Scene Presets¶

Scene presets are functions that return a SceneOptions with a ground plane (or a full room) already in it. The robot is the robot argument (left_robot / right_robot on the two-arm BimanualEmpty and LBMEval), and every other entity is a keyword argument named after it. The core presets are also exported as short names: en.scenes.Empty, BimanualEmpty, Tabletop, KitchenCountertop and LBMEval. The scenes and terrains guide covers scenes, objects and terrain.

import eden as en

# excerpted from eden/tasks/benchmark/reacher/config.py
scene_options = en.scenes.Empty(
    is_support_enabled=True,
    robot=en.robots.Yam(default_root_pos=(0.0, 0.0, 0.0), default_root_quat=(1.0, 0.0, 0.0, 0.0)),
)

Core presets¶

Empty scene presets (plane-only, single and bimanual).

These are factory functions, not SceneOptions subclasses: each returns a plain SceneOptions with the ground plane and robot(s) added as named children. A factory (rather than a builder __init__ on a subclass) keeps the saved/reconstructed type a base SceneOptions, so a config round-trips through validated load — a builder __init__ that takes non-persisted args (is_support_enabled/surface) and injects entities cannot be reconstructed from the serialized entity list.

Attributes¶

Classes¶

Functions:¶

EmptySceneOptions ¶

EmptySceneOptions(robot: EntityOptions, *, is_support_enabled: bool = False, surface: SurfaceLike | None = None, **entities: EntityOptions) -> SceneOptions

Basic scene with a robot and a ground plane.

PARAMETER	DESCRIPTION
`robot`	The robot entity configuration. TYPE: `EntityOptions`
`is_support_enabled`	Whether to enable support-surface tracking on the plane. TYPE: `bool` DEFAULT: `False`
`surface`	Surface for the plane, e.g. `PlasticSurfaceOptions(color=(1.0, 1.0, 1.0))`. TYPE: `SurfaceLike \| None` DEFAULT: `None`
`**entities`	Additional named entities to add to the scene. Passing `plane=` replaces the flat ground with that entity (e.g. `TerrainOptions`) under the same name. TYPE: `EntityOptions` DEFAULT: `{}`

Source code in eden/options/scenes/empty.py

def EmptySceneOptions(
    robot: EntityOptions,
    *,
    is_support_enabled: bool = False,
    surface: SurfaceLike | None = None,
    **entities: EntityOptions,
) -> SceneOptions:
    """Basic scene with a robot and a ground plane.

    Parameters
    ----------
    robot : EntityOptions
        The robot entity configuration.
    is_support_enabled : bool
        Whether to enable support-surface tracking on the plane.
    surface : SurfaceLike | None
        Surface for the plane, e.g. ``PlasticSurfaceOptions(color=(1.0, 1.0, 1.0))``.
    **entities : EntityOptions
        Additional named entities to add to the scene. Passing ``plane=`` replaces the flat
        ground with that entity (e.g. ``TerrainOptions``) under the same name.
    """
    ground = _ground(entities, is_support_enabled, surface)  # pops a `plane` override out of entities
    return SceneOptions(robot=robot, plane=ground, **entities)

BimanualEmptySceneOptions ¶

BimanualEmptySceneOptions(right_robot: EntityOptions, left_robot: EntityOptions, *, is_support_enabled: bool = False, surface: SurfaceLike | None = None, **entities: EntityOptions) -> SceneOptions

Basic bimanual scene with two robots and a ground plane.

PARAMETER	DESCRIPTION
`right_robot`	The right/left robot entity configurations. TYPE: `EntityOptions`
`left_robot`	The right/left robot entity configurations. TYPE: `EntityOptions`
`is_support_enabled`	Whether to enable support-surface tracking on the plane. TYPE: `bool` DEFAULT: `False`
`surface`	Surface for the plane. TYPE: `SurfaceLike \| None` DEFAULT: `None`
`**entities`	Additional named entities to add to the scene. Passing `plane=` replaces the flat ground with that entity (e.g. `TerrainOptions`) under the same name. TYPE: `EntityOptions` DEFAULT: `{}`

Source code in eden/options/scenes/empty.py

def BimanualEmptySceneOptions(
    right_robot: EntityOptions,
    left_robot: EntityOptions,
    *,
    is_support_enabled: bool = False,
    surface: SurfaceLike | None = None,
    **entities: EntityOptions,
) -> SceneOptions:
    """Basic bimanual scene with two robots and a ground plane.

