This set of plugins was originally conceived so we could ultimately build the scene generation example.
It uses CameraUtils, VisualUtils and WorldUtils plugins.
Recently we also created an example client for our multi-purpose Domain Randomization plugin DRPlugin, in which we alter physical and visual properties of Shadow's Dexterous Hand during simulation.
In order to interact with our tools you need only write your own client applications that use our custom message definitions. These are compiled into a shared library for your convenience, and can be easily linked to by installing our package. See external_example for more details.
Furthermore, we provide simples example client applications to interact with each plugin.
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camera_example, for acquiring frames using CameraUtils
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visual_example, for changing object visuals using VisualUtils
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world_example was deprecated as most of its object generation utilities will no longer be supported.