/Tabletop-Sim

Primary LanguagePythonMIT LicenseMIT

Tabletop-SIM: Extended Simulation for ACT or other IL methods

This repo contains the implementation of simulation from Original ACT, added more simulation.

Installation

pip install -r requirements.txt
pip install -e .

Simulated experiments

List of sims:

  1. sim_transfer_cube_scripted
  2. sim_insertion_scripted
  3. sim_clean
  4. sim_onearm_clean

To generated 50 episodes of scripted data, run:

    cd scripts
    python3 record_sim_episodes.py \
    --task_name sim_clean \
    --dataset_dir <data save dir> \
    --num_episodes 50

or for onearm task,

    cd scripts
    python3 record_sim_episodes_onearm.py \
    --task_name sim_onearm_clean \
    --dataset_dir <data save dir> \
    --num_episodes 50

To can add the flag --onscreen_render to see real-time rendering. To visualize the episode after it is collected, run

    cd scripts
    python3 visualize_episodes.py --dataset_dir <data save dir> --episode_idx 0

Simulation in detail

sim_clean

There are 8 objects in total. Order and position of objects are all randomized.

sim_clean.mp4

sim_onearm_clean

There are 4 objects in total. Order and posistion of objects are all randomized. Language annotation included.

sim_onearm_clean.mp4