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add white floor and walls for ioai test scenario
1 parent d157088 commit 551c0aa

2 files changed

Lines changed: 260 additions & 10 deletions

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‎assets/synthnova_assets/scenarios/ioai_test_scenario.json‎

Lines changed: 200 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -1,12 +1,12 @@
11
{
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"name": "ioai_test_scenario",
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"description": "Exported scenario from SynthNova Physics Simulator",
4-
"uuid": "088d7eed_a398_4f3b_a218_a55afd73b72e",
4+
"uuid": "9369cc3d_6f6b_4101_bed5_934719663fb3",
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"robots": [
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{
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"prim_path": "/World/Galbot",
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"name": "galbot_one_foxtrot",
9-
"uuid": "1561dafc_4ba2_492f_8cc2_7fb6d1fe35d9",
9+
"uuid": "07edcb57_d8d6_4fc9_8b43_99c87f321c0c",
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"usd_path": null,
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"mjcf_path": "synthnova_assets/robots/galbot_one_foxtrot_description_simplified/galbot_one_foxtrot.xml",
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"urdf_path": null,
@@ -41,7 +41,7 @@
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"prim_path": "/World/Shelf",
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"type": "mesh",
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"name": "shelf",
44-
"uuid": "ad0cc8b4_4d59_4798_bc23_f9689bfdb14b",
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"uuid": "b58ea66c_b955_42db_856a_e28ec155ed7b",
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"usd_path": null,
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"obj_path": null,
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"mjcf_path": "synthnova_assets/objects_aigc/shelf/shelf.xml",
@@ -74,7 +74,7 @@
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"prim_path": "/World/Table",
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"type": "mesh",
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"name": "table",
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"uuid": "54ee2176_6705_4ea6_bcb7_0f5f0990339c",
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"uuid": "e6780d96_5f2f_4c98_bf4d_202e5d049ffe",
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"usd_path": null,
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"obj_path": null,
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"mjcf_path": "synthnova_assets/objects_aigc/table/table.xml",
@@ -107,7 +107,7 @@
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"prim_path": "/World/Mug",
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"type": "mesh",
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"name": "mug",
110-
"uuid": "158db2d5_32c0_48d8_9798_f80570ee8f1c",
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"uuid": "00a3b559_f326_46b6_9661_3b796db71c62",
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"usd_path": null,
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"obj_path": null,
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"mjcf_path": "synthnova_assets/objects/mug/mug.xml",
@@ -140,7 +140,7 @@
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"prim_path": "/World/Power_drill",
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"type": "mesh",
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"name": "power_drill",
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"uuid": "ad48b526_cd11_4156_83f2_7c720fd22ae5",
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"uuid": "215a8ff0_bcf7_43b6_851b_70ff203a185a",
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"usd_path": null,
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"obj_path": null,
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"mjcf_path": "synthnova_assets/objects/power_drill/power_drill.xml",
@@ -173,7 +173,7 @@
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"prim_path": "/World/cone_1",
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"type": "mesh",
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"name": "cone_1",
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"uuid": "eb8b9fcd_908b_4bb9_bd51_7e61f94cee57",
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"uuid": "94681e0d_f5e8_47dc_acf4_a663375bbcb1",
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"usd_path": null,
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"obj_path": null,
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"mjcf_path": "synthnova_assets/objects_aigc/cone/cone.xml",
@@ -206,7 +206,7 @@
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"prim_path": "/World/cone_2",
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"type": "mesh",
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"name": "cone_2",
209-
"uuid": "d70e82b0_3c24_43fe_801f_7f340dc991ff",
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"uuid": "f2dff16d_c4c3_4d52_ab3d_a7ab84e37b18",
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"usd_path": null,
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"obj_path": null,
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"mjcf_path": "synthnova_assets/objects_aigc/cone/cone.xml",
@@ -239,7 +239,7 @@
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"prim_path": "/World/cone_3",
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"type": "mesh",
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"name": "cone_3",
242-
"uuid": "e439652f_0622_48b8_91f1_449dbe4c9f69",
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"uuid": "dc2714af_568b_40da_86ab_564362188165",
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"usd_path": null,
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"obj_path": null,
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"mjcf_path": "synthnova_assets/objects_aigc/cone/cone.xml",
@@ -272,7 +272,7 @@
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"prim_path": "/World/bucket_1",
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"type": "mesh",
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"name": "bucket_1",
275-
"uuid": "89c6b02f_5471_4397_9dfc_8affbe3c0574",
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"uuid": "6785312f_ce0f_491d_8071_db9976277f3a",
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"usd_path": null,
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"obj_path": null,
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"mjcf_path": "synthnova_assets/objects_aigc/bucket/bucket.xml",
@@ -300,6 +300,196 @@
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"semantic_type": "class",
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"attributes": null,
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"collision_type": "convex_decomposition"
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},
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{
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"prim_path": "/World/Wall_Left",
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"type": "cuboid",
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"name": "wall_left",
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"uuid": "bbcab49e_2575_4c28_a1cf_f06155b4a072",
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"usd_path": null,
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"obj_path": null,
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"mjcf_path": null,
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"urdf_path": null,
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"position": [
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-5.0,
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-2.5,
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1.0
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],
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"orientation": [
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0.0,
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0.0,
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0.0,
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1.0
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],
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"translation": null,
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"rotation": null,
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"scale": [
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0.1,
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5.0,
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2.0
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],
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"interaction_type": "static",
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"semantic_label": null,
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"semantic_type": "class",
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"attributes": null,
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"size": 1.0,
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"color": [
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1.0,
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1.0,
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1.0
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]
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},
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{
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"prim_path": "/World/Wall_Right",
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"type": "cuboid",
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"name": "wall_right",
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"uuid": "d1f99031_cce3_4b20_bca4_4d6880eebfdd",
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"usd_path": null,
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"obj_path": null,
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"mjcf_path": null,
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"urdf_path": null,
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"position": [
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0.0,
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-2.5,
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1.0
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],
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"orientation": [
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0.0,
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0.0,
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0.0,
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1.0
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],
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"translation": null,
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"rotation": null,
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"scale": [
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0.1,
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5.0,
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2.0
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],
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"interaction_type": "static",
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"semantic_label": null,
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"semantic_type": "class",
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"attributes": null,
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"size": 1.0,
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"color": [
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1.0,
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1.0,
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1.0
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]
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},
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{
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"prim_path": "/World/Wall_Bottom",
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"type": "cuboid",
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"name": "wall_bottom",
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"uuid": "3953c811_4a8e_47bf_aa8a_064840767394",
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"usd_path": null,
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"obj_path": null,
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"mjcf_path": null,
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"urdf_path": null,
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"position": [
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-2.5,
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-5.0,
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1.0
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],
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"orientation": [
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0.0,
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0.0,
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0.0,
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1.0
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],
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"translation": null,
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"rotation": null,
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"scale": [
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5.0,
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0.1,
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2.0
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],
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"interaction_type": "static",
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"semantic_label": null,
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"semantic_type": "class",
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"attributes": null,
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"size": 1.0,
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"color": [
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1.0,
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1.0,
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1.0
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]
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},
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{
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"prim_path": "/World/Wall_Top",
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"type": "cuboid",
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"name": "wall_top",
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"uuid": "e0af895e_09a1_42f4_9ae1_cec6e498889a",
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"usd_path": null,
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"obj_path": null,
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"mjcf_path": null,
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"urdf_path": null,
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"position": [
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-2.5,
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0.0,
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1.0
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],
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"orientation": [
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0.0,
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0.0,
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0.0,
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1.0
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],
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"translation": null,
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"rotation": null,
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"scale": [
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5.0,
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0.1,
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2.0
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],
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"interaction_type": "static",
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"semantic_label": null,
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"semantic_type": "class",
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"attributes": null,
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"size": 1.0,
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"color": [
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1.0,
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1.0,
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1.0
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]
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},
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{
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"prim_path": "/World/Floor",
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"type": "cuboid",
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"name": "floor",
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"uuid": "427d4068_b456_415b_9b1c_ba908179451c",
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"usd_path": null,
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"obj_path": null,
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"mjcf_path": null,
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"urdf_path": null,
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"position": [
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-2.5,
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-2.5,
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-0.001
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],
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"orientation": [
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0.0,
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0.0,
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0.0,
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1.0
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],
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"translation": null,
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"rotation": null,
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"scale": [
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5.0,
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5.0,
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0.002
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],
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"interaction_type": "static",
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"semantic_label": null,
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"semantic_type": "class",
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"attributes": null,
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"size": 1.0,
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"color": [
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1.0,
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1.0,
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1.0
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]
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}
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],
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"sensors": [],

