Demo Gallery#
A gallery of FGManip task examples showcasing fine-grained manipulation benchmarks.
AssemblingKits-v1#
Task Card
Task Description: The robot must pick up one of the misplaced shapes on the board/kit and insert it into the correct empty slot.
Randomizations:
the kit geometry is randomized, with different already inserted shapes and different holes affording insertion of specific shapes. (during reconfiguration)
the misplaced shape's geometry is sampled from one of 20 different shapes. (during reconfiguration)
the misplaced shape is randomly spawned anywhere on top of the board with a random z-axis rotation
Success Conditions:
the misplaced shape is inserted completely into the correct slot
Task Card 01#
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Task Card 02#
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Task Card 03#
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Task Card 04#
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Task Card 05#
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Task Card 06#
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Task Card 07#
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Task Card 08#
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Task Card 09#
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Task Card 10#
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