stacking_blocks_ambiguous/scene.yaml

schema_version: '1.0'
category: a
name: stacking_blocks_ambiguous
description: ARX L5 arm, a white mat on the left and a black mat on the right of the
  third_person view. A magenta cross lies flush on the white mat. Three blocks (red,
  green, blue) start at random non-overlapping poses on the black mat and must be
  stacked on the cross. The instruction never states the order; the order used is
  recorded in the executed_order attribute.
instruction_templates:
  all_episodes: Stack the blocks from the black mat to the white mat at the cross
    position.
tasks:
  1:
    episodes: 240
    blocks:
    - red
    - green
    - blue
    orders:
    - red-green-blue
    - red-blue-green
    - green-red-blue
    - green-blue-red
    - blue-red-green
    - blue-green-red
    episodes_per_order: 40
order_assignment: ORDERS[(episode_id - 1) % 6]; a partial run stays balanced
randomization:
  cross_center:
    region: centred square of side 0.1 m on the white mat
    white_mat_center:
    - 0.25
    - -0.135
    distribution: uniform
  block_xy:
    region: black mat, inset by SPAWN_MARGIN
    black_mat_center:
    - 0.25
    - 0.135
    half_extent:
    - 0.077
    - 0.067
    min_center_gap_m: 0.07
    distribution: uniform with rejection; whole set resampled if stranded
    sampled_in: canonical color order (red, green, blue, yellow)
  block_yaw_rad:
  - -0.7853981633974483
  - 0.7853981633974483
seed_formula: seed = 100_000_000*category_code + 1_000_000*task_id + episode_id +
  10_000*attempt, category_code = {a:1, b:2, c:3}; rng = numpy.random.default_rng(seed)
split_rule: episode_id % 10 == 0 -> val, else train