Data Generation

Here we provide the guide for regenerating the RLBench2 dataset with object 6d pose metadata.

Environment

Please refer to INSTALLATION.md for environment configuration. (Please use my RLBench2 repo.)

Specify the task name and object name

1. Task Name

The script to generate the data is PPI/scripts/data_generation/generator_meta_data.sh. Change the tasks parameter to the task name you want to generate the data for. Also, specify the save_path parameter to the path to save the generated data and episodes_per_task parameter to the number of episodes you want to generate for each task.

2. Object Name

The object name is specified in the line 366 in RLBench/rlbench/backend/scene_gen.py. For example, for the bimanual_lift_ball task, the object name is ball.

The following is the mapping between the task name and the object name:

bimanual_handover_item_easy: object_nh = Shape('item')
bimanual_lift_ball: object_nh = Shape('ball')
bimanual_lift_tray: object_nh = Shape('tray')
bimanual_push_box: object_nh = Shape('cube')
bimanual_put_item_in_drawer: object_nh = Shape('item')
bimanual_sweep_to_dustpan: object_nh = Shape('broom')
bimanual_pick_laptop: object_nh = Shape('lid')

To get the object name for other tasks, you may refer to the task files under the RLBench/rlbench/bimanual_tasks directory.

Run the script

bash PPI/scripts/data_generation/generate_meta_data.sh