Stack Books

Stack Books#

Two task families involving book manipulation with shelves and tables.

StackSingleBookShelf#

Pick a book from a table and place it on a bookshelf.

Stack Single Book Shelf Task 
from roboeval.envs.stack_books import (
    StackSingleBookShelf,
    StackSingleBookShelfPosition,
    StackSingleBookShelfPositionAndOrientation
)

Variations: 3 (Base, Position, PositionAndOrientation)

Task Description:

The robot must pick up a book from the table and place it on the bookshelf, ensuring it collides with either the upper or lower shelf.

Success Criteria:

  • Book is colliding with either upper or lower shelf

  • Book is not being held by either gripper

  • Book is not on the floor

PickSingleBookFromTable#

Pick a book from a table and lift it while maintaining grasp.

Pick Single Book From Table Task 
from roboeval.envs.stack_books import (
    PickSingleBookFromTable,
    PickSingleBookFromTablePosition,
    PickSingleBookFromTableOrientation,
    PickSingleBookFromTablePositionAndOrientation
)

Variations: 4 (Base, Position, Orientation, PositionAndOrientation)

Task Description:

The robot must grasp a book from the table and lift it to a target height (0.77m or higher) while maintaining grasp with at least one gripper.

Success Criteria:

  • Book height ≥ 0.77m

  • At least one gripper holding the book

  • Book not colliding with counter or floor

Success Criteria#

  • Book grasped properly

  • Book placed on target location

  • Book stable and upright

  • No collisions

Key Skills#

  • Precise grasping

  • Bimanual coordination

  • Placement accuracy

  • Orientation control

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