Bimanual Lift

Task key: bimanual_lift.

bimanual_lift is a two-arm baseline task. Each arm must lift its own cube to a target height above the spawn position.

Goal

• Lift both cubes to the goal height and keep them aligned with their goal markers.

Quickstart

import dexsuite as ds

env = ds.make(
    "bimanual_lift",
    manipulator=("franka", "franka"),
    gripper="robotiq",
    arm_control="osc_pose",
    gripper_control="joint_position",
    render_mode="human",
)

obs, info = env.reset()
obs, reward, terminated, truncated, info = env.step(env.action_space.sample())

env.close()

Task Entities

• cube_left / cube_right: rigid cubes spawned on opposite sides.

• goal_left / goal_right: fixed, non-colliding spheres above each cube.

Extra Observations

Bimanual-lift adds (under obs["state"]["other"]):

• cube_left_pos, cube_right_pos (each shape (n_envs, 3))

• cube_left_quat, cube_right_quat (each shape (n_envs, 4), wxyz)

• target_left_pos, target_right_pos (each shape (n_envs, 3))

Termination

• Success: both cubes reach the target height and are close to their targets in XY.

• Failure: either TCP leaves the workspace AABB.

• Truncation: episode reaches the horizon.

Simulation Settings

• SIM_DT = 0.01

• SUBSTEPS = 1

• HORIZON = 600 control steps

Source

• Dexsuite/dexsuite/environments/bimanual/baselines/bimanual_lift.py