Lift Tray

Lift Tray#

Grasp and lift a tray with objects, maintaining balance.

Lift Tray Task 
from roboeval.envs.lift_tray import (
    LiftTray,
    LiftTrayPosition,
    LiftTrayOrientation,
    LiftTrayPositionAndOrientation,
    DragOverAndLiftTray
)

Variations: 5

LiftTray Variations#

Standard lift with randomization variations (4 total).

DragOverAndLiftTray#

Additional variant: drag tray over an obstacle before lifting.

Additional constraints:

  • Must drag tray horizontally

  • Clear obstacle without tipping

  • Then lift to target height

Success Criteria#

  • Both grippers holding the tray (both sides)

  • Tray NOT colliding with the table

  • Tray maintained level

Task Stages:

  1. Stage 1: Left gripper grasping the tray

  2. Stage 2: Right gripper grasping the tray

  3. Stage 3: Tray lifted (both grippers holding, not colliding with table or floor)

Key Skills#

  • Coordinated lifting

  • Balance control

  • Force distribution

  • Smooth trajectories

Contents