R07.09.01.03 · 任务小类

仿真场景搭建

Simulation scene setup

Build physics scenes with robots, objects, sensors and lighting.

20 条本项目编写的提案 · 分类 v1.1 · 新增基准运行 0 次。下方验证方式与部分得分规则是设计，不是执行结果。

典型应用: Isaac Sim · Gazebo · MuJoCo
小类 GUI 需求标签: G2 · GUI 必要

任务提案 · 20

展开查看完整原文与建议检查方式；两种界面均保留提案英文原文。

R07.09.01.03-T01 Set up a Franka tabletop scene with three rigid cubes in Isaac Sim

原始指令

In Isaac Sim, create a stage with a ground plane, a dome light (intensity 1000), a Franka at the origin and three 5 cm cubes with rigid bodies and colliders at (0.4,0,0.025), (0.4,0.1,0.025), (0.5,-0.1,0.025) m. Press Play for 2 s, stop, and save output/franka_cubes.usd.

平台: lin · Linux win · Windows
应用: Isaac Sim
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 type · 文字与表单 geom · 精确几何
工作产物: WP04 · 三维 / 空间模型
条件: 未声明
提案难度: 2 / 5

建议验证方式

Grader opens the USD with usd-core: prims, RigidBodyAPI and CollisionAPI present, cube poses within 2 mm, light intensity exact; a headless rerun keeps cubes resting (<2 mm drift). Script Editor and Kit Python console are disabled; omni.kit command log must show only UI-origin commands.

建议部分得分

25% ground/light/robot; 45% cubes with physics at right poses; 30% stable after play and saved.

R07.09.01.03-T02 Insert models into a Gazebo world and save the SDF

原始指令

In Gazebo Harmonic GUI, open fixtures/empty_lab.sdf, insert three boxes (0.5 m cube) at (2,0), (2,1.5), (-1,2) on the ground, add the 'TurtleBot 4' Fuel model at the origin facing +Y, and save the world as output/lab_obstacles.sdf.

平台: lin · Linux mac · macOS
应用: Gazebo
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 drag · 拖放 geom · 精确几何
工作产物: WP04 · 三维 / 空间模型
条件: 未声明
提案难度: 3 / 5

建议验证方式

Grader parses the SDF: 3 box models with size 0.5 and poses within 2 cm, z resting on ground; TurtleBot model included with yaw 90+/-3 deg; world loads headless without errors. Agent has no terminal; gz service/topic calls from outside the GUI are logged and fail.

建议部分得分

45% boxes correct; 35% robot pose; 20% world saved and loads.

R07.09.01.03-T03 Read a joint angle after setting an actuator slider in MuJoCo

原始指令

Open fixtures/humanoid.xml in MuJoCo 'simulate'. Reset, set the actuator 'right_knee' control slider to 0.5 (others 0), run for exactly 2.0 s of simulation time, pause, and write the right_knee joint angle in degrees (1 decimal) to output/answer.txt.

平台: mac · macOS win · Windows lin · Linux
应用: MuJoCo
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: G3 · 仅 GUI
交互原语: drag · 拖放 click · 指向与点击
工作产物: WP12 · 答案 / 决策
条件: 未声明
提案难度: 2 / 5

建议验证方式

Grader replays the same controls in MuJoCo headless and compares the angle (+/-1.0 deg); simulate's saved key/history file must show the control slider set via UI. The agent VM has no terminal and no MuJoCo Python bindings, so the angle can only be read in simulate.

建议部分得分

30% correct actuator and value; 30% stopped at 2.0 s; 40% angle within tolerance.

R07.09.01.03-T04 Mount a wrist RGB-D camera with set intrinsics and a ROS 2 bridge

原始指令

In fixtures/ur10_cell.usd (Isaac Sim), attach an RGB-D camera to the UR10 tool0 frame 5 cm along Z, set resolution 1280x720 and focal/aperture to match input/camera_intrinsics.yaml, and use the ROS 2 Camera Helper action graph to publish RGB, depth and camera_info at 30 Hz. Save the stage.

