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v0.2.0
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@mikeroberts3000 mikeroberts3000 released this 31 Mar 16:37
· 460 commits to main since this release
v0.2.0
1d2eaff

Precompiled binaries

Scene data

kujiale_0000

warehouse_0000

Changes

This release includes the following new user-facing features and improvements.

  • A large new photorealistic scene, warehouse_0000, which can be used to train industrial robots for warehouse applications.

image

  • A new agent, Fetch, that is capable of mobile manipulation tasks.
  • A new example application, open_loop_control_fetch, which demonstrates our Fetch agent performing a simple mobile manipulation task.

image

  • A new scene that is intended for debugging, starter_content_0000, which loads very quickly and is suitable for simple manipulation and navigation tasks.

image

  • Improved behavior when running the SpearSim executable with no additional arguments. The default behavior is now an interactive navigation mode, where a user can navigate around the kujiale_0000 scene.
  • A new command-line tool, run_executable, which launches SpearSim in interactive navigation mode and loads a user-specified scene.
  • An improved communication mechanism between the SpearSim executable and surrounding Python code, which more than doubles the overall frame rate when communicating large image observations.
  • An improved navigation policy that was trained using our imitation_learning_openbot example application to collect data.
  • Our macOS SpearSim executable is now correctly code-signed.
Assets 2
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