| """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 |
| |
| |
| 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))) |
|
|
