Pick and Place atomic task with heterogeneous objects#
This example uses the agentic environment-generation system to infer an environment graph spec from a prompt for pick and place atomic task with heterogeneous objects for table-top manipulation.
Environment Description#
The generated table-top scene: a DROID arm, a bowl and a fruit sampled per environment from a set of fruit assets. The task is to pick up the fruit and place it into the bowl.#
A DROID arm stands at a maple table, picks up a fruit and places it into a bowl on the table.
The scene is heterogeneous because each parallel environment spawns a
different fruit, while the embodiment, background scene, spatial relationships
and task stay the same. The fruit is declared as an object set: a group of
interchangeable assets under a single id, distributed one member per
environment. Running with --num_envs 1 shows a single fruit, so raise
--num_envs to see the variation.
The generated spec for this example is available at
isaaclab_arena_environments/maple_table_top/droid_pick_fruit_into_bowl_maple_table.yaml.
Workflow#
Prerequisites#
See Prerequisites for the container and API key setup shared by every agentic environment-generation workflow.
Workflow Steps#
Follow the following steps to complete the workflow: