Bimanual Stack#

Task key: bimanual_stack.

bimanual_stack is a two-arm baseline stacking task. Three cubes are spawned in the shared workspace and the goal is to stack them in order.

../../_images/placeholder_env.svg

Goal#

  • Stack three cubes: A (bottom), B (middle), C (top).

Quickstart#

import dexsuite as ds

env = ds.make(
    "bimanual_stack",
    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_a / cube_b / cube_c: rigid cubes to be stacked.

Extra Observations#

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

  • cube_a_pos, cube_b_pos, cube_c_pos (each shape (n_envs, 3))

  • cube_a_quat, cube_b_quat, cube_c_quat (each shape (n_envs, 4), wxyz)

Termination#

  • Success: cubes are vertically stacked with small XY and Z tolerances.

  • Failure: any cube leaves the workspace AABB, or either TCP leaves the workspace AABB.

  • Truncation: episode reaches the horizon.

Simulation Settings#

  • SIM_DT = 0.01

  • SUBSTEPS = 1

  • HORIZON = 800 control steps

Source#

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