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The key is to define a robotic system of two G1 humanoids and a bedsheet made up of triangle polygons
Use Blender to generate a mesh for the bed, just a simple rectangular polygon that is 2 meters long, 1.8 meters wide and 0.5 meters tall
Use blender to generate a mesh for the bedsheet that is 2.2 meters long and 2 meters wide
The bedsheet can be a single plane, made of up triangles, to make it easier for MuJoCo to simulate "bedsheet physics"
The high level robotics system is a control robot, a worker robot, a bed object and a bed sheet object
The bed object loads in the center of the environment
The bed sheet object starts on the floor at the foot of the bed, randomly "dropped" so that MuJoCo can use "bedsheet physics" to start the sheet in a crumpled heap on the floor
The control and worker robots start half a meter on the left and right side of the bed, respectively
First pass is to have the worker robot always try to do any task itself, and then ask the worker robot for help when it get's "stuck"
An example of a high level task is "make the bed"
Lower level tasks are as follows, in order of execution:
find a bedsheet corner
position a bedsheet corner over the farthest corner of the bed from where the bedsheet was picked up
run hand along bedsheet edge to find the next corner
position the next bedsheet corner over an adjacent corner of the bed
iterate until all four corners of the bedsheet are placed over a corner of the bed
Ask for help from the worker robot, if any already placed corners start to move, the worker should attempt to hold an already correctly placed corner in place
Issue: Figure AI asked for help getting two humanoids to make a bed
Fix:
Make an AWS Strands Robots MuJoCo simulator demo of two humanoid robots making a bed
Build on top of the Unitree G1 EDU MuJoCo demo in this repo:
https://github.com/armwaheed/robots/blob/unitree-g1-humanoid-simulation/README.unitree-g1-humanoid-simulation.md
The key is to define a robotic system of two G1 humanoids and a bedsheet made up of triangle polygons
Use Blender to generate a mesh for the bed, just a simple rectangular polygon that is 2 meters long, 1.8 meters wide and 0.5 meters tall
Use blender to generate a mesh for the bedsheet that is 2.2 meters long and 2 meters wide
The bedsheet can be a single plane, made of up triangles, to make it easier for MuJoCo to simulate "bedsheet physics"
The high level robotics system is a control robot, a worker robot, a bed object and a bed sheet object
The bed object loads in the center of the environment
The bed sheet object starts on the floor at the foot of the bed, randomly "dropped" so that MuJoCo can use "bedsheet physics" to start the sheet in a crumpled heap on the floor
The control and worker robots start half a meter on the left and right side of the bed, respectively
First pass is to have the worker robot always try to do any task itself, and then ask the worker robot for help when it get's "stuck"
An example of a high level task is "make the bed"
Lower level tasks are as follows, in order of execution:
You may have to animate the hands and fix other issues, outlined in issue Clean up Unitree G1 MuJoCo simulator scene and whole-body pickup behavior #1