scene_synthesizer

scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation - Published in JOSS (2025)

https://github.com/nvlabs/scene_synthesizer

Science Score: 98.0%

This score indicates how likely this project is to be science-related based on various indicators:

✓
CITATION.cff file
Found CITATION.cff file
✓
codemeta.json file
Found codemeta.json file
✓
.zenodo.json file
Found .zenodo.json file
✓
DOI references
Found 4 DOI reference(s) in README and JOSS metadata
✓
Academic publication links
Links to: joss.theoj.org
○
Committers with academic emails
○
Institutional organization owner
✓
JOSS paper metadata
Published in Journal of Open Source Software

Last synced: 6 months ago · JSON representation ·

Repository

Python package to create manipulation scenes.

Basic Info

Host: GitHub
Owner: NVlabs
License: apache-2.0
Language: Python
Default Branch: main
Homepage: https://scene-synthesizer.github.io/
Size: 26.1 MB

Statistics

Stars: 183
Watchers: 7
Forks: 19
Open Issues: 1
Releases: 14

Created over 1 year ago · Last pushed 8 months ago

Metadata Files

Readme Contributing License Citation Authors

scene_synthesizer

Banner

A python package to generate manipulation scenes. Check the documentation page for detailed installation instructions, API, and examples.

Installation

This project will download and install additional third-party open source software projects. Review the license terms of these open source projects before use (e.g. OpenUSD license).

Via pip

pip install scene-synthesizer[recommend]

Via git

```

create and activate conda env or venv

git clone https://github.com/NVlabs/scenesynthesizer.git cd scenesynthesizer/ pip install -e.[recommend] ``` See the documentation for detailed installation instructions.

Quick Start

```python import scenesynthesizer as synth import scenesynthesizer.procedural_assets as pa

create procedural assets

table = synth.proceduralassets.TableAsset(width=1.2, depth=0.8, height=0.75) cabinet = synth.proceduralassets.CabinetAsset(width=0.5, height=0.5, depth=0.4, compartmentmask=[[0], [1]], compartmenttypes=['drawer','drawer'])

load asset from file

Make sure to first download the file:

wget https://raw.githubusercontent.com/clemense/kitchen-assets-cc-by/refs/heads/main/assets/chair/meshes/chair.{mtl,obj}

chair = synth.Asset('chair.obj', up=(0, 0, 1), front=(-1, 0, 0))

create scene

scene = synth.Scene()

add table to scene

scene.add_object(table)

put cabinet next to table

scene.addobject(cabinet, connectparentanchor=('right', 'front', 'bottom'), connectobj_anchor=('left', 'front', 'bottom'))

put chair in front of table

scene.addobject(chair, connectparentid='table', connectparentanchor=('center', 'front', 'bottom'), connectobj_anchor=('center', 'center', 'bottom'))

randomly place plate and glass on top of table

scene.labelsupport('tablesurface', objids='table') scene.placeobject('plate', synth.proceduralassets.PlateAsset(), supportid='tablesurface') scene.placeobject('glass', synth.proceduralassets.GlassAsset(), supportid='table_surface')

preview scene in an opengl window

scene.show()

export scene in various formats

scene.export('scene.usd') scene.export('scene.urdf') ```

License

The code is released under the Apache-2.0 license.

Contributions

Found a bug? Help us by reporting it! Want a new feature? Create an issue! Made something useful or fixed a bug? Start a PR! Check the contribution guidelines.

How can I cite this library?

@article{Eppner2024, title = {scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation}, author = {Clemens Eppner and Adithyavairavan Murali and Caelan Garrett and Rowland O'Flaherty and Tucker Hermans and Wei Yang and Dieter Fox}, journal = {Journal of Open Source Software} publisher = {The Open Journal}, year = {2024}, }

Owner

Name: NVIDIA Research Projects
Login: NVlabs
Kind: organization

Website: http://research.nvidia.com
Repositories: 166
Profile: https://github.com/NVlabs

JOSS Publication

scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation

Published

January 28, 2025

DOI

10.21105/joss.07561

Volume 10, Issue 105, Page 7561

Authors

Clemens Eppner

NVIDIA Research

Adithyavairavan Murali
NVIDIA Research

Caelan Garrett

NVIDIA Research

Rowland O'Flaherty
NVIDIA Research

Tucker Hermans

NVIDIA Research

Wei Yang

NVIDIA Research

Dieter Fox

NVIDIA Research

Editor

Chris Vernon

Citation (CITATION.cff)

