| """Pick a grape cluster and place it in a wooden box.""" |
| from ..registry import register_task |
| from ..envs import YamTaskEnv |
| from ..solvers import pick_place |
| from .. import conditions as C |
|
|
|
|
| @register_task("grape_box") |
| class GrapeBoxTask(YamTaskEnv): |
| title = "GRAPE -> BOX" |
| tags = ["pick-place", "primitive-container"] |
| instruction = {"default": "Put the grape in the box.", |
| "specific": "Pick up the grape cluster and place it inside the wooden box."} |
|
|
| |
| grape_spawn = (-0.03, 0.10) |
| grape_spawn_jitter = (0.025, 0.015) |
| box_xy = (-0.02, -0.26) |
| box_jitter = (0.02, 0.02) |
| box_span = 0.26 |
| lift_height = 0.16 |
| gripper_effort, gripper_damping = 75, 85 |
|
|
| def _load_scene(self): |
| self.scene.build_box({"name": "box", "xy": self.box_xy, "xy_jitter": self.box_jitter, |
| "span": self.box_span, "wall_h": 0.05}) |
| self._placed = [self.scene.place_object( |
| {"name": "grape", "xy": self.grape_spawn, "xy_jitter": self.grape_spawn_jitter})] |
|
|
| def solve(self): |
| return pick_place.solve(self, obj="grape", target="box", lift=self.lift_height) |
|
|
| def evaluate(self): |
| return self.check(C.labelled("grape in box", C.object_in_region("grape", "box")), |
| C.labelled("grape lifted", C.object_lifted("grape", 0.05))) |
|
|
