{"id":28756908,"url":"https://github.com/mit-spark/dcist-2025-scenegraphlab","last_synced_at":"2025-07-30T18:10:27.998Z","repository":{"id":298376541,"uuid":"996250953","full_name":"MIT-SPARK/DCIST-2025-SceneGraphLab","owner":"MIT-SPARK","description":"Lab at the DCIST 2025 PI meeting focusing on 3D scene graphs","archived":false,"fork":false,"pushed_at":"2025-06-10T19:41:17.000Z","size":32,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-06-10T20:36:30.014Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/MIT-SPARK.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2025-06-04T17:15:25.000Z","updated_at":"2025-06-10T19:41:21.000Z","dependencies_parsed_at":"2025-06-10T20:48:00.855Z","dependency_job_id":null,"html_url":"https://github.com/MIT-SPARK/DCIST-2025-SceneGraphLab","commit_stats":null,"previous_names":["mit-spark/dcist-2025-scenegraphlab"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/MIT-SPARK/DCIST-2025-SceneGraphLab","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MIT-SPARK%2FDCIST-2025-SceneGraphLab","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MIT-SPARK%2FDCIST-2025-SceneGraphLab/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MIT-SPARK%2FDCIST-2025-SceneGraphLab/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MIT-SPARK%2FDCIST-2025-SceneGraphLab/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/MIT-SPARK","download_url":"https://codeload.github.com/MIT-SPARK/DCIST-2025-SceneGraphLab/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MIT-SPARK%2FDCIST-2025-SceneGraphLab/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":267914828,"owners_count":24164799,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-07-30T02:00:09.044Z","response_time":70,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-06-17T03:09:24.166Z","updated_at":"2025-07-30T18:10:27.969Z","avatar_url":"https://github.com/MIT-SPARK.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# DCIST PI Meeting 2025 Labs \u003c/br\u003e Metric Semantic SLAM and Scene Graphs\n\nWelcome to our lab!\nThis repository contains activities that focus on 3D scene graphs and how to use [spark_dsg](https://github.com/MIT-SPARK/Spark-DSG) to work with them.\nIf you are looking for the handout and activities for working with neural SDF representations, they can be found [here](https://github.com/hwcao17/MISO-DCIST-Lab).\n\n### Requirements\n\nThis lab requires a laptop with at least python 3.8 installed and familiarity with python. However, we recommend using Ubuntu 24.04 if possible.\n\n\u003e :warning: **Warning** \u003c/br\u003e\n\u003e We have done our best to support platforms other than Linux, but have no experience developing on macOS or Windows.\n\u003e We will not be able to diagnose build and installation issues for `spark_dsg`.\n\u003e However, it is possible to work with the example scene graphs using `networkx` in a limited capacity without `spark_dsg`.\n\n### Objectives\n\nObjectives for this lab include:\n\n1. Familiarizing you with our version of the 3D scene graph data structure\n\n2. Introducing you to [spark_dsg](https://github.com/MIT-SPARK/Spark-DSG) and the available API to work with scene graphs:\n  - Layers, nodes, edges, and attributes\n  - Graph structure and working with hierarchy\n  - Working with external libraries\n\n3. Getting feedback on `spark_dsg`\n\n### Getting Started\n\n\u003cdetails open\u003e\n\n\u003csummary\u003e\u003cb\u003eGetting the Lab\u003c/b\u003e\u003c/summary\u003e\n\nFirst, clone this lab\n```shell\ngit clone https://github.com/MIT-SPARK/DCIST-2025-SceneGraphLab\n```\n\nOpen the root directory of the repository in the terminal.\n\n\u003c/details\u003e\n\nWe assume you have a virtual python environment set up for this lab. If not, you can follow the instructions below.\n\n\u003cdetails open\u003e\n\n\u003csummary\u003e\u003cb\u003eCreating a Python Virtual Environment on Linux\u003c/b\u003e\u003c/summary\u003e\n\n```shell\n# You may need to install the following requirements if you don't have them\n# For ubuntu, this looks like:\n# sudo apt install python3-venv python3-pip\npython3 -m venv dcist_lab_env\n```\n\n\u003c/details\u003e\n\n\u003cdetails open\u003e\n\n\u003csummary\u003e\u003cb\u003eSetting up Your Environment\u003c/b\u003e\u003c/summary\u003e\n\nSource your environment and install the requirements\n```shell\n# Use the appropriate invocation for your environment type\nsource dcist_lab_env/bin/activate\n\npip install -e .\n# optionally install torch for one of the examples:\npip3 install torch --index-url https://download.pytorch.org/whl/cpu\n```\n\n\u003c/details\u003e\n\n\u003cdetails open\u003e\n\n\u003csummary\u003e\u003cb\u003eOpening up the Lab\u003c/b\u003e\u003c/summary\u003e\n\nStart the notebook\n```shell\njupyter notebook\n```\n\n\u003c/details\u003e\n\nIf you haven't worked with jupyter notebooks and `jupytext` before, you can open the notebook by right-clicking on `exercises.py` as in the screenshot below:\n![image](https://github.com/user-attachments/assets/285e151c-16e3-4b94-9e4f-952bf45bfc58)\n\n### Other Activities\n\nSee [here](https://github.com/MIT-SPARK/Hydra-ROS/blob/feature/ros2_docker/doc/ros2_setup.md#docker) for some information on getting Hydra set up with `docker` in ROS2.\n\n### Feedback\n\nPlease consider chatting with us during the lab session if you have any feedback about `spark_dsg`!\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmit-spark%2Fdcist-2025-scenegraphlab","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmit-spark%2Fdcist-2025-scenegraphlab","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmit-spark%2Fdcist-2025-scenegraphlab/lists"}