Pick Place Mug#

Task key: pick_place_mug.

pick_place_mug is a single-arm rigid-object task. A dish rack and a mug are spawned, and the agent must place the mug into the rack.

../../_images/placeholder_env.svg

Goal#

  • Place the mug into the dish rack.

Quickstart#

import dexsuite as ds

env = ds.make(
    "pick_place_mug",
    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#

  • rack: dish rack.

  • mug: rigid mug.

Extra Observations#

Pick-place-mug adds (under obs["state"]["other"]):

  • rack_pos (shape (n_envs, 3))

  • mug_pos (shape (n_envs, 3))

Termination#

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 = 400 control steps

Notes#

  • The repository contains a legacy implementation registered under the same key; import order determines which one wins in the registry.

Source#

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

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