Procedurally generated articulated objects specified in Universal Robot Description Format (URDF), and rendered using Mujoco.
Setup:
pip install -r requirements.txt
Example generation:
python generate_data.py --n 10 --dir ./test --obj microwave --masked --debug
Check if the dataset contains the correct mujoco-compatible urdf file or not. If yes, skip to next step, else run:
bash ./sapien_dataset/obj_to_mujoco_xml_converter.sh ~/datasets/partnet-mobility-dataset/7119-test/ microwave
Generate dataset
python generate_data_sapien.py --n 10 --dir ../data/debug/mw_sapien --obj microwave --obj-xml-file ~/datasets/partnet-mobility-dataset/7119-test/mobility_mujoco.xml --masked --debug