Objects in RoboVerse#
RoboVerse supports a wide variety of USD-formatted assets that contribute to building immersive worlds. These assets are categorized for easy identification and usage. While not all assets are utilized in our demonstration tasks, they are available for you to incorporate into your own custom tasks. Below is an overview of the different types of assets available:
Objects#
Objects are simple items without any joint or connection relationships. RoboVerse has curated a collection of these objects from publicly available datasets. Below are some examples:
Source |
Categories & Amounts |
|---|---|
ARNOLD |
Bottle (57), Kitchen Objects (23) |
CALVIN |
Blocks (16) |
ManiSkill EGAD |
Objects (4562) |
ManiSkill YCB |
Objects (78) |
Articulated Objects#
Articulated objects are designed with features that can be grasped, such as handles or knobs. The positioning, color, and geometry of these features vary.
Source |
Categories & Amounts |
|---|---|
ARNOLD |
Box (28), Door (34), Faucet (85), LightSwitch (4), Microwave (18), StorageFuniture (199) |
GAPartNet |
Drawer (1045) |
UniDoorManip |
Cabinet (13), Car (9), Fridge (10), Lever Door (29), Round Door (26), Safe (19), Window (34) |
Garments/Deformable Objects#
For garments and deformable objects, we mainly adopt from GarmentLab. These objects are flexible and can be used to simulate clothing and fabric-based interactions. Available assets include:
Dress(408), Glove(96), Hat(109), Mask(49), One-piece(146), Scarf/Tie(67), Skirt(369), Socks(86), Tops(1150), Trousers(351), Shorts(220).
