Workspaces

The environment setup is adjusted based on selected workspace. The origin of coordinate frame is always placed at the center of the top face of the robot’s stand, the positive x-axis points right from the robot, the positive y-axis points to the front from the robot. At each workspace, 5 cameras are initialized, watching the scene from the back, front, left, right and top.

Name	Type	Suitable tasks	Parameter value
Tabledesk	manipulation	Reach, Push, Pick, Place, PicknPlace	table
Drawer	manipulation	Reach, Pick, PicknPlace	drawer
Fridge	manipulation	Reach,Push, Open, Close, Pick	fridge
Baskets	manipulation	Throw, Hit	baskets
Darts	manipulation	Throw, Hit	darts
Football	manipulation	Throw, Hit	football
Collaborative table	collaboration	Give, Hold, Move together	collabtable
Vertical maze	planning	–	veticalmaze
Maze	navigation	–	maze
Stairs	navigation	–	stairs

Baskets

Collabtable

Darts

Football

Fridge

Maze

Stairs

Table

Verticalmaze