Customizable Generation of Interactive Scenes

[COST-97]

Thank you very much for your outstanding work!
Your work will greatly promote the development of embodied intelligence!

I am very interested in your work, and I have two concerns at present:

• Can the environmental scenes conveniently and flexibly support customization?

• Do the objects in the scenes support manipulation, such as picking up and putting down?

Looking forward to your reply.

[nv-liuw]

@COST-97 Thanks for your interest in this work!

• Can the environmental scenes conveniently and flexibly support customization?

Yes, the environmental scenes and embodiments are standard USDs, so it's easy to customize using Isaac Sim. With the USDs ready, we can follow the instruction here to port them into the workflow.

• Do the objects in the scenes support manipulation, such as picking up and putting down?

Yes, we can follow the Isaac Lab tutorial to make the objects rigid bodies, then it can be interacted with.