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huangwl18 / ReKep

ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
https://rekep-robot.github.io/
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Add more simulation tasks #21

Open XiaohanLei opened 2 weeks ago

XiaohanLei commented 2 weeks ago

Thanks for your excellent work! I have a question regarding adding more simulation tasks.

Where does the og_scene_file_pen.json come from? If I want to test the algorithm with diverse tasks, how can we do that? I know that the simulator is based on OmniGibson, but I'm curious about whether is there any connection between the og_scene_file_pen.json with BEHAVIOUR-1K.

Any help will be appreciated!

goodrain553 commented 2 weeks ago

I check the .json file again. I guess the first part of the file is about those objects to set up the environment. And I m sure that the second part of json file is about those little objects like pen. And the type of object is DataObject, that means these objects are in-built objects in BEHAVIOUR-1K. If you wanna know more, you should check the documentation of Omnigibson