This repo contains the implementation of simulation from Original ACT, added more simulation.
pip install -r requirements.txt
pip install -e .
List of sims:
sim_transfer_cube_scripted
sim_insertion_scripted
sim_clean
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
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.