Bimanual Pick Place Pot#

Task key: bimanual_pick_place_pot.

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

../../_images/placeholder_env.svg

Goal#

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

Quickstart#

import dexsuite as ds

env = ds.make(
    "bimanual_pick_place_pot",
    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#

  • pot: rigid pot.

  • hot_plate: fixed hot plate.

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

  • pot_target_left / pot_target_right: markers linked to the pot.

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 = 2

  • HORIZON = 7000 control steps

Source#

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