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7399b6f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 | """Push a block to a target region WITHOUT grasping it (RLBench slide_block_to_target)."""
from ..registry import register_task
from ..envs import YamTaskEnv
from ..solvers import push
from .. import conditions as C
@register_task("push_block")
class PushBlockTask(YamTaskEnv):
title = "PUSH BLOCK TO TARGET (no grasp)"
tags = ["push", "contact-rich", "no-grasp", "primitive"]
instruction = {"default": "Push the block onto the green square."}
block_spawn = (0.02, 0.12)
spawn_jitter = (0.02, 0.015)
target_xy = (0.02, -0.06)
target_size = 0.10
gripper_effort, gripper_damping = 75, 85
def _load_scene(self):
self.scene.build_marker({"name": "target", "xy": self.target_xy, "size": self.target_size,
"xy_jitter": (0.015, 0.015)})
self._placed = [self.scene.place_object(
{"name": "cube_r", "xy": self.block_spawn, "xy_jitter": self.spawn_jitter})]
def solve(self):
return push.solve(self, obj="cube_r", target="target")
def evaluate(self):
return self.check(C.labelled("block on the target",
C.object_moved_to("cube_r", "target", tol=0.07)))
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