Bimanual Make Coffee

Task key: bimanual_make_coffee.

bimanual_make_coffee is a two-arm rigid-object task. A coffee machine and a mug are spawned, and the agent must place the mug onto the machine tray.

Goal

• Place the mug in the tray region of the coffee machine.

Quickstart

import dexsuite as ds

env = ds.make(
    "bimanual_make_coffee",
    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

• machine: a fixed coffee machine.

• mug: a rigid mug to place.

• mug_target: a marker linked to the mug (used as a handle-side reference).

Extra Observations

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

• machine_pos (shape (n_envs, 3))

• mug_pos (shape (n_envs, 3))

Termination

This task is still being finalized. In the current code, reward and success/failure checks are not enabled, so episodes typically end by horizon truncation.

Simulation Settings

• SIM_DT = 0.01

• SUBSTEPS = 1

• HORIZON = 1000 control steps

Source

• Dexsuite/dexsuite/environments/bimanual/rigid/bimanual_make_coffee.py