Fixtures

Fixtures#

We list here all supported fixtures that are currently supported in MimicLabs, and their respective configs for placement arrangements.

Credits to the authors of LIBERO for setting up the base assets that enabled us to expand on.

Cabinets#

Specifying cabinet placement#

You can specify the placement region of a cabinet as in the example below:

(:regions
    (cabinet_init_region
        (:target table)
        (:ranges (
                (-0.01 0.39 0.01 0.41)
            )
        )
        (:yaw_rotation (
                (0.0 0.0)
            )
        )
    )
)
(:fixtures
    table - table
    cabinet_1 - metal_cabinet
)

This initializes a metal_cabinet (named cabinet_1) in the xy range (-0.01 0.39 0.01 0.41) with respect to the table.

You can change type of cabinet by specifying in :fixtures a cabinet name from the following list of available cabinets:

  • colorful_cabinet

  • metal_cabinet

  • wooden_cabinet

  • white_cabinet

  • blue_cabinet

  • marble_cabinet

  • lava_cabinet

  • light_wood_cabinet

Specifying drawer within cabinets#

You can specify the drawer of significance for your task by stating the appropriate region in :regions as in the example below:

(:regions
    (cabinet_init_region
        (:target table)
        (:ranges (
                (-0.01 0.39 0.01 0.41)
            )
        )
        (:yaw_rotation (
                (0.0 0.0)
            )
        )
    )
    (top_region
        (:target cabinet_1)
    )
)
(:fixtures
    table - table
    cabinet_1 - metal_cabinet
)

This initializes a metal_cabinet instance with the top-drawer specified as top_region.

You can specify the drawer of interest by specifying one of the following regions for the 3-drawer cabinet:

  • top_region

  • middle_region

  • bottom_region

Microwaves#

Specifying microwave placement#

You can specify the placement region of a microwave as in the example below:

(:regions
    (microwave_init_region
        (:target table)
        (:ranges (
                (0.25 -0.01 0.30 0.01)
            )
        )
        (:yaw_rotation (
                (-1.65806 -1.48353)
            )
        )
    )
)
(:fixtures
    table - table
    microwave_1 - microwave
)

This initializes a microwave (named microwave_1) in the xy range (0.25 -0.01 0.30 0.01) and yaw range (-1.65806 -1.48353) with respect to the table.

You can change type of microwave by specifying in :fixtures a microwave name from the following list of available microwaves:

  • microwave

  • microwave_2

  • microwave_3

  • microwave_4

  • microwave_5

  • microwave_6

  • microwave_7

  • microwave_8

Specifying regions for microwaves#

You can specify the region of interest within the microwave for your task by stating the appropriate region in :regions as in the example below:

(:regions
    (microwave_init_region
        (:target table)
        (:ranges (
                (0.25 -0.01 0.30 0.01)
            )
        )
        (:yaw_rotation (
                (-1.65806 -1.48353)
            )
        )
    )
    (heating_region
        (:target microwave_1)
    )
)
(:fixtures
    table - table
    microwave_1 - microwave
)

This initializes a microwave instance with the heating region specified as heating_region.

You can specify the region of interest by specifying one of the following regions for the microwave:

  • heating_region - region inside the microwave

  • top_side - region above the microwave

Coffee Machine#

Specifying coffee machine placement#

You can specify the coffee machine in your task config as follows:

(:regions
    (coffee_machine_init_region
        (:target table)
        (:ranges (
                (-0.2 0.25 -0.1 0.35)
            )
        )
        (:yaw_rotation (
                (0.4 0.45)
            )
        )
    )
)
(:objects
    coffee_machine_1 - coffee_machine
)

This initializes a coffee_machine (named coffee_machine_1) in the xy range (-0.2 0.25 -0.1 0.35) and yaw range (0.4 0.45) with respect to the table.

We currently only support one coffee machine:

  • coffee_machine

Specifying regions within the coffee machine#

You can specify the region of interest within the coffee machine for your task by stating the appropriate region in :regions as in the example below:

(:regions
    (coffee_machine_init_region
        (:target table)
        (:ranges (
                (-0.2 0.25 -0.1 0.35)
            )
        )
        (:yaw_rotation (
                (0.4 0.45)
            )
        )
    )
    (pod_region
        (:target coffee_machine_1)
    )
)
(:objects
    coffee_machine_1 - coffee_machine
)

This initializes a coffee_machine instance with region where a pod is supposed to go specified as pod_region.

The coffee machine currently supports one region:

  • pod_region

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