Robo Use

Put the red cube on top of the green cube

robosuite-stack-ur5eur5e variantrobosuiteUR5eManipulationmedium

Reference solution, 135 of 400 steps.

Instruction

A Universal Robots UR5e (6-DoF) with a Robotiq 2F-85 gripper works at a table; its base is at the -x end, facing +x. The scene is robosuite's Stack environment (MuJoCo).

Goal: Put the red cube (cubeA, 4 cm) on top of the green cube (cubeB, 5 cm) and let go. robosuite's Stack check: the red cube is lifted off the table, touching the green cube, and no longer held by the gripper.

Call robo done when finished; the check is made after the robot then holds still for 10 steps, so the result must last.

This robot

  • The action has 7 numbers, not 4: robo act DX DY DZ DROLL DPITCH DYAW GRIP, each in [-1, 1]: robosuite's OSC_POSE end-effector command plus the gripper, 20 steps per second, in the world frame. DX/DY/DZ = 1.0 asks for a 5 cm move (held at 1.0 the hand travels about 1.1 cm per step); DROLL/DPITCH/DYAW rotate the hand about the world x/y/z axes (1.0 asks for 0.5 rad; leave them at 0 unless you need to turn the hand, e.g. DYAW to line the fingers up with an object); GRIP +1 closes, -1 opens, 0 keeps the fingers as they are (they move over about 5 steps).
  • robo move-to X Y Z [--grip G] and robo grip G are available; they move only the position and keep the hand's orientation (it can drift slowly under load; correct it with DROLL/DPITCH/DYAW).
  • World frame, metres: +x points away from the robot's base, +y to the robot's left, +z up.
  • robo observe fields: hand_pos (the gripper's grasp point between the fingertips, metres), hand_quat (hand orientation quaternion x, y, z, w; about [1, 0, 0, 0] when the gripper points straight down), gripper_open (distance between the two finger pads in metres: largest when open, smallest when closed on nothing, in between when holding something), gripper_yaw_deg (direction of the line through the two fingertips in the table plane, degrees from +x, in [-90, 90); the fingers close along this line); cubea_pos, cubea_quat, cubea_yaw_deg (red cube A), cubeb_pos, cubeb_quat, cubeb_yaw_deg (green cube B); table_height. Every <object>_quat (x, y, z, w) comes with <object>_yaw_deg, the object's heading about the vertical axis (its local x axis, degrees from +x).
  • robo observe --image saves the agentview camera; add --camera robot0_eye_in_hand for the wrist camera. Images are 320x320.
  • The step budget is 400 steps.
  • Open the gripper after placing and move the hand up before robo done.
How the robot is controlled and scored

You are controlling a simulated robot. Read the task below, then solve it by running the robo command in your shell (start with robo info and robo observe). Keep going until the task is done, then call robo done once. Do not stop to ask questions; there is no human to answer.

How to control the robot

You are the robot's policy. You act only through the robo command in your shell. There is no other way to move the robot, and you cannot read or change the simulator, the scoring, or other files to succeed; the episode server judges the final physical state itself.

robo info                         # action space, available skills, step budget
robo observe                      # robot and object state as numbers
robo observe --image              # also saves a camera image and prints its path (open it to look)
robo act DX DY DZ GRIP [--repeat N]   # low-level action, applied N times (N <= 50)
robo move-to X Y Z [--grip G]     # skill: move the gripper toward a point (if enabled for this task)
robo grip G [--steps N]           # skill: hold position and set the gripper (+1 close, -1 open)
robo done "short summary"         # end the episode and ask for scoring
robo give-up "reason"             # end the episode without claiming success
  • Positions are in metres in the world frame (x, y on the table plane, z up).
  • The episode has a fixed step budget (see robo info); every simulated step counts, including skills.
  • Unless the task says otherwise, success is judged about 10 steps after you call robo done, with the robot holding still, so the goal must still be true when the robot stops.
  • Work in small steps and re-observe after each motion. Call robo done exactly once when finished.

Run this task

bench eval run \
  -d arise-initiative/robosuite@0.1 \
  --registry https://robouse.ai/hub/registry.json \
  --agent oracle \
  --include robosuite-stack-ur5e

Pinned to robohub commit 9e672aa1e7f0. The verifier and the reference solution are not published.

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