success

data_generation/config/data_generation/data_generation.yaml

@@ -0,0 +1,29 @@
+background_path: "/home/hzx/Projects/ActivePerception/data_generation/data/backgrounds/env.usd"
+object_dataset_path: "/home/hzx/Projects/ActivePerception/data_generation/data/objects"
+occluder_dataset_path: "/home/hzx/Projects/ActivePerception/data_generation/data/occluders/table/table_001"
+data_save_path: "/home/hzx/Projects/ActivePerception/data_generation/output"
+
+# Scene Generation Params
+num_scenes: 10
+
+# Occluder Spawning Params
+distance_threshold: 0.1
+
+# Objects Spawning Params
+model_scaling : [0.001, 0.001, 0.001]
+object_num: 20
+max_spawn_z: 2.0
+spawn_z_offset: 0.025
+num_attemp_times: 50
+max_num_planes: 2
+
+# Camera Sampling Params
+min_radius: 1.4
+max_radius: 1.5
+hfov: 90.0
+start_h_angle: 0.0
+dr: 0.05
+dhfov: 30.0
+dvfov: 30.0
+look_at_position: [0, 0, 0.3]
+look_at_noise: 0.075

data_generation/config/isaac_sim/isaac_sim.yaml

@@ -0,0 +1,8 @@
+width: 1920
+height: 1080
+sync_loads: True
+headless: False
+renderer: "RayTracedLighting"
+physics_dt: 0.01 #100hz
+rendering_dt: 0.01 #100hz
+meters_unit: 1.0

data_generation/config/replicator/replicator.yaml

@@ -0,0 +1,16 @@
+writer: "BasicWriter"
+writer_config:
+  output_dir: "/home/hzx/Projects/ActivePerception/data_generation/output"
+  rgb: True
+  camera_params: True
+  bounding_box_2d_tight: False
+  semantic_segmentation: True
+  distance_to_image_plane: True
+  distance_to_camera: False
+  bounding_box_3d: False
+  occlusion: False
+                
+resolution: [640, 480]
+max_sim_steps: 50
+rt_subframes: 1
+num_frames: 1

data_generation/config/scene_generation/object_offsets.yaml

@@ -0,0 +1,74 @@
+simple_room:
+    table_001: 
+        env: 0.255
+        obj: -0.21
+    table_002:
+        env: 0.26
+        obj: -0.22
+    table_003:
+        env: 0.265
+        obj: -0.167
+    table_004:
+        env: 0.225
+        obj: -0.19
+    table_005:
+        env: 0.14
+        obj: -0.315
+    table_007:
+        env: 0.53
+        obj: -0.095
+    table_008:
+        env: 0.215
+        obj: -0.255
+    table_009:
+        env: 0.245
+        obj: -0.2
+    table_013:
+        env: 0.51
+        obj: -0.115
+    table_014:
+        env: 0.325
+        obj: -0.2
+    table_015:
+        env: 0.29
+        obj: -0.215
+    table_016:
+        env: 0.23
+        obj: -0.255
+    table_017:
+        env: 0.32
+        obj: -0.145
+    table_018:
+        env: 0.17
+        obj: -0.128
+    table_019:
+        env: 0.26
+        obj: -0.22
+    table_020:
+        env: 0.01
+        obj: -0.31
+    table_021:
+        env: 0.295
+        obj: -0.235
+    table_022:
+        env: 0.05
+        obj: -0.055
+    table_023:
+        env: 0.046
+        obj: -0.055
+    table_024:
+        env: 0.015
+        obj: -0.255
+    table_025:
+        env: 0.29
+        obj: -0.26
+    table_026:
+        env: 0.03
+        obj: -0.3
+    table_027:
+        env: 0.01
+        obj: -0.31
+    table_026:
+        env: 0.41
+        obj: -0.08
+