    Parameters
    ----------
    right_robot, left_robot : EntityOptions
        The right/left robot entity configurations.
    is_support_enabled : bool
        Whether to enable support-surface tracking on the plane.
    surface : SurfaceLike | None
        Surface for the plane.
    **entities : EntityOptions
        Additional named entities to add to the scene. Passing ``plane=`` replaces the flat
        ground with that entity (e.g. ``TerrainOptions``) under the same name.
    """
    ground = _ground(entities, is_support_enabled, surface)  # pops a `plane` override out of entities
    return SceneOptions(
        right_robot=right_robot,
        left_robot=left_robot,
        plane=ground,
        **entities,
    )

Tabletop and kitchen-countertop scene options.

These are factory functions, not SceneOptions subclasses: each returns a plain SceneOptions with the table/countertop and ground plane added as named children, so a config round-trips through validated load (the saved/reconstructed type is a base SceneOptions).

Classes¶

Functions:¶

TabletopSceneOptions ¶

TabletopSceneOptions(robot: EntityOptions, *, plane: PlaneOptions | None = None, table: EntityOptions | None = None, **entities: EntityOptions) -> SceneOptions

Tabletop scene with a robot, a ground plane, and a work table.

PARAMETER	DESCRIPTION
`robot`	The entity configuration to be used for the robot. TYPE: `EntityOptions`
`plane`	The plane entity configuration (defaults to a bare :class:`PlaneOptions`). TYPE: `PlaneOptions \| None` DEFAULT: `None`
`table`	The table entity configuration (defaults to `work_table.obj`). TYPE: `EntityOptions \| None` DEFAULT: `None`
`**entities`	Additional named entities to add to the scene. TYPE: `EntityOptions` DEFAULT: `{}`

Source code in eden/options/scenes/tabletop.py

def TabletopSceneOptions(
    robot: EntityOptions,
    *,
    plane: PlaneOptions | None = None,
    table: EntityOptions | None = None,
    **entities: EntityOptions,
) -> SceneOptions:
    """Tabletop scene with a robot, a ground plane, and a work table.

    Parameters
    ----------
    robot : EntityOptions
        The entity configuration to be used for the robot.
    plane : PlaneOptions | None
        The plane entity configuration (defaults to a bare :class:`PlaneOptions`).
    table : EntityOptions | None
        The table entity configuration (defaults to ``work_table.obj``).
    **entities : EntityOptions
        Additional named entities to add to the scene.
    """
    return SceneOptions(
        robot=robot,
        plane=plane if plane is not None else PlaneOptions(),
        table=table if table is not None else _default_work_table(),
        **entities,
    )

KitchenCountertopSceneOptions ¶

KitchenCountertopSceneOptions(robot: EntityOptions, *, plane: PlaneOptions | None = None, countertop: EntityOptions | None = None, **entities: EntityOptions) -> SceneOptions

Kitchen countertop scene with a robot, a ground plane, and a countertop.

PARAMETER	DESCRIPTION
`robot`	The entity configuration to be used for the robot. TYPE: `EntityOptions`
`plane`	The plane entity configuration (defaults to a bare :class:`PlaneOptions`). TYPE: `PlaneOptions \| None` DEFAULT: `None`
`countertop`	The countertop entity configuration (defaults to `kitchen_counter.glb`). TYPE: `EntityOptions \| None` DEFAULT: `None`
`**entities`	Additional named entities to add to the scene. TYPE: `EntityOptions` DEFAULT: `{}`

Source code in eden/options/scenes/tabletop.py

def KitchenCountertopSceneOptions(
    robot: EntityOptions,
    *,
    plane: PlaneOptions | None = None,
    countertop: EntityOptions | None = None,
    **entities: EntityOptions,
) -> SceneOptions:
    """Kitchen countertop scene with a robot, a ground plane, and a countertop.

