Robolab Scenegen

Scene Generation

Generate USD scene files (.usda) from natural language descriptions of tabletop arrangements.

A scene is a USDA file that places objects on the table in base_empty.usda. Scenes are robot-agnostic — they define only what objects exist and where they are positioned.

Reference Files

The references/ directory contains detailed documentation loaded on-demand:

• references/scene_format.md — USD scene format, coordinate system, placement rules, and examples
• references/object_catalog_guide.md — Object catalog structure, classes, and naming conventions
• references/predicates.md — Predicate types, JSON format, and common patterns for the solver pipeline

Prerequisites

• assets/scenes/base_empty.usda exists (the base scene template)
• assets/objects/object_catalog.json exists (the object catalog)

When Invoked

When the user invokes this skill, display the following message verbatim:

I'll help you generate a USD scene file. I need a few things:

1. Scene name — What should the file be called? Must end in .usda (e.g., fruits_bowl.usda, kitchen_sorting.usda). Use snake_case.
2. Scene description — What should be on the table? (e.g., "a bowl with some fruits around it", "kitchen items for a cooking task", "3 blocks stacked near a container")
3. Number of objects — How many objects? (default: 3-5 for simple scenes)
4. Output directory — Where should I save the scene?
   • assets/scenes/ (standard location)
   • assets/scenes/generated/ (for generated scenes)
   • Or specify another path

Objects I'll pick from:

I use the object catalog at assets/objects/object_catalog.json (312 objects) built from these directories:

If the objects you need aren't in the catalog, you can:

• Point me to a custom object directory — give me a path and I'll scan it for USD files to include
• Refresh the catalog — if new objects have been added to the directories above, I can regenerate the catalog (requires a Python environment with pxr/IsaacSim installed)

After the User Provides Information

After receiving the user's input:

1. Always ask the user for the output directory on the first invocation. Do not assume a default — you must wait for the user to confirm a directory before writing any file. Once the user has chosen a directory, reuse it for all subsequent scenes in the same session without asking again.
2. Validate the scene name ends with .usda. If not, append .usda and confirm with the user.
3. Check for duplicate scene names. If a file with the same name already exists at the output path, warn the user and ask them to choose a different name. Do not overwrite existing scene files.
4. Resolve the object catalog.
   • Read the default catalog at assets/objects/object_catalog.json.
   • If the user specified custom object directories, scan those directories for .usd/.usda files and include them as additional objects. For each custom object, extract the prim name from the filename and compute dimensions if possible (or ask the user).
   • If the user asked to refresh the catalog, find the IsaacSim Python interpreter (see Step 0 under After Generating) and run <ISAACSIM_PYTHON> assets/objects/_utils/generate_catalog.py, then re-read the catalog.
   • Tell the user which catalog you're using and how many objects are available (e.g., "Using 312 objects from assets/objects/object_catalog.json" or "Using 312 default objects + 5 custom objects from /path/to/custom/").
5. Read references/scene_format.md for the exact USDA format, coordinate system, and placement rules.
6. Select objects that match the user's description from the catalog. Use exact name values from the catalog.
7. Generate predicates and solve placements using the predicate solver pipeline (see Predicate Solver Pipeline).
8. Compute the payload path for each object: convert usd_path from catalog (e.g., assets/objects/ycb/banana.usd) to a path relative to the scene's output directory (e.g., ../objects/ycb/banana.usd for assets/scenes/, or ../../objects/ycb/banana.usd for assets/scenes/generated/)
9. Generate the USDA file using the solved positions (see Scene File Generation).
10. Tell the user what objects were placed and where, with a summary table.

Predicate Solver Pipeline

The skill uses the same predicate-based solver from robolab/scene_gen/llm_scene_gen/ to compute collision-free placements. This is a 4-step pipeline that does not require IsaacSim — it runs with pure Python + numpy + scipy.

Step 1: Generate predicates JSON

Based on the user's description, generate a JSON structure with object selections and predicates. This is the same format the LLM agent on xuning/scene_task_gen uses:

{
  "objects": [
    {"name": "bowl"},
    {"name": "banana"},
    {"name": "orange_01"}
  ],
  "predicates": [
    {"type": "place-on-base", "object": "bowl", "x": 0.55, "y": 0.0},
    {"type": "random-rot", "object": "bowl"},
    {"type": "place-on-base", "object": "banana", "x": 0.40, "y": -0.20},
    {"type": "random-rot", "object": "banana"},
    {"type": "place-on-base", "object": "orange_01", "x": 0.70, "y": 0.15},
    {"type": "random-rot", "object": "orange_01"}
  ]
}

Available predicate types

Spatial (2D placement on table):

• place-on-base — Place on table at explicit (x, y). Params: object, x, y
• left-of / right-of / front-of / back-of — Relative to another object. Params: object, reference, distance
• random-rot — Random yaw rotation. Params: object
• facing-left / facing-right / facing-front / facing-back — Oriented direction. Params: object
• align-left / align-right / align-center-lr / align-center-fb — Alignment. Params: object, reference

Physical (3D placement):

• place-on — Stack on top of another object. Params: object, support
• place-in — Place inside a container. Params: objects (list), container

Coordinate system

• Table center: (0.55, 0.0)
• Safe bounds: X=[0.30, 0.80], Y=[-0.40, 0.40]
• Front = +X, Left = +Y, Right = -Y

Every object needs at least place-on-base + random-rot (2 predicates).

