Drill To Point#

Task key: drill_to_point.

drill_to_point is a single-arm rigid-object task. A power drill and a wall are spawned and the agent must bring the drill tip to a target point on the wall.

../../_images/placeholder_env.svg

Goal#

  • Bring the drill tip close to the target point on the wall.

Quickstart#

import dexsuite as ds

env = ds.make(
    "drill_to_point",
    manipulator="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#

  • drill: rigid power drill.

  • drill_tip: marker linked to the drill tip.

  • wooden_wall: rigid wall block.

  • target: marker linked to the wall.

Extra Observations#

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

Termination#

The success/failure logic for this task is still being finalized; by default, episodes typically end by horizon truncation.

Notes#

  • The repository currently contains multiple implementations registered under the same key; import order determines which one wins in the registry.

Simulation Settings#

The two in-tree variants use different horizons:

  • HORIZON = 300 (rigid variant)

  • HORIZON = 30000 (alternate variant)

Source#

  • Dexsuite/dexsuite/environments/single/rigid/drill_to_point.py

  • Dexsuite/dexsuite/environments/single/prototypes/drill_to_point.py