Bimanual Pick And Place#

Task key: bimanual_pick_place.

bimanual_pick_place is a two-arm baseline task. Each arm must pick its own cube and place it near a corresponding goal marker.

../../_images/placeholder_env.svg

Goal#

  • Pick and place both cubes to their respective goal markers.

Quickstart#

import dexsuite as ds

env = ds.make(
    "bimanual_pick_place",
    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 to place.

  • goal_left / goal_right: fixed goal markers for each cube.

Extra Observations#

Bimanual pick-and-place 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)

  • goal_left_pos, goal_right_pos (each shape (n_envs, 3))

Termination#

  • Success: both cubes are within 3 cm of their respective goals.

  • Failure: either TCP leaves the workspace AABB.

  • Truncation: episode reaches the horizon.

Simulation Settings#

  • SIM_DT = 0.01

  • SUBSTEPS = 1

  • HORIZON = 200 control steps

Source#

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