feat(simulation): scene-package cooking + MuJoCo scene loading#2544
Draft
Nabla7 wants to merge 1 commit into
Draft
feat(simulation): scene-package cooking + MuJoCo scene loading#2544Nabla7 wants to merge 1 commit into
Nabla7 wants to merge 1 commit into
Conversation
Offline cooking of 3D scene assets into scene packages, and runtime
loading of cooked packages into MuJoCo.
- scene_assets/{spec,mesh_scene}: the ScenePackage contract + mesh/USD
import. load_scene_package() consumes cooked artifacts at runtime; it
does not perform the heavy bake.
- mujoco/{scene_mesh_to_mjcf,collision_spec}: bake a scene mesh into an
MJCF wrapping the robot, deciding each prim as a MuJoCo primitive,
convex hull (coacd), or mesh.
- mujoco/entity_scene: compose cooked entities into the model via MjSpec.
- scenes/{catalog,office}: named scene packages.
- experimental/pimsim/scene/*: the cook orchestration (plan, visual GLB,
optional Blender bake, collision hulls, sidecar, inspect).
Adds the 'scene' extra (open3d, trimesh, coacd, usd-core); the Blender
visual bake is an optional external 'blender' binary, not a wheel.
Extends the mujoco MjSpec type stubs.
Self-contained: the closure imports only dimos.utils. The sim-module
runtime wiring that drives this lands with the sim refactor.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Offline cooking of 3D scene assets into scene packages, and runtime loading of cooked packages into MuJoCo.
Adds the 'scene' extra (open3d, trimesh, coacd, usd-core); the Blender visual bake is an optional external 'blender' binary, not a wheel. Extends the mujoco MjSpec type stubs.
Self-contained: the closure imports only dimos.utils. The sim-module runtime wiring that drives this lands with the sim refactor.
Problem
Closes DIM-XXX
Solution
How to Test
Contributor License Agreement