scene_props

This repository contains models in OpenSCAD and STL formats for manipulation problems.

Peg in hole

Uniform prism and insertion boxes

• Accurately performing convex decomposition on this model in O3DE for the PhysX engine is challenging, as it relies on the V-HACD library.

THT component

Recreation of a dummy THT component based on the 3D-printed blocks presented in Figure 3 of Bartyzel’s work [1].

[1] G. Bartyzel, ‘Multimodal Variational DeepMDP: An Efficient Approach for Industrial Assembly in High-Mix, Low-Volume Production’, IEEE Robotics and Automation Letters, pp. 1–8, 2024, doi: 10.1109/LRA.2024.3487490.

Info

• These models are made with OpenSCAD software.
• By default, all metrics are unitless. Assume that 1 unit equals 1 mm.
• Tolerances selected for holes are 5 and 10 mm.
• Source *.scad files are located in the src directory.
• Re-create models in meshes dir with bash scripts, i.e.:

cd ./peg_in_hole
./generate_pegs.sh
./generate_pegs_with_handle.sh
./generate_holes.sh
./generate_holes_array.sh

Requirements

sudo apt install openscad

---

Development notes

This project uses various tools for aiding the quality of the source code. Currently most of them are executed by pre-commit. Please make sure to enable its hooks:

pre-commit install