabinet
+                # ie. scene.get_transform('base_cabinet')
+                pos=(1.0, 0, 0),
+                rot=(0.70710678,  0.,  0., -0.70710678),
+                joint_pos={
+                    # Make sure that this is the correct joint name
+                    # ie. scene.get_joint_names('base_cabinet')
+                    "corpus_to_drawer_0_0": 0.0,
+                },
+            ),
+            actuators={
+                "drawers": ImplicitActuatorCfg(
+                    # Make sure that this is the correct joint name
+                    # ie. scene.get_joint_names('base_cabinet')
+                    joint_names_expr=["corpus_to_drawer_0_0"],
+                    effort_limit=87.0,
+                    velocity_limit=100.0,
+                    stiffness=10.0,
+                    damping=1.0,
+                ),
+            },
+        )
+
+        # Frame definitions for the cabinet.
+        cabinet_frame = FrameTransformerCfg(
+            prim_path="{ENV_REGEX_NS}/Kitchen/base_cabinet/drawer_0_0",
+            debug_vis=False,
+            visualizer_cfg=FRAME_MARKER_SMALL_CFG.replace(prim_path="/Visuals/CabinetFrameTransformer"),
+            target_frames=[
+                FrameTransformerCfg.FrameCfg(
+                    prim_path="{ENV_REGEX_NS}/Kitchen/base_cabinet/drawer_0_0",
+                    name="drawer_handle_top",
+                    offset=OffsetCfg(
+                        pos=(0.0, -0.05, 0.01),
+                        # rot=(0.5, 0.5, -0.5, -0.5),  # align with end-effector frame
+                    ),
+                ),
+            ],
+        )
+
+        # plane
+        plane = AssetBaseCfg(
+            prim_path="/World/GroundPlane",
+            init_state=AssetBaseCfg.InitialStateCfg(),
+            spawn=sim_utils.GroundPlaneCfg(),
+            collision_group=-1,
+        )
+
+        # lights
+        light = AssetBaseCfg(
+            prim_path="/World/light",
+            spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
+        )
 
 Make sure to also replace the ``joint_names`` in the ``ObsTerm`` defined in ``ObservationsCfg``.
 

diff --git a/docs/getting_started/install.rst b/docs/getting_started/install.rst
@@ -2,7 +2,7 @@
 Installation
 ############
 
-This project will download and install additional third-party open source software projects. Review the license terms of these open source projects before use.
+This project will download and install additional third-party open source software projects. Review the license terms of these open source projects before use (e.g. `OpenUSD license <https://openusd.org/license>`_).
 
 There are two ways to install ``scene_synthesizer``: either directly installing from a PyPI server or by cloning the code repository.
 

diff --git a/docs/getting_started/statement_of_need.rst b/docs/getting_started/statement_of_need.rst
@@ -0,0 +1,12 @@
+#################
+Statement of Need
+#################
+
+Simulation is an ever increasing data source for training deep learning models.
+In robotics, simulations have been successfully used to learn behaviors such as navigation, walking, flying or manipulation.
+The value of data generation in simulation mainly depends on the diversity and scale of scene layouts.
+Existing datasets :cite:`Mo_2019_CVPR,robotix2019,ehsani2021manipulathor,robocasa2024` are limited in that regard, whereas purely generative models still lack the ability to create scenes that can be used in physics simulator :cite:`schult24controlroom3d,yang2024physcenephysicallyinteractable3d,hoellein2023text2room`.
+Other procedural pipelines either focus on learning visual models :cite:`Denninger2023,greff2021kubric,infinigen2023infinite`, address specific use-cases such as autonomous driving :cite:`scenic2020,hess2021procedural`, or make it hard to be extended and customized since they are tightly integrated with a particular simulation platform :cite:`procthor`.
+With `scene_synthesizer` we present a library that simplifies the process of writing scene randomizers in Python, with a particular focus on physics simulations for robot manipulation. It is fully simulator-agnostic.
+
+.. bibliography::
diff --git a/docs/index.rst b/docs/index.rst
@@ -13,6 +13,7 @@ A Python package to easily create scenes for robot manipulation tasks.
    :caption: Getting Started
 
    GitHub Repository <https://github.com/NVlabs/scene_synthesizer>
+   getting_started/statement_of_need.rst
    getting_started/install.rst
    getting_started/faq.rst
 

diff --git a/examples/isaaclab_kitchen_env_cfg.py b/examples/isaaclab_kitchen_env_cfg.py
diff --git a/examples/stable_poses.py b/examples/stable_poses.py
@@ -7,11 +7,7 @@
 
 s.label_support("table_surface", min_area=0.3)
 
-mug = synth.Asset(
-    fname="/home/clemens/code/scene_synthesizer/tests/data/assets/shapenetsem_watertight/Mug/b46a9c35587a38f6e87dab59b7e63362.obj",
-    height=0.12,
-    origin=("com", "com", "com"),
-)
+mug = pa.MugAsset()
 
 num_mugs = 10
 for i in range(num_mugs):

diff --git a/paper/paper.bib b/paper/paper.bib
@@ -79,7 +79,7 @@ @inproceedings{procthor
   year={2022}
 }
 
-@article{greff2021kubric,
+@inproceedings{greff2021kubric,
     title = {Kubric: a scalable dataset generator}, 
     doi = {10.1109/cvpr52688.2022.00373},
     author = {Klaus Greff and Francois Belletti and Lucas Beyer and Carl Doersch and

diff --git a/setup.cfg b/setup.cfg
@@ -73,6 +73,7 @@ all =
   pyglet<2
   usd-core
   dm_control
+  trimesh[all]==3.20.1
 
 recommend = 
   usd-core
@@ -91,6 +92,7 @@ ci =
   pytest-timeout
   sphinx
   sphinx_rtd_theme
+  sphinxcontrib-bibtex
   twine
 
 dev =