cff-version: "1.2.0"
authors:
- family-names: Eppner
  given-names: Clemens
  orcid: "https://orcid.org/0000-0002-5398-4037"
- family-names: Murali
  given-names: Adithyavairavan
- family-names: Garrett
  given-names: Caelan
  orcid: "https://orcid.org/0000-0002-6474-1276"
- family-names: O'Flaherty
  given-names: Rowland
- family-names: Hermans
  given-names: Tucker
  orcid: "https://orcid.org/0000-0003-2496-2768"
- family-names: Yang
  given-names: Wei
  orcid: "https://orcid.org/0000-0003-3975-2472"
- family-names: Fox
  given-names: Dieter
  orcid: "https://orcid.org/0009-0009-4694-9127"
contact:
- family-names: Eppner
  given-names: Clemens
  orcid: "https://orcid.org/0000-0002-5398-4037"
doi: 10.5281/zenodo.14736778
message: If you use this software, please cite our article in the
  Journal of Open Source Software.
preferred-citation:
  authors:
  - family-names: Eppner
    given-names: Clemens
    orcid: "https://orcid.org/0000-0002-5398-4037"
  - family-names: Murali
    given-names: Adithyavairavan
  - family-names: Garrett
    given-names: Caelan
    orcid: "https://orcid.org/0000-0002-6474-1276"
  - family-names: O'Flaherty
    given-names: Rowland
  - family-names: Hermans
    given-names: Tucker
    orcid: "https://orcid.org/0000-0003-2496-2768"
  - family-names: Yang
    given-names: Wei
    orcid: "https://orcid.org/0000-0003-3975-2472"
  - family-names: Fox
    given-names: Dieter
    orcid: "https://orcid.org/0009-0009-4694-9127"
  date-published: 2025-01-28
  doi: 10.21105/joss.07561
  issn: 2475-9066
  issue: 105
  journal: Journal of Open Source Software
  publisher:
    name: Open Journals
  start: 7561
  title: "scene_synthesizer: A Python Library for Procedural Scene
    Generation in Robot Manipulation"
  type: article
  url: "https://joss.theoj.org/papers/10.21105/joss.07561"
  volume: 10
title: "scene_synthesizer: A Python Library for Procedural Scene
  Generation in Robot Manipulation"

GitHub Events

Total

Create event: 43
Release event: 12
Issues event: 18
Watch event: 167
Issue comment event: 45
Push event: 45
Public event: 1
Pull request event: 6
Fork event: 17

Last Year

Create event: 43
Release event: 12
Issues event: 18
Watch event: 168
Issue comment event: 45
Push event: 45
Public event: 1
Pull request event: 6
Fork event: 17

Committers

Last synced: 7 months ago

All Time

Total Commits: 57
Total Committers: 1
Avg Commits per committer: 57.0
Development Distribution Score (DDS): 0.0

Past Year

Commits: 57
Committers: 1
Avg Commits per committer: 57.0
Development Distribution Score (DDS): 0.0

Top Committers

Name	Email	Commits
Clemens Eppner	c**r@n**m	57

Committer Domains (Top 20 + Academic)

nvidia.com: 1

Issues and Pull Requests

Last synced: 6 months ago

All Time

Total issues: 9
Total pull requests: 5
Average time to close issues: 20 days
Average time to close pull requests: 28 days
Total issue authors: 5
Total pull request authors: 2
Average comments per issue: 3.22
Average comments per pull request: 2.4
Merged pull requests: 3
Bot issues: 0
Bot pull requests: 0

Past Year

Issues: 9
Pull requests: 5
Average time to close issues: 20 days
Average time to close pull requests: 28 days
Issue authors: 5
Pull request authors: 2
Average comments per issue: 3.22
Average comments per pull request: 2.4
Merged pull requests: 3
Bot issues: 0
Bot pull requests: 0

View more stats

Top Authors

Issue Authors

AlexanderFabisch (5)
RussTedrake (2)
Kashu7100 (1)
dtotsila (1)
Mechazo11 (1)

Pull Request Authors

Kobayashi-z (4)
AlexanderFabisch (2)

Top Labels

Issue Labels

Pull Request Labels

Packages

Total packages: 1
Total downloads:
- pypi 4,118 last-month

Total dependent packages: 0
Total dependent repositories: 0
Total versions: 51
Total maintainers: 1

pypi.org: scene-synthesizer

Quickly generate a random articulated scene for robotics research and applications

Homepage: https://github.com/NVlabs/scene_synthesizer
Documentation: https://scene-synthesizer.readthedocs.io/
License: Apache-2.0
Latest release: 1.15.0
published 8 months ago

Versions: 51
Dependent Packages: 0
Dependent Repositories: 0
Downloads: 4,118 Last month

Rankings

Dependent packages count: 10.0%

Average: 33.2%

Dependent repos count: 56.4%

Maintainers (1)

clemense

Last synced: 6 months ago

Dependencies

.github/workflows/trigger_docs.yml actions

Dockerfile docker

gitlab-master.nvidia.com 5005/srl/dockers/ubuntu1804_py37 build

pyproject.toml pypi

setup.py pypi

scene_synthesizer

Science Score: 98.0%

Repository

Basic Info

Statistics

Metadata Files

README.md

scene_synthesizer

Installation

Via pip

Via git

create and activate conda env or venv

Quick Start

create procedural assets

load asset from file

Make sure to first download the file:

wget https://raw.githubusercontent.com/clemense/kitchen-assets-cc-by/refs/heads/main/assets/chair/meshes/chair.{mtl,obj}

create scene

add table to scene

put cabinet next to table

put chair in front of table

randomly place plate and glass on top of table

preview scene in an opengl window

export scene in various formats

License

Contributions

How can I cite this library?

Owner

JOSS Publication

scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation

Authors

Editor

Tags

Citation (CITATION.cff)

GitHub Events

Total

Last Year

Committers

All Time

Past Year

Top Committers

Committer Domains (Top 20 + Academic)

Issues and Pull Requests

All Time

Past Year

Top Authors

Issue Authors

Pull Request Authors

Top Labels

Issue Labels

Pull Request Labels

Packages

pypi.org: scene-synthesizer

Rankings

Maintainers (1)

Dependencies