Bimanual Push

Task key: bimanual_push.

bimanual_push is a two-arm baseline task. Each arm must push its own cube to a nearby goal marker on the table plane.

Goal

• Push both cubes to their goal markers while keeping them on the table.

Quickstart

import dexsuite as ds

env = ds.make(
    "bimanual_push",
    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 goal markers near each cube.

Extra Observations

Bimanual-push 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 goals.

• Failure: either TCP leaves the workspace AABB, or either cube is lifted above a small threshold.

• Truncation: episode reaches the horizon.

Simulation Settings

• SIM_DT = 0.01

• SUBSTEPS = 1

• HORIZON = 450 control steps

Source

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