To register an achievement
public static Achievement achievementName;
in your FMLInitializationEvent func
new Achievement(unLocalizedName, achievement name(used when adding an achievement on to it) , x, y, ItemStack(icon), (Achievement)parent(group))
achievementName = new Achievement("achievement.achievementName", "achievementName", 0, 0, Blocks.stone, (Achievement)null).registerStat();
then in your PickupHandler
if(event.pickedUp.getEntityItem().isItemEqual(new ItemStack(Your item or block))){
System.out.println("Aquired. ...");
event.player.addStat(ModClass.achievementName , 1);
}