| """Stack two green blocks on a marked target region (RLBench stack_blocks).""" |
| from ..registry import register_task |
| from ..envs import YamTaskEnv |
| from ..solvers import stack |
| from .. import conditions as C |
|
|
|
|
| @register_task("stack_blocks") |
| class StackBlocksTask(YamTaskEnv): |
| title = "STACK THE BLOCKS ON THE TARGET" |
| tags = ["stacking", "precision", "primitive"] |
| instruction = {"default": "Stack the two green blocks on the target square."} |
|
|
| block_spawns = {"cube_g": (-0.07, 0.10), "cube_b": (0.07, 0.08)} |
| spawn_jitter = (0.020, 0.015) |
| target_xy = (0.00, -0.16) |
| target_size = 0.12 |
| |
| gripper_effort, gripper_damping = 78, 88 |
|
|
| 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}) |
| for n, xy in self.block_spawns.items()] |
|
|
| def solve(self): |
| return stack.solve(self, objects=list(self.block_spawns), target="target") |
|
|
| def evaluate(self): |
| a, b = list(self.block_spawns) |
| return self.check( |
| C.labelled("bottom block on target", C.object_in_region(a, "target", pad=0.04)), |
| C.labelled("top block on target", C.object_in_region(b, "target", pad=0.04)), |
| C.labelled("blocks stacked", C.objects_stacked(a, b, min_dz=0.03))) |
|
|