平台: lin · Linux win · Windows
应用: Isaac Sim · ROS 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 type · 文字与表单 geom · 精确几何
工作产物: WP04 · 三维 / 空间模型
条件: 未声明
提案难度: 4 / 5

建议验证方式

Grader loads the USD: camera prim under tool0 with offset within 1 mm; derived fx, fy, cx, cy within 0.5 px of the YAML; headless run publishes the 3 topics at 30+/-2 Hz with matching camera_info. Script Editor and Kit Python console are disabled; omni.kit command log must show only UI-origin commands.

建议部分得分

25% camera mounted correctly; 30% intrinsics; 30% ROS 2 graph publishing; 15% rate.

R07.09.01.03-T05 Lay out a warehouse aisle in Gazebo from a floor sketch

原始指令

In Gazebo, build the warehouse aisle in input/aisle_layout.png: 8 shelf units (Fuel model 'Warehouse Shelf'), two rows facing each other with a 2.4 m aisle, a pallet jack at the aisle end and 4 pallets on the floor positions shown. Save output/aisle.sdf.

平台: lin · Linux mac · macOS
应用: Gazebo
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: drag · 拖放 geom · 精确几何 vis · 视觉判断
工作产物: WP04 · 三维 / 空间模型
条件: 未声明
提案难度: 3 / 5

建议验证方式

Grader parses SDF: model counts exact; shelf poses within 5 cm/3 deg of reference layout; aisle width 2.4+/-0.05 m; no interpenetrating models (bounding-box check). Agent has no terminal; gz service/topic calls from outside the GUI are logged and fail.

建议部分得分

20% counts; 45% shelf layout; 20% pallets and jack; 15% no overlaps.

R07.09.01.03-T06 Tune ramp friction in Isaac Sim so a box stops in a target zone

原始指令

In fixtures/ramp.usd, a 20 deg ramp leads to a floor with a marked 30 cm target zone. Assign physics materials (static/dynamic friction, restitution 0) to the ramp and floor so the released 2 kg box slides down and comes to rest fully inside the zone. Save the stage.

平台: lin · Linux win · Windows
应用: Isaac Sim
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 type · 文字与表单 vis · 视觉判断
工作产物: WP11 · 游戏 / 仿真状态
条件: 未声明
提案难度: 4 / 5

建议验证方式

Grader reruns physics headless 5 times: box rests inside the zone in all runs, final velocity <1 mm/s; materials bound to the ramp and floor prims only. Script Editor and Kit Python console are disabled; omni.kit command log must show only UI-origin commands.

建议部分得分

20% materials assigned; 20% box slides; 60% rests in zone (pro-rata over runs).

R07.09.01.03-T07 Build a settled bin-picking scene with 20 parts in Isaac Sim

原始指令

In Isaac Sim, create a bin (fixtures/bin.usd) on a table, drop 20 instances of input/bracket.usd at random orientations above it, simulate until they settle, freeze them as static poses, add three rect lights and an overhead camera framing the bin, and save output/bin_scene.usd.

平台: lin · Linux win · Windows
应用: Isaac Sim
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 drag · 拖放 geom · 精确几何 vis · 视觉判断
工作产物: WP04 · 三维 / 空间模型
条件: long · 长流程
提案难度: 5 / 5

建议验证方式

Grader: 20 part prims all inside bin volume, no pairwise penetration >1 mm, positions not on a grid (orientation entropy check), camera frustum contains the whole bin (projection test), 3 lights present. Script Editor and Kit Python console are disabled; omni.kit command log must show only UI-origin commands.

建议部分得分

35% 20 settled parts inside bin; 20% no penetration; 25% camera framing; 20% lights.

R07.09.01.03-T08 Create an e-puck arena world in Webots

原始指令

In Webots, create a new world with a 1x1 m rectangle arena, four 0.1 m high walls, a point light at (0,0,1), an e-puck at (-0.3,-0.3) facing +X running the 'braitenberg' controller, and 5 small cylinders at the positions in input/obstacles.csv. Save output/arena.wbt.

