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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 33 34 35 36 37 | """Stack two green blocks on a marked target region (RLBench stack_blocks)."""
from ..registry import register_task
from ..envs import YamTaskEnv
from ..solvers import stack
from .. import conditions as C
@register_task("stack_blocks")
class StackBlocksTask(YamTaskEnv):
title = "STACK THE BLOCKS ON THE TARGET"
tags = ["stacking", "precision", "primitive"]
instruction = {"default": "Stack the two green blocks on the target square."}
block_spawns = {"cube_g": (-0.07, 0.10), "cube_b": (0.07, 0.08)}
spawn_jitter = (0.020, 0.015)
target_xy = (0.00, -0.16)
target_size = 0.12
# solid 5 cm cubes: a firm clamp, they do not deform
gripper_effort, gripper_damping = 78, 88
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": n, "xy": xy,
"xy_jitter": self.spawn_jitter})
for n, xy in self.block_spawns.items()]
def solve(self):
return stack.solve(self, objects=list(self.block_spawns), target="target")
def evaluate(self):
a, b = list(self.block_spawns)
return self.check(
C.labelled("bottom block on target", C.object_in_region(a, "target", pad=0.04)),
C.labelled("top block on target", C.object_in_region(b, "target", pad=0.04)),
C.labelled("blocks stacked", C.objects_stacked(a, b, min_dz=0.03)))
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