Awesome
Ditto data generation
This repo stores the codes for data generation of Ditto: Building Digital Twins of Articulated Objects from Interaction. Given URDF file of an articulated object, we spwan it in Pybullet simulation, and interact with it by directly manipulating the joint state. We collect multiview depth observations of the object before and after interaction, as well as the ground truth occupancy data and segmentation.
Installation
pip install -r requirements.txt
pip install -e .
python scripts/convonet_setup.py build_ext --inplace
URDF preparation
Download Shape2Motion_urdfs.zip from here, unzip it and put it under data/urdfs
. If you use this data, remember to cite Shape2Motion paper.
Generate data
You can either directly run scripts/generate_data_s2m.sh
or run the commands in that bash file.
Citation
If you find this repo useful, please cite
@inproceedings{jiang2022ditto,
title={Ditto: Building Digital Twins of Articulated Objects from Interaction},
author={Jiang, Zhenyu and Hsu, Cheng-Chun and Zhu, Yuke},
booktitle={arXiv preprint arXiv:2202.08227},
year={2022}
}