Available Environments

DexSuite environments are selected by the task key you pass to ds.make(...).

Task keys are case-insensitive (they are normalized with .lower()).

Each task page documents the scene entities, observations, success conditions, and any task-specific notes.

import dexsuite as ds

env = ds.make("lift", manipulator="franka", gripper="robotiq")

Single-Arm Baselines

Task key	Image	Description
reach		Reach a target pose.
lift		Lift a cube to a target height.
push		Push an object towards a goal region.
pick_place		Pick and place an object.
stack		Stack one cube on another.

Single-Arm Rigid Tasks

Task key	Image	Description
make_coffee		Place a mug on the coffee machine tray.
pick_place_mug		Place a mug into a dish rack.
pick_place_pan		Pick and place a pan.
drill_to_point		Move a drill tip to a target point.

Single-Arm Deformable Tasks

Task key	Image	Description
cable_routing		Route a cable through clip fixtures.
cut_butter		Cut a deformable butter block.
pour_water		Pour water from a bottle into a cup.
foldshirt		Fold a cloth shirt.
spready_butter		Spread a deformable butter block with a tool.
mpm_sponge_drop		Soft sponge scene.

Single-Arm Misc Tasks

Task key	Image	Description
rotatedice		Interact with a dice object.

Bimanual Baselines

Task key	Image	Description
bimanual_reach		Reach a goal with two arms.
bimanual_lift		Lift an object with two arms.
bimanual_push		Push an object with two arms.
bimanual_pick_place		Bimanual pick-and-place baseline.
bimanual_stack		Stack three cubes with two arms.

Bimanual Rigid Tasks

Task key	Image	Description
bimanual_make_coffee		Place a mug on the coffee machine tray.
bimanual_pick_place_mug		Pick and place a mug with two arms.
bimanual_pick_place_pan		Pick and place a pan with two arms.
bimanual_drill_to_point		Move a drill tip to a target point with two arms.
bimanual_pick_place_pot		Pick and place a pot with two arms.
bimanual_fold_glasses		Fold glasses.