Bimanual Pick Place Pan

Task key: bimanual_pick_place_pan.

bimanual_pick_place_pan is a two-arm rigid-object task. A frying pan starts on a hot plate and must be placed onto a kitchen mat.

Goal

• Move the pan from the hot plate to the mat.

Quickstart

import dexsuite as ds

env = ds.make(
    "bimanual_pick_place_pan",
    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

• hot_plate: fixed hot plate (visual).

• kitchen_mat: fixed mat (visual) + collision box.

• pan: rigid pan to place.

Extra Observations

This task currently does not add extra observations beyond robot state.

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 = 700 control steps

Source

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