Benchmark / Dynamic 3D / ConstrainedCupboard3D

ConstrainedCupboard3D

Environment demonstration

Description

A 3D mobile manipulation environment using the TidyBot platform.

The robot has a holonomic mobile base with powered casters and a Kinova Gen3 arm. Scene type: lab2 with 2 objects.

The robot can control:

  • Base pose (x, y, theta)

  • Arm position (x, y, z)

  • Arm orientation (quaternion)

  • Gripper position (open/close)

Variants

This environment has 3 variant(s).

TidyBot3D-ConstrainedCupboard3D-lab2-o1-fit_the_blocks_in_the_cupboard

This variant uses the 'lab2' scene type with 1 object.

TidyBot3D-ConstrainedCupboard3D-lab2-o2-fit_the_blocks_in_the_cupboard

This variant uses the 'lab2' scene type with 2 objects.

TidyBot3D-ConstrainedCupboard3D-lab2-o6-fit_the_blocks_in_the_cupboard

This variant uses the 'lab2' scene type with 6 objects.

References

TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning

  • Jimmy Wu, William Chong, Robert Holmberg, Aaditya Prasad, Yihuai Gao, Oussama Khatib, Shuran Song, Szymon Rusinkiewicz, Jeannette Bohg

  • Conference on Robot Learning (CoRL), 2024

https://github.com/tidybot2/tidybot2

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