    Parameters
    ----------
    robot : EntityOptions
        The entity configuration to be used for the robot.
    plane : PlaneOptions | None
        The plane entity configuration (defaults to a bare :class:`PlaneOptions`).
    countertop : EntityOptions | None
        The countertop entity configuration (defaults to ``kitchen_counter.glb``).
    **entities : EntityOptions
        Additional named entities to add to the scene.
    """
    return SceneOptions(
        robot=robot,
        plane=plane if plane is not None else PlaneOptions(),
        countertop=countertop if countertop is not None else _default_kitchen_counter(),
        **entities,
    )

LBM-eval scene options.

Classes¶

Functions:¶

LBMEvalSceneOptions ¶

LBMEvalSceneOptions(left_robot: EntityOptions | None = None, right_robot: EntityOptions | None = None, plane: PlaneOptions | None = None, **kwargs: EntityOptions) -> SceneOptions

Bimanual scene built around the Riverway dual-Franka station.

The two arms default to :class:FrankaEmikaPanda. The scene re-poses them onto the station's left (+x site) and right (-y site) gantry base plates, orients each one so its forward (+x) points into the workspace (left=180° about z, right=90° about z), and applies a ±π/4 offset to joint1 (the base DOF) so the two arms splay away from each other at init instead of meeting in the middle of the table.

Returns a plain :class:SceneOptions (station + re-posed robots as named children) so the config round-trips through validated load.

Source code in eden/options/scenes/lbm_eval.py

def LBMEvalSceneOptions(
    left_robot: EntityOptions | None = None,
    right_robot: EntityOptions | None = None,
    plane: PlaneOptions | None = None,
    **kwargs: EntityOptions,
) -> SceneOptions:
    """Bimanual scene built around the Riverway dual-Franka station.

    The two arms default to :class:`FrankaEmikaPanda`. The scene re-poses them
    onto the station's left (+x site) and right (-y site) gantry base plates,
    orients each one so its forward (+x) points into the workspace
    (left=180° about z, right=90° about z), and applies a ±π/4 offset to
    ``joint1`` (the base DOF) so the two arms splay away from each other at
    init instead of meeting in the middle of the table.

    Returns a plain :class:`SceneOptions` (station + re-posed robots as named
    children) so the config round-trips through validated load.
    """
    if left_robot is None or right_robot is None:
        # Lazy import: a robot module loads the whole ``eden.options.robots`` package,
        # which this scene needs only for the default arms.
        from eden.options.robots.franka_emika_panda import FrankaEmikaPanda

        if left_robot is None:
            left_robot = FrankaEmikaPanda()
        if right_robot is None:
            right_robot = FrankaEmikaPanda()

    scene_kwargs: dict[str, EntityOptions] = {
        "station": LBMRiverwayStation(),
        "left_robot": left_robot.model_copy(
            update={
                "default_root_pos": LBM_LEFT_ROBOT_POS,
                "default_root_quat": LBM_LEFT_ROBOT_QUAT,
                "default_dofs_pos": _with_joint1_offset(left_robot, _LBM_LEFT_JOINT1_OFFSET),
            }
        ),
        "right_robot": right_robot.model_copy(
            update={
                "default_root_pos": LBM_RIGHT_ROBOT_POS,
                "default_root_quat": LBM_RIGHT_ROBOT_QUAT,
                "default_dofs_pos": _with_joint1_offset(right_robot, _LBM_RIGHT_JOINT1_OFFSET),
            }
        ),
    }
    if plane is not None:
        scene_kwargs["plane"] = plane
    return SceneOptions(**scene_kwargs, **kwargs)

Benchmark scenes¶

Scene constructors derived from benchmark environments. A scene preset alone is not a registered task; the task suites are documented under Tasks.

LIBERO¶

Reusable scene presets for the six LIBERO workspaces.

Attributes¶

Classes¶