chore: pour marble direction default random like data

CHANGELOG.md

@@ -1,3 +1,16 @@
+## v0.1.2 (2026-10-08)
+
+### Feat
+
+- **pour_marbles**: pouring direction in instruction
+- configure in which cup the marbles spawn
+
+### Fix
+
+- **pour_marbles**: pass task config to wrapper
+- **ball_maze**: typo in task instructions for ball maze
+- ball maze instruction typo
+
 ## v0.1.1 (2026-10-06)
 
 ### Fix

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "duobench"
-version = "0.1.1"
+version = "0.1.2"
 description="FR3 Duo Bimanual Manipulation Benchmark"
 dependencies = [
     "rcs-core>=0.7.3",
@@ -32,6 +32,7 @@ dev = [
   "pytest==8.1.1",
   "duckdb>=1.3.2",
   "twine~=6.0",
+  "commitizen~=3.28.0",
 ]
 
 [tool.ruff]

src/duobench/__init__.py

@@ -1,4 +1,4 @@
-__version__ = "0.1.1"
+__version__ = "0.1.2"
 
 import os
 from pathlib import Path

src/duobench/tasks/pour_marbles.py

@@ -1,6 +1,6 @@
 import math
 from dataclasses import dataclass, field
-from typing import Any
+from typing import Any, Literal
 
 import gymnasium as gym
 import mujoco as mj
@@ -87,6 +87,18 @@ def __init__(self):
         self.left_cup_upright = True
         self.right_cup_upright = True
 
+    def set_pour_direction(self, source_cup: Literal["left", "right"], target_cup: Literal["left", "right"]):
+        self.source_cup = source_cup
+        self.target_cup = target_cup
+        self.instruction = (
+            f"grasp and lift both cups, then pour the marbles from the {source_cup} cup into the {target_cup} cup "
+            "and place the cups back to their original location inside the green square"
+        )
+        self.stage_to_subinstructions[3] = (
+            f"pour at least one marble from the {source_cup} cup into the {target_cup} cup"
+        )
+        self.stage_to_subinstructions[4] = f"pour all marbles from the {source_cup} cup into the {target_cup} cup"
+
     def _ensure_collision_geoms(self, sim: Sim):
         if self.collision_geoms is not None:
             return
@@ -297,16 +309,22 @@ def info(self) -> dict[str, Any]:
 
 
 class PourMarblesTaskWrapper(TaskStageWrapper):
-    def __init__(self, env: gym.Env, stage_tracker: PourMarblesStage):
+    def __init__(self, env: gym.Env, stage_tracker: PourMarblesStage, cfg: "PourMarblesTaskConfig"):
         super().__init__(env, stage_tracker)
         self.stage_tracker: PourMarblesStage = stage_tracker
         self.sim = self.get_wrapper_attr("sim")
+        self.marble_spawn_cup = cfg.marble_spawn_cup
 
     def reset(self, *, seed: int | None = None, options: dict[str, Any] | None = None):
         obs, info = super().reset(seed=seed, options=options)
 
-        self.stage_tracker.target_cup = "left" if self.np_random.random() > 0.5 else "right"
-        self.stage_tracker.source_cup = "right" if self.stage_tracker.target_cup == "left" else "left"
+        if self.marble_spawn_cup == "random":
+            source_cup: Literal["left", "right"] = "left" if self.np_random.random() > 0.5 else "right"
+        else:
+            source_cup = self.marble_spawn_cup
+
+        target_cup: Literal["left", "right"] = "right" if source_cup == "left" else "left"
+        self.stage_tracker.set_pour_direction(source_cup, target_cup)
         lc = self.sim.data.body("leftteacup_body")
         rc = self.sim.data.body("rightteacup_body")
         tf_W_LC = RigidTransform.from_components(lc.xpos, Rotation.from_matrix(lc.xmat.reshape((3, 3))))
@@ -343,6 +361,7 @@ def reset(self, *, seed: int | None = None, options: dict[str, Any] | None = Non
 @dataclass(kw_only=True)
 class PourMarblesTaskConfig(BaseTaskConfig):
     task_id: str = "pour_marbles"
+    marble_spawn_cup: Literal["random", "left", "right"] = "random"
     cup_xml = rcs.OBJECT_PATHS["teacup"]
     marble_xml = rcs.OBJECT_PATHS["marble"]
     marbles_to_mug: rcs.common.Pose = field(
@@ -401,8 +420,8 @@ def add_task_env(
         cfg: PourMarblesTaskConfig, env: gym.Env, simulation: Sim, env_cfg: SimEnvCreatorConfig
     ) -> gym.Env:
         """Add task-specific wrappers to the environment."""
-        _ = cfg, simulation, env_cfg
-        return PourMarblesTaskWrapper(env, PourMarblesStage())
+        _ = simulation, env_cfg
+        return PourMarblesTaskWrapper(env, PourMarblesStage(), cfg)
 
 
 rcs.TASKS["pour_marbles"] = PourMarblesTask