How to specify which objects to manipulate in pick and move tasks

[MasterXiong]

Hi,

I was wondering how can I specify which object(s) to manipulate in the pick objects and move A to B tasks? Based on my understanding of the code, the candidate set of possible objects are defined like here. Then I should change the options input to the reset function to specify which object(s) to use in the environment. Is my understanding correct? Thanks!

[xuanlinli17]

The two envs have different initialization mechanisms. move A to B uses episode-based randomization, so you can do so by passing in episode_id like

SimplerEnv/simpler_env/evaluation/maniskill2_evaluator.py

Line 82 in 0b13b69

env_reset_options["obj_init_options"] = {

. For pick objects , you can do so by passing in different seeds in the options

[MasterXiong]

Thanks a lot! A further question is that it seems that only a subset of objects or triplets of objects are used for the pick and move tasks (like here and here). I was wondering that how are these task configurations chosen? Are they chosen to reflect the objects that are seen in the OXE demos? If that's the case, can I add more configurations to test out-of-distribution generalization to unseen objects or triplets in OXE? Thanks!

[xuanlinli17]

These are not necessarily seen by OXE demos; they are just randomly chosen.

[MasterXiong]

Thanks! Where can I find a full list of all the possible objects supported in simpler for picking and moving tasks then?

[xuanlinli17]

Checkout these json files at https://github.com/simpler-env/ManiSkill2_real2sim/tree/cd45dd27dc6bb26d048cb6570cdab4e3f935cc37/data/custom which are loaded in the envs