平台: mac · macOS win · Windows lin · Linux
应用: Webots
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 drag · 拖放 geom · 精确几何
工作产物: WP04 · 三维 / 空间模型
条件: 未声明
提案难度: 3 / 5

建议验证方式

Grader parses the .wbt: arena size, wall height, light, e-puck pose (2 cm/3 deg) and controller name, 5 cylinders within 1 cm; world runs 10 s headless without errors. Agent has no terminal or text editor; the .wbt must be saved by the Webots GUI (editor header/version), and writes to it by any other process are detected via the file audit log.

建议部分得分

20% arena and walls; 30% robot and controller; 35% obstacles; 15% runs.

R07.09.01.03-T09 Write the Franka cube scene in MJCF (control pair of T01)

原始指令

Control pair of T01: with no GUI, write output/franka_cubes.xml in MJCF that includes fixtures/franka_panda.xml, a ground plane, a directional light and the three 5 cm free-joint cubes at the T01 positions. Simulate 2 s headless and save the final qpos to output/qpos.npy.

平台: mac · macOS win · Windows lin · Linux
应用: MuJoCo · Python
交互表面: term · 终端
GUI 需求 · 任务设定: CL · CLI 足够
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: code · 代码与命令
工作产物: WP04 · 三维 / 空间模型
条件: 未声明
提案难度: 3 / 5

建议验证方式

Control pair of T01: grader loads the MJCF: bodies, sizes and positions within 2 mm; cubes rest (<2 mm drift after 2 s); qpos.npy matches grader rerun.

建议部分得分

40% cubes correct; 30% stable; 30% qpos matches.

R07.09.01.03-T10 Import a URDF arm with tuned joint drives in Isaac Sim

原始指令

Import input/arm7.urdf with the Isaac Sim URDF importer as a fixed-base articulation, set each joint's drive stiffness and damping from input/drive_gains.csv, set the initial joint targets to the 'home' pose, play 5 s and save output/arm7.usd. The arm must hold home within 1 deg under gravity.

平台: lin · Linux win · Windows
应用: Isaac Sim
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 type · 文字与表单
工作产物: WP04 · 三维 / 空间模型
条件: 未声明
提案难度: 4 / 5

建议验证方式

Grader opens USD: articulation root on base, fixed joint to world, drive gains per joint exact, targets equal home; headless 5 s run shows every joint within 1 deg of home. Script Editor and Kit Python console are disabled; omni.kit command log must show only UI-origin commands.

建议部分得分

20% import settings (fixed base); 40% drive gains; 20% targets; 20% holds pose.

R07.09.01.03-T11 Light an Isaac Sim scene to a target exposure

原始指令

In fixtures/product_table.usd, set up a dome light with input/studio.hdr and two rect lights so the render from camera '/World/Cam' has mean luminance between 0.40 and 0.50 and fewer than 1% clipped pixels, with the product's shadow falling to the left. Save the stage and render output/render.png.

平台: lin · Linux win · Windows
应用: Isaac Sim
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 type · 文字与表单 vis · 视觉判断
工作产物: WP04 · 三维 / 空间模型
条件: 未声明
提案难度: 3 / 5

建议验证方式

Grader re-renders from the saved stage: mean luminance in range, clipped <1%, shadow centroid left of product centroid; render.png SSIM >=0.9 to grader render. Script Editor and Kit Python console are disabled; omni.kit command log must show only UI-origin commands.

建议部分得分

40% luminance range; 20% clipping; 20% shadow direction; 20% consistent saved render.

R07.09.01.03-T12 Assemble a three-robot Gazebo world with namespaced bridges and an actor

原始指令

Create output/multi_robot.sdf in Gazebo with three differential-drive robots (namespaces r1-r3, each with a 2D lidar at 10 Hz), a walking actor following the waypoints in input/actor_path.csv in a loop, and a ros_gz_bridge config output/bridge.yaml exposing each robot's /scan, /odom and /cmd_vel.

平台: lin · Linux
应用: Gazebo · ROS 2
交互表面: desk · 桌面 GUI term · 终端
GUI 需求 · 任务设定: HY · 混合
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 drag · 拖放 code · 代码与命令
工作产物: WP04 · 三维 / 空间模型
条件: long · 长流程
提案难度: 5 / 5

建议验证方式

Grader launches the world and bridge headless: 9 namespaced topics exist with correct types, lidar rates 10+/-1 Hz, actor positions at sampled times within 10 cm of the waypoint path, robots spawn without collision.

