SortClutteredBlocks3D

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 4 variant(s).

SortClutteredBlocks3D-o12-sort_the_blocks_into_the_cupboard

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

SortClutteredBlocks3D-o20-sort_the_cluttered_blocks_into_bowls

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

TidyBot3D-SortClutteredBlocks3D-lab2-o12-sort_the_blocks_into_the_cupboard

This variant uses the 'lab2' scene type with 12 objects.

TidyBot3D-SortClutteredBlocks3D-lab2-o20-sort_the_cluttered_blocks_into_bowls

This variant uses the 'lab2' scene type with 20 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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