Step 2: Parse predicates into ObjectStates

Run a Python script via Bash that:

1. Reads the object catalog
2. Parses the predicates JSON into ObjectState objects using parse_predicates_from_dict
3. Runs the spatial solver
4. Runs the physical solver
5. Checks grammar feedback
6. Outputs the final (x, y, z, yaw) for each object

Use this exact script pattern:

import json, sys
from robolab.scene_gen.llm_scene_gen import (
    ObjectState, PlaceOnBasePredicate, parse_predicates_from_dict,
    SpatialSolver, PhysicalSolver, FeedbackSystem
)

catalog = json.load(open('assets/objects/object_catalog.json'))
llm_result = json.loads(sys.argv[1])  # Pass predicates JSON as argument

# Parse objects
object_states = {}
object_info = {}
for obj_data in llm_result['objects']:
    name = obj_data['name']
    entry = next((o for o in catalog if o['name'] == name), None)
    if entry:
        object_info[name] = entry
        object_states[name] = ObjectState(name=name)

# Parse predicates
for pred_data in llm_result['predicates']:
    pred = parse_predicates_from_dict(pred_data)
    if pred.target_object in object_states:
        object_states[pred.target_object].predicates.append(pred)

# Add default placement for objects without predicates
for name, state in object_states.items():
    if not state.predicates:
        state.predicates.append(PlaceOnBasePredicate(name))

# Solve spatial constraints
solver = SpatialSolver(table_bounds=(0.25, 0.85, -0.45, 0.45))
dims = {n: tuple(info['dims']) for n, info in object_info.items()}
success, msg = solver.solve(object_states, dims)
if not success:
    print(json.dumps({"error": f"Spatial solver failed: {msg}"}))
    sys.exit(1)

# Solve physical constraints
phys = PhysicalSolver()
phys_success, phys_msg = phys.solve(
    object_states, dims,
    {n: info['usd_path'] for n, info in object_info.items()},
    'assets/scenes/base_empty.usda'
)

# Check grammar
feedback = FeedbackSystem.generate_grammar_feedback(object_states)
if feedback:
    print(json.dumps({"error": f"Grammar issues: {feedback}"}))
    sys.exit(1)

# Output results
results = {}
for name, state in object_states.items():
    results[name] = {
        "x": state.x, "y": state.y,
        "z": object_info[name]['dims'][2] / 2 + 0.002,
        "yaw": state.yaw or 0.0,
        "usd_path": object_info[name]['usd_path']
    }
print(json.dumps(results, indent=2))

Step 3: Handle solver failures

If the spatial solver fails (returns an error), this means objects can't fit without colliding. Options:

1. Reduce object count — try with fewer objects
2. Adjust initial positions — spread objects further apart in the predicates
3. Report to user — explain which objects collided and ask for guidance

If the solver succeeds, proceed to generate the USDA file using the solved positions.

Scene File Generation

Step 1: Read base_empty.usda

Read the entire assets/scenes/base_empty.usda file. This is your template.

Step 2: Build object prim blocks

For each object with solved positions from the predicate solver, create a prim block:

    def "<object_name>" (
        prepend payload = @<relative_path_to_usd>@
    )
    {
        quatf xformOp:orient = (1, 0, 0, 0)
        float3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (<x>, <y>, <z>)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
    }

Where:

• <object_name> = the name field from the catalog (e.g., banana, bowl)
• <relative_path_to_usd> = the usd_path converted to be relative from the scene's directory
• <x>, <y> = solved positions from the spatial solver
• <z> = dims[2] / 2 + 0.002 (from the solver output)

Step 3: Rewrite inherited payload paths (subdir scenes only)

base_empty.usda lives at assets/scenes/base_empty.usda and uses relative payloads like @../fixtures/table_oak.usd@ and @../fixtures/franka_table.usd@. Those paths resolve correctly only when the target scene also sits at assets/scenes/ (depth 1 from assets/).

If the target scene is one directory deeper (e.g. assets/scenes/generated/foo.usda or assets/scenes/wip480/foo.usda, depth 2), you must prepend one extra ../ to every inherited payload before inserting objects — otherwise the table and franka_table won't load, and physics will let objects fall through to the ground plane during settle. This is silent: the scene still opens, but the table is invisible and objects end up on the floor at z ≈ -0.67.

General rule: for a scene at depth N from assets/, prepend (N − 1) extra ../ segments to each @../...@ payload inherited from base_empty.