建议部分得分

30% robots and sensors; 30% bridge topics; 25% actor path; 15% clean spawn.

R07.09.01.03-T13 Build a conveyor sorting scene in CoppeliaSim

原始指令

In CoppeliaSim, build a scene with a conveyor (0.2 m/s), a proximity sensor 1.0 m along the belt, a UR5 with suction pad beside it and a box spawning every 4 s at the belt start. Save output/sorting.ttt. Logic may stay unimplemented; geometry and object hierarchy must be correct.

平台: mac · macOS win · Windows lin · Linux
应用: CoppeliaSim
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: drag · 拖放 click · 指向与点击 geom · 精确几何
工作产物: WP04 · 三维 / 空间模型
条件: 未声明
提案难度: 3 / 5

建议验证方式

Grader loads the .ttt via the CoppeliaSim remote API in a clean instance: conveyor velocity, sensor pose (2 cm), UR5 with suction pad attached to the tip, spawner script present; 10 s run spawns 2-3 boxes. In the agent's CoppeliaSim instance the ZMQ remote API add-on and the Lua/Python commander are disabled, so objects can only be built in the GUI.

建议部分得分

30% conveyor and sensor; 30% robot with pad; 20% spawner; 20% scene runs.

R07.09.01.03-T14 Generate a 2D occupancy map of a warehouse scene in Isaac Sim

原始指令

In fixtures/small_warehouse.usd, place 5 pallets at the positions in input/obstacles.csv, then use the Occupancy Map extension to generate a map at 0.05 m resolution with origin (-10,-10) covering 20x20 m at 0.1-0.6 m height, and export output/map.png and output/map.yaml (ROS map_server format).

平台: lin · Linux win · Windows
应用: Isaac Sim
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 type · 文字与表单 geom · 精确几何
工作产物: WP04 · 三维 / 空间模型
条件: 未声明
提案难度: 4 / 5

建议验证方式

Grader: pallet poses within 2 cm; map.yaml resolution/origin exact; map.png IoU of occupied cells >=0.95 vs grader-generated map. Script Editor and Kit Python console are disabled; omni.kit command log must show only UI-origin commands.

建议部分得分

30% pallets placed; 20% map parameters; 50% map IoU.

R07.09.01.03-T15 Set Mars gravity and physics step in a Gazebo world

原始指令

Open fixtures/rover_flat.sdf in Gazebo, set gravity to (0,0,-3.71), max step size 0.001 s and real-time factor 1.0 using the GUI component inspector, and save as output/rover_mars.sdf.

平台: lin · Linux mac · macOS
应用: Gazebo
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 type · 文字与表单
工作产物: WP08 · 应用 / 系统状态
条件: 未声明
提案难度: 2 / 5

建议验证方式

Grader parses SDF physics and gravity values exactly; all other elements unchanged (canonical XML diff). Agent has no terminal; gz service/topic calls from outside the GUI are logged and fail.

建议部分得分

60% physics values exact; 40% no collateral changes.

R07.09.01.03-T16 Pose a checkerboard for camera calibration renders in Isaac Sim

原始指令

In fixtures/calib_cell.usd, place the 9x6 checkerboard (input/checker.usd) at 5 distinct poses in front of '/World/Cam' (tilts of at least 20 deg in two axes across poses, board filling 20-60% of the frame) and render one image per pose to output/calib_##.png.

平台: lin · Linux win · Windows
应用: Isaac Sim
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: drag · 拖放 geom · 精确几何 vis · 视觉判断
工作产物: WP04 · 三维 / 空间模型
条件: 未声明
提案难度: 4 / 5

建议验证方式

Grader runs OpenCV findChessboardCorners on each image (must succeed on all 5), computes board coverage fraction and pose diversity from the saved stage variants; calibrateCamera reprojection error <0.5 px. Script Editor and Kit Python console are disabled; omni.kit command log must show only UI-origin commands.

建议部分得分

40% boards detected; 20% coverage range; 20% pose diversity; 20% calibration quality.

