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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 38 39 40 41 42 | """Stack two upright cups on a marked target region."""
from ..registry import register_task
from ..envs import YamTaskEnv
from ..solvers import stack
from .. import conditions as C
@register_task("stack_cups")
class StackCupsTask(YamTaskEnv):
title = "STACK TWO CUPS ON THE TARGET"
tags = ["stacking", "precision", "robotwin-asset"]
instruction = {"default": "Stack the cups on the target.",
"specific": "Put one cup on the marked square, then stack the second on top."}
rw_objects = {"rw_cupA": "021_cup/base0.usd:0.075:0.08",
"rw_cupB": "021_cup/base1.usd:0.075:0.08"}
cup_spawns = {"rw_cupA": (-0.05, 0.11), "rw_cupB": (0.05, 0.05)}
spawn_jitter = (0.02, 0.015)
target_xy = (0.02, -0.22)
target_size = 0.12
# RoboTwin cups spawn upside-down; inverted, the rim is at the bottom and the jaws grip a
# narrowing taper, so they slip straight out
cup_roll = 90
gripper_effort, gripper_damping = 55, 72
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,
"roll": self.cup_roll})
for n, xy in self.cup_spawns.items()]
def solve(self):
return stack.solve(self, objects=list(self.cup_spawns), target="target")
def evaluate(self):
return self.check(
C.labelled("bottom cup on target", C.object_in_region("rw_cupA", "target", pad=0.04)),
C.labelled("top cup on target", C.object_in_region("rw_cupB", "target", pad=0.04)),
C.labelled("cups stacked", C.objects_stacked("rw_cupA", "rw_cupB", min_dz=0.03)))
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