Add StackBlocksTwo environment #45
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yuecideng
added
the
task
Jasonxu1225
reviewed
Dec 24, 2025
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| # RoboTwin check if grippers are open | ||
| # This requires checking robot gripper state, which may need to be implemented | ||
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| # Compute angle and check if fallen | ||
| angle = torch.arccos(dot_product) | ||
| return angle >= torch.pi / 4 |
Collaborator
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话说这里你有可视化过你load 进去的block的pose吗？是否是z轴朝上还是朝哪里？
Collaborator
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def draw_axis(env, pose):
from embodichain.lab.sim.cfg import MarkerCfg
marker_cfg = MarkerCfg(
name='test',
marker_type="axis",
axis_xpos=pose,
axis_size=0.01,
axis_len=0.2,
arena_index=-1, # All arenas
)
env.sim.draw_marker(cfg=marker_cfg)
env.sim.update()
可以用这个方程可视化一些他们的pose。
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| # Check if block2 is within tolerance of expected position | ||
| position_diff = torch.abs(block2_pos - expected_block2_pos) # (num_envs, 3) | ||
| within_tolerance = torch.all( |
Collaborator
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这里这样check是合理的吗？我感觉是不是应该check bolck_1和block_2的delta x 以及 delta y不超过eps，然后block_2的 z 比bolck_1高。还是robotwin是这么做的？
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Collaborator
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我看相比于pour_water的gym_config少了很多东西，要不把他们补上。
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Description
Added
StackBlocksTwo-v1environment - a manipulation task where two blocks need to be stacked on top of each other.Changes
StackBlocksTwoEnvclassReference
Based on
stack_blocks_twotask from RoboTwin.How to Run
Testing
Environment tested and verified to work correctly.
