Scene Synthesizer 1.14.1 Documentation

A Python package to easily create scenes for robot manipulation tasks.

Getting Started

• GitHub Repository
• Statement of Need
• Installation
• FAQ

Concepts

• Assets
• Scenes
• Procedural Assets & Procedural Scenes
• Object Arrangement
• Articulations
• Exporting

API

• scene_synthesizer.scene
• scene_synthesizer.assets
• scene_synthesizer.procedural_assets
• scene_synthesizer.procedural_scenes
• scene_synthesizer.utils
• scene_synthesizer.exchange.export

Examples

• Adding MDL Materials
• Using Scenes in Isaac Sim
• Using Scenes in Isaac Lab for RL
• Using Scenes in Isaac Lab for Teleop

Projects Using scene_synthesizer

• Motion Policy Networks

• CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation

• Imitating Task and Motion Planning with Visuomotor Transformers

• M2T2: Multi-Task Masked-Transformer for Object-centric Pick and Place

• RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics

License

The code is released under the Apache-2.0 license.

How Can I Cite This Library?

@article{Eppner2024,
   title = {scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation},
   author = {Clemens Eppner and Adithyavairavan Murali and Caelan Garrett and Rowland O'Flaherty and Tucker Hermans and Wei Yang and Dieter Fox},
   journal = {Journal of Open Source Software}
   publisher = {The Open Journal},
   year = {2024},
}

Paper PDF: Link