Scenarios¶

Scenarios are pre-defined challenges that test different aspects of robot control. Each scenario has specific objectives, scoring criteria, and constraints.

Available Scenarios¶

Scenario	Difficulty	Description	Status
Messy Room	Medium	Clean up scattered items in a room	Active
Object Sorting	Easy	Sort objects by color into bins	Coming Soon
Block Stacking	Hard	Stack blocks in the correct order	Coming Soon

Difficulty Levels¶

Easy: Good for beginners, simple objectives, forgiving scoring
Medium: Requires planning and coordination
Hard: Complex manipulation, precise timing, multi-step reasoning

Common Concepts¶

Observations¶

Every scenario provides observations to your policy:

observation = {
    'robot_state': np.array([...]),      # Joint positions, velocities
    'object_positions': np.array([...]), # XYZ of each object
    'target_positions': np.array([...]), # Goal positions (if applicable)
    'gripper_state': float,              # Gripper openness (0-1)
    'time_remaining': float,             # Seconds left
}

Actions¶

Policies return a 7D action vector:

action = np.array([
    vx,      # X velocity (-1 to 1)
    vy,      # Y velocity (-1 to 1)
    vz,      # Z velocity (-1 to 1)
    roll,    # Roll velocity (-1 to 1)
    pitch,   # Pitch velocity (-1 to 1)
    yaw,     # Yaw velocity (-1 to 1)
    gripper  # Gripper command (-1=close, 1=open)
])

Scoring¶

Each scenario defines its own scoring criteria, but common factors include:

Task Completion: Did the robot achieve the objective?
Efficiency: How quickly was the task completed?
Safety: Were there collisions or drops?

Time Limits¶

All scenarios have a maximum episode length. Your policy should:

Prioritize the most important objectives
Not spend too long on any single subtask
Handle the time_remaining observation appropriately

Writing a Good Policy¶

Understand the Objective: Read the scenario documentation carefully
Start Simple: Get a basic working policy before optimizing
Test Locally: Use the SDK to run simulations on your machine
Iterate: Watch videos to understand failure modes

See the Writing Policies guide for more tips.