Fixtures

MESA Fixtures

We use the following fixtures in our tasks. Each one has hundreds of variants generated by iterating over the textures available in the assets folder.

• microwave, a microwave

• cabinet, a cabinet with three drawers

• slide_cabinet, a cabinet with a door that slides horizontally

• sliding_top_box, a box with a top that slides horizontally. This box rotates freely, necessitating pusing motions in all directions to open and close

Included Fixtures

Our framework supports a variety of fixtures that we decided not to include in the MESA tasks, but are fully supported by our task generation pipeline. Please refer to the mesa/sim/envs/objects file for the full list.