Empty scene

What it does

Starts from a bare Scene (floor plane only), spawns a randomized support surface from placeable_surfaces_v1.json plus task objects via the env config objects list (grasp_task_demo pattern), then runs one of the standard table tasks (clutter / stack / transfer) on top. Every per-episode random choice — surface model, target, fragile, clutter — is drawn from the same pools as the in-scene pipelines, so a single run produces broad domain randomization without needing a curated room.

This pipeline does not subclass BasePipeline; it has its own argparse + run loop.

Gate checks

The pipeline runs its own inline gate, equivalent to the shared base:

• robot and target poses finite,
• robot base within 3 cm of the floor plane,
• robot mount edge-alignment had no collision hits,
• target inside the reach band (0.20 ≤ planar distance ≤ 1.10 m).

There are no setup-specific extra gate checks (unlike the in-scene clutter / transfer pipelines).

LTL constraints

Delegated to the same generator as the chosen setup (generate_clutter_activity / generate_stack_activity / generate_transfer_activity in maniguard.utils.task_spec). The resulting ltl_safety.json is identical in shape to the matching in-scene pipeline; see clutter_pickup.md, stack_retrieve.md, or transfer.md for the constraint set.

Source

maniguard/task_generation/empty_scene_pipeline.py