Pick and Place on a Kitchen Countertop#
This example uses the agentic environment-generation system to infer an environment graph spec from a prompt
for pick and place atomic task on a kitchen countertop in the lightwheel_kitchen_one_wall_coastal background.
Environment Description#
The generated kitchen scene: a DROID arm standing on the floor next to the counter, a mustard bottle and a bowl on the countertop. The task is to pick up the mustard bottle and place it in the bowl.#
The agent picks out prims inside the kitchen background — a countertop surface and the floor — and emits them as
object_references. Arena’s relation solver then places the objects on the referenced countertop and the
robot on the floor next to it.
The generated spec for this example is available at
isaaclab_arena_environments/kitchen_bench/droid_pick_and_place_lightwheel_kitchen.yaml.
Workflow#
Prerequisites#
See Prerequisites for the environment and API key setup. The spec shown here depends on the model behind that endpoint — see Inference Model and Spec Quality.
Workflow Steps#
Follow the following steps to complete the workflow: