Source code for mani_skill.utils.building.actors.ycb
from mani_skill import ASSET_DIR
from mani_skill.envs.scene import ManiSkillScene
from mani_skill.utils.io_utils import load_json
[docs]def _load_ycb_dataset():
global YCB_DATASET
YCB_DATASET = {
"model_data": load_json(ASSET_DIR / "assets/mani_skill2_ycb/info_pick_v0.json"),
}
[docs]def get_ycb_builder(
scene: ManiSkillScene, id: str, add_collision: bool = True, add_visual: bool = True
):
if "YCB" not in YCB_DATASET:
_load_ycb_dataset()
model_db = YCB_DATASET["model_data"]
builder = scene.create_actor_builder()
metadata = model_db[id]
density = metadata.get("density", 1000)
model_scales = metadata.get("scales", [1.0])
scale = model_scales[0]
physical_material = None
(metadata["bbox"]["max"][2] - metadata["bbox"]["min"][2]) * scale
model_dir = ASSET_DIR / "assets/mani_skill2_ycb/models" / id
if add_collision:
collision_file = str(model_dir / "collision.ply")
builder.add_multiple_convex_collisions_from_file(
filename=collision_file,
scale=[scale] * 3,
material=physical_material,
density=density,
)
if add_visual:
visual_file = str(model_dir / "textured.obj")
builder.add_visual_from_file(filename=visual_file, scale=[scale] * 3)
return builder