‎tests/export_ioai_test_scenario.py‎

Lines changed: 60 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -185,6 +185,66 @@ def main():
185185
)
186186
bucket_1_path = synthnova_physics_simulator.add_object(bucket_1_config)
187187

188+
# Add left wall (x=-5)
189+
wall_left_config = CuboidConfig(
190+
name="wall_left",
191+
prim_path="/World/Wall_Left",
192+
position=[-5, -2.5, 1],
193+
orientation=[0, 0, 0, 1],
194+
scale=[0.1, 5, 2],
195+
color=[1.0, 1.0, 1.0],
196+
interaction_type="static",
197+
)
198+
synthnova_physics_simulator.add_object(wall_left_config)
199+
200+
# Add right wall (x=0)
201+
wall_right_config = CuboidConfig(
202+
name="wall_right",
203+
prim_path="/World/Wall_Right",
204+
position=[0, -2.5, 1],
205+
orientation=[0, 0, 0, 1],
206+
scale=[0.1, 5, 2],
207+
color=[1.0, 1.0, 1.0],
208+
interaction_type="static",
209+
)
210+
synthnova_physics_simulator.add_object(wall_right_config)
211+
212+
# Add bottom wall (y=-5)
213+
wall_bottom_config = CuboidConfig(
214+
name="wall_bottom",
215+
prim_path="/World/Wall_Bottom",
216+
position=[-2.5, -5, 1],
217+
orientation=[0, 0, 0, 1],
218+
scale=[5, 0.1, 2],
219+
color=[1.0, 1.0, 1.0],
220+
interaction_type="static",
221+
)
222+
synthnova_physics_simulator.add_object(wall_bottom_config)
223+
224+
# Add top wall (y=0)
225+
wall_top_config = CuboidConfig(
226+
name="wall_top",
227+
prim_path="/World/Wall_Top",
228+
position=[-2.5, 0, 1],
229+
orientation=[0, 0, 0, 1],
230+
scale=[5, 0.1, 2],
231+
color=[1.0, 1.0, 1.0],
232+
interaction_type="static",
233+
)
234+
synthnova_physics_simulator.add_object(wall_top_config)
235+
236+
# Add floot
237+
floor_config = CuboidConfig(
238+
name="floor",
239+
prim_path="/World/Floor",
240+
position=[-2.5, -2.5, -0.001],
241+
orientation=[0, 0, 0, 1],
242+
scale=[5, 5, 0.002],
243+
color=[1.0, 1.0, 1.0],
244+
interaction_type="static",
245+
)
246+
synthnova_physics_simulator.add_object(floor_config)
247+
188248
# Initialize the simulator
189249
synthnova_physics_simulator.initialize()
190250

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