Bimanual Reach#

Task key: bimanual_reach.

bimanual_reach is a two-arm baseline task. Each arm has its own target sphere and the agent must move both TCPs to their targets.

../../_images/placeholder_env.svg

Goal#

  • Move both TCPs to their respective targets.

Quickstart#

import dexsuite as ds

env = ds.make(
    "bimanual_reach",
    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#

  • target_sphere_left: fixed target marker for the left arm.

  • target_sphere_right: fixed target marker for the right arm.

Extra Observations#

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

  • target_left_pos, target_right_pos (each shape (n_envs, 3))

  • target_left_quat, target_right_quat (each shape (n_envs, 4), wxyz)

Termination#

  • Success: both TCPs are within 3 cm of their targets.

  • Failure: either TCP leaves the workspace AABB.

  • Truncation: episode reaches the horizon.

Simulation Settings#

  • SIM_DT = 0.01

  • SUBSTEPS = 1

  • HORIZON = 300 control steps

Source#

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