R07.09.01.03-T17 Configure physics options in MuJoCo simulate and save the model

原始指令

Load fixtures/block_stack.xml in MuJoCo simulate. Using the Physics panel, set timestep 0.002, integrator implicitfast, friction cone elliptic and noslip iterations 5, then use 'Save xml' to write output/block_stack_tuned.xml. Run 3 s and confirm the stack does not topple.

平台: mac · macOS win · Windows lin · Linux
应用: MuJoCo
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 type · 文字与表单
工作产物: WP04 · 三维 / 空间模型
条件: 未声明
提案难度: 3 / 5

建议验证方式

Grader parses the saved XML option values exactly; headless 3 s run keeps all blocks within 5 mm of start; the agent VM has no terminal or MuJoCo Python bindings, so the file must come from simulate's Save XML (generated header checked; hand edits of the input fail).

建议部分得分

60% options exact; 20% saved via simulate; 20% stack stable.

R07.09.01.03-T18 Build a measured digital twin of a lab cell in Isaac Sim

原始指令

Using input/cell_survey.xlsx (measured positions) and photos input/cell_cam*.jpg, build the cell in Isaac Sim: table, UR5e on its pedestal, two fixtures, a parts tray and the ceiling camera. Place each within 1 cm of survey values and tune the camera pose so its render overlays the reference photo edges.

平台: lin · Linux win · Windows
应用: Isaac Sim · Excel
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: drag · 拖放 geom · 精确几何 vis · 视觉判断 multi · 跨应用
工作产物: WP04 · 三维 / 空间模型
条件: long · 长流程 multiapp · 多应用
提案难度: 5 / 5

建议验证方式

Grader: object poses within 1 cm/2 deg of survey; render from the saved camera vs reference photo edge map IoU >=0.6 (partial from 0.4). Script Editor and Kit Python console are disabled; omni.kit command log must show only UI-origin commands.

建议部分得分

40% object poses; 20% hierarchy and scale; 40% camera overlay IoU.

R07.09.01.03-T19 Create a heightmap terrain world and spawn a rover on it in Gazebo

原始指令

In Gazebo, create a world with the heightmap input/dem.png scaled to 100x100x10 m, a sun with shadows, and the Fuel rover 'X2 UGV' placed at (10,20) resting on the terrain with no penetration. Save output/terrain.sdf.

平台: lin · Linux mac · macOS
应用: Gazebo
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 drag · 拖放 geom · 精确几何
工作产物: WP04 · 三维 / 空间模型
条件: 未声明
提案难度: 3 / 5

建议验证方式

Grader parses SDF: heightmap size exact, sun cast_shadows true; headless 3 s settle shows rover wheels in contact and base height change <5 cm. Agent has no terminal; gz service/topic calls from outside the GUI are logged and fail.

建议部分得分

35% heightmap configured; 15% sun; 50% rover placed and stable.

R07.09.01.03-T20 Set up a conveyor that delivers boxes in a timed window in Isaac Sim

原始指令

In fixtures/line.usd, use the Conveyor extension to create a 1.8 m belt at 0.3 m/s along +X, add a box emitter at the belt start and a stop plate at the end. Each box must reach the stop plate 6.0+/-0.3 s after spawning. Save output/line_conveyor.usd.

平台: lin · Linux win · Windows
应用: Isaac Sim
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 type · 文字与表单 geom · 精确几何
工作产物: WP11 · 游戏 / 仿真状态
条件: 未声明
提案难度: 3 / 5

建议验证方式

Grader runs 20 s headless: belt speed 0.3 m/s, at least 3 boxes spawned, each arrival time 6.0+/-0.3 s, boxes stay on belt. Script Editor and Kit Python console are disabled; omni.kit command log must show only UI-origin commands.

建议部分得分

30% belt geometry and speed; 20% emitter; 50% arrival timing.

已有研究映射

以下沿用研究目录中的基准与小类映射，不是逐题标注、执行记录或产品背书。

Agents' Last Exam (ALE)

仿真场景搭建

任务提案 · 20

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建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

已有研究映射

同工作流族的小类