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)