Example — for a scene in assets/scenes/wip480/:

• @../fixtures/table_oak.usd@ → @../../fixtures/table_oak.usd@
• @../fixtures/franka_table.usd@ → @../../fixtures/franka_table.usd@

A simple regex substitution over the base content before insertion is sufficient:

import re
if scene_depth > 1:
    prefix = "../" * (scene_depth - 1)
    base = re.sub(r"@(\.\./)", lambda m: "@" + prefix + m.group(1), base)

Step 4: Insert into base scene

Take the (possibly path-rewritten) base_empty.usda content and insert the object prim blocks just before the final } that closes the def Xform "world" block.

Step 5: Write the file

Write the complete USDA content to the output path using the Write tool.

Duplicate Object Names

If the scene needs multiple objects of the same type (e.g., two bananas), append a suffix:

• First: banana
• Second: banana_1
• Third: banana_2

Use the same payload path for all instances.

After Generating the Scene File

After writing the USDA file, automatically run settle + screenshot:

Step 0: Find the correct Python interpreter

The settle and screenshot scripts require IsaacSim (isaacsim package) and pxr (Pixar USD bindings), which are typically installed in a specific conda environment — not the system Python or the project .venv.

To find the right interpreter, search for a conda env that has isaacsim:

for env_dir in ~/miniforge3/envs/*/bin ~/miniconda3/envs/*/bin ~/anaconda3/envs/*/bin; do
    if [ -f "$env_dir/python" ]; then
        "$env_dir/python" -c "import isaacsim" 2>/dev/null && echo "Found: $env_dir/python" && break
    fi
done

If no conda env is found, fall back to checking .venv/bin/python or ask the user which Python has IsaacSim installed.

Cache the discovered interpreter path for the rest of the session.

Step 1: Settle the scene (physics simulation)

Run the settle script to let objects fall into stable resting positions. Use --replace so the settled positions are written back into the same file, and --screenshot to capture a rendered image:

<ISAACSIM_PYTHON> assets/scenes/_utils/settle_scenes.py \
    --scene <scene_path> \
    --replace \
    --screenshot \
    --screenshot-dir <output_dir>/_images

Where <ISAACSIM_PYTHON> is the interpreter found in Step 0.

• Use a timeout of 300 seconds (5 min) — IsaacSim startup takes ~20s, settling takes ~5s, screenshot takes ~5s.
• The --replace flag overwrites the original USDA with settled positions.
• The --screenshot flag renders a 640x480 image and saves it as <scene_name>.png in the screenshot directory.
• Ignore warnings about GLFW, windowing, MDL parameters — these are expected in headless mode.
• Always pass --replace when settling scenes that live in a subdirectory. Without it, settle_scenes.py writes the settled file to SCENE_DIR/<name>.usda (i.e. assets/scenes/<name>.usda), not back into the subdirectory — which loses the depth-corrected payload paths and screenshots render empty.

Sanity-check after settle: open one settled .usda and verify at least one object's xformOp:translate has z close to the expected dims[2] / 2 (e.g. 0.02–0.10). If objects show z ≈ -0.67, they fell through to the ground plane — almost always because the table payload path was wrong during settle (see Step 3 above). Fix the payload paths in the source USDAs, then re-settle; re-running settle on already-fallen objects will not move them back onto the table.

Step 2: Show the screenshot to the user

After the settle script completes, read the generated screenshot image using the Read tool and display it to the user:

Read: <output_dir>/_images/<scene_name>.png

Step 3: Display next steps

After showing the screenshot, display the following message to the user:

Scene settled and screenshot generated!

• Settled scene: <scene_path> (objects now in stable resting positions)
• Screenshot: <output_dir>/_images/<scene_name>.png

Next steps:

1. Create a task — use /robolab-taskgen to create a task file that references this scene.

2. Verify in simulation — run the empty demo (no policy) once you have a task:

python examples/run_empty.py --task <TaskClassName>

Naming Convention

Scene filenames should be descriptive and use snake_case:

• banana_bowl.usda — banana and bowl
• fruits_plate_sorting.usda — fruits on a plate for sorting
• blocks_3_stacking.usda — 3 blocks for stacking

Validation Checklist

Before writing the file, verify:

• All object names exist in the catalog
• All payload paths are correct relative paths from the scene's directory (e.g., ../objects/ for assets/scenes/, or ../../objects/ for assets/scenes/generated/)
• All positions are within table bounds X=[0.30, 0.80], Y=[-0.40, 0.40]
• No two objects overlap (check pairwise distances)
• Z heights are computed correctly from object dimensions
• The USDA syntax is valid (proper quoting, brackets, indentation)
• The file starts with #usda 1.0 and has defaultPrim = "world"

Payload Path Computation

The payload path in the USDA must be relative from the scene file's directory to the object USD. The usd_path in the catalog is relative to the repo root.

• Scene in assets/scenes/: payload = @../<usd_path minus "assets/">@ (e.g., @../objects/ycb/bowl.usd@)
• Scene in assets/scenes/generated/: payload = @../../<usd_path minus "assets/">@ (e.g., @../../objects/ycb/bowl.usd@)
• Scene in assets/scenes/foo/bar/: count directory depth from assets/ and prepend the right number of ../

General formula: strip assets/ prefix from usd_path, then prepend ../ repeated N times where N = depth of scene directory relative to assets/.