Rearrange3D

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: ground with 3 objects. In the 'ground' scene, objects are placed randomly on a flat ground plane.

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 20 variant(s).

Rearrange3D-o1-put_the_boxed_drink_behind_the_bowl

This variant uses the 'ground' scene type with 3 objects.

Rearrange3D-o1-put_the_boxed_drink_in_front_of_the_bowl

This variant uses the 'ground' scene type with 3 objects.

Rearrange3D-o1-put_the_boxed_drink_next_to_the_bowl

This variant uses the 'ground' scene type with 3 objects.

Rearrange3D-o1-put_the_boxed_drink_on_the_left_side_of_the_bowl

This variant uses the 'ground' scene type with 3 objects.

Rearrange3D-o1-put_the_boxed_drink_on_the_right_side_of_the_bowl

This variant uses the 'ground' scene type with 3 objects.

Rearrange3D-o2-put_the_boxed_drink_and_the_can_next_to_the_bowl

This variant uses the 'ground' scene type with 3 objects.

Rearrange3D-o2-put_the_boxed_drink_in_front_of_and_the_can_behind_the_bowl

This variant uses the 'ground' scene type with 3 objects.

Rearrange3D-o2-put_the_boxed_drink_on_the_left_and_the_can_on_the_right_side_of_the_bowl

This variant uses the 'ground' scene type with 3 objects.

Rearrange3D-o2-put_the_can_in_front_of_and_the_boxed_drink_behind_the_bowl

This variant uses the 'ground' scene type with 3 objects.

Rearrange3D-o2-put_the_can_on_the_left_and_the_boxed_drink_on_the_right_side_of_the_bowl

This variant uses the 'ground' scene type with 3 objects.

TidyBot3D-Rearrange3D-lab2_kitchen-o1-put_the_boxed_drink_behind_the_bowl

This variant uses the 'lab2_kitchen' scene type with 1 object.

TidyBot3D-Rearrange3D-lab2_kitchen-o1-put_the_boxed_drink_in_front_of_the_bowl

This variant uses the 'lab2_kitchen' scene type with 1 object.

TidyBot3D-Rearrange3D-lab2_kitchen-o1-put_the_boxed_drink_next_to_the_bowl

This variant uses the 'lab2_kitchen' scene type with 1 object.

TidyBot3D-Rearrange3D-lab2_kitchen-o1-put_the_boxed_drink_on_the_left_side_of_the_bowl

This variant uses the 'lab2_kitchen' scene type with 1 object.

TidyBot3D-Rearrange3D-lab2_kitchen-o1-put_the_boxed_drink_on_the_right_side_of_the_bowl

This variant uses the 'lab2_kitchen' scene type with 1 object.

TidyBot3D-Rearrange3D-lab2_kitchen-o2-put_the_boxed_drink_and_the_can_next_to_the_bowl

This variant uses the 'lab2_kitchen' scene type with 2 objects.

TidyBot3D-Rearrange3D-lab2_kitchen-o2-put_the_boxed_drink_in_front_of_and_the_can_behind_the_bowl

This variant uses the 'lab2_kitchen' scene type with 2 objects.

TidyBot3D-Rearrange3D-lab2_kitchen-o2-put_the_boxed_drink_on_the_left_and_the_can_on_the_right_side_of_the_bowl

This variant uses the 'lab2_kitchen' scene type with 2 objects.

TidyBot3D-Rearrange3D-lab2_kitchen-o2-put_the_can_in_front_of_and_the_boxed_drink_behind_the_bowl

This variant uses the 'lab2_kitchen' scene type with 2 objects.

TidyBot3D-Rearrange3D-lab2_kitchen-o2-put_the_can_on_the_left_and_the_boxed_drink_on_the_right_side_of_the_bowl

This variant uses the 'lab2_kitchen' scene type with 2 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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