Object Plugin Documentation

The Object Plugin facilitates the addition of individual 3D models within the scene. It's essential to note that the positioning (pose) of these objects is managed by the transformation tree.

Configuration Parameters

The following table describes each configuration parameter for the Object Plugin:

Parameter	Type	Description	Requirement
name	string	A unique identifier for the plugin instance.	Required
models	array or single item	3D models to be placed in the scene. It can be a list or a single item of 3D assets.	Required
frame_id	string	Denotes the node in the transformation tree where the object is attached.	Required
place_on_ground	boolean	If set to true, the object will be positioned on the ground and aligned to its normal.	Optional (Default: false)
floor_object	string	Specifies the ground object's name on which the model is placed. It's mandatory if place_on_ground is true.	Required if place_on_ground is true
max_texture_size	integer	The texture's upper limit in pixels. Useful for reducing texture size and conserving GPU memory.	Optional
decimate_mesh_factor	number (0-1)	The factor to reduce the number of mesh vertices. A lower value means fewer vertices.	Optional
class_id	integer	Used for specifying the Class ID in the ground truth output.	Required

Warning

When setting the place_on_ground parameter to true, ensure you also specify the floor_object.

Dynamic Evaluators

For parameters that can undergo dynamic evaluation, their values can be adjusted for every frame, offering flexibility in simulation. More on this can be found in the Dynamic Evaluators section.

Example Configuration

scene:
  syclops_plugin_object:
    - name: "Tree1"
      models: Example Assets/Tree
      frame_id: "frame_001"
      place_on_ground: true
      floor_object: "Ground"
      max_texture_size: 1024
      decimate_mesh_factor: 0.5
      class_id: 2

The configuration places a tree model on the ground, adjusts its texture size and reduces its vertices, also assigning a class ID.