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578663d | 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 | """Grader for the classify_objects scene: every coloured block sorted into its matching zone.
Rubric stages (weights and modes live in RUBRIC):
sorted_blocks fraction of the env's blocks correctly sorted — the scene's own
`sorted_mask()`: centre within cfg.zone_half (xy) of ITS OWN category's
(jittered) zone centre, resting on the surface (cfg.z_tol) and settled
(cfg.settle_speed)
The blocks are identical pick-and-place sub-goals, so they share this ONE fraction stage
(k/B). It is LIVE: a block knocked off its zone loses the credit, which is what makes the
final state the only one that counts. No grasp/lift rung: the scene defines no lift
threshold, so it is dropped rather than invented. Success is the scene's own `success()`
— every block sorted — read on the final state.
"""
from __future__ import annotations
from robobench.core import BaseGrader
from robobench.suites.puzzle.scenes.classify_objects import ClassifyObjectsScene
class ClassifyObjectsGrader(BaseGrader):
"""Every block resting, settled, inside the zone of its own colour.
Ladder (k / B blocks sorted; B = len(cfg.manifest), 3 by default): 1 block 0.333 ·
2 blocks 0.667 · 3 blocks 1.00.
"""
SCENE = ClassifyObjectsScene
RUBRIC = (("sorted_blocks", 1),)
scene: ClassifyObjectsScene
def setup(self) -> None:
pass # zones are captured by the scene itself at reset (`_zones`); nothing to cache
def check_success(self):
return self.scene.success() # (num_envs,) — every block of that env sorted
# ---- rubric stages — each returns a (num_envs,) fraction over that env's blocks --------
def sorted_blocks(self):
return self.scene.n_sorted().float() / len(self.scene.cfg.manifest)
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