| """Grader for the stack_blocks scene: all blocks stacked into one upright tower on the pad.
|
|
|
| Rubric stages (weights and modes live in RUBRIC):
|
| tower contiguous tower height in blocks over cfg.n_blocks — the scene's own
|
| `tower_height()`: slots 0, 1, 2, ... above the pad centre, each filled by a block
|
| within cfg.align_tol of the pad axis, at the slot height within cfg.z_tol,
|
| upright within cfg.upright_max_deg, settled with the whole scene settled
|
| (cfg.settle_speed), counted up to the first empty slot
|
| The cubes are identical sub-goals, so they share this ONE fraction stage (k/n_blocks). It is
|
| LIVE: a toppled tower loses the credit. 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 slot filled by exactly one block — read on the final state. With n_blocks blocks and
|
| n_blocks slots, a full-height tower (every slot >= 1 block) is exactly one block per slot,
|
| so the stage reaches 1 if and only if `success()` holds.
|
| """
|
|
|
| from __future__ import annotations
|
|
|
| from robobench.core import BaseGrader
|
| from robobench.suites.puzzle.scenes.stack_blocks import StackBlocksScene
|
|
|
|
|
| class StackBlocksGrader(BaseGrader):
|
| """One clean tower on the pad — every slot filled by exactly one upright, settled block.
|
|
|
| Ladder (k / n_blocks tower height; cfg.n_blocks = 4 by default): 1 block 0.25 ·
|
| 2 blocks 0.50 · 3 blocks 0.75 · 4 blocks 1.00.
|
| """
|
|
|
| SCENE = StackBlocksScene
|
| RUBRIC = (("tower", 1),)
|
| scene: StackBlocksScene
|
|
|
| def setup(self) -> None:
|
| pass
|
|
|
| def check_success(self):
|
| return self.scene.success()
|
|
|
|
|
| def tower(self):
|
| return self.scene.tower_height().float() / self.scene.cfg.n_blocks
|
|
|
