Pick Place Pan#

Task key: pick_place_pan.

pick_place_pan is a single-arm rigid-object task. A frying pan starts on a hot plate and must be placed onto a kitchen mat.

../../_images/placeholder_env.svg

Goal#

  • Pick the pan from the hot plate and place it on the mat.

Quickstart#

import dexsuite as ds

env = ds.make(
    "pick_place_pan",
    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#

  • hot_plate: fixed hot plate (visual).

  • kitchen_mat: fixed mat (visual) + mat_collision box (collision).

  • pan: rigid pan to place.

  • pan_target: marker linked to the pan (used as a reference point).

Extra Observations#

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

Termination#

  • Success: pan rests on the mat inside an inner XY region and within a Z tolerance, while the TCP is clear for several frames.

  • Failure: pan leaves the workspace AABB, or a fast drop is detected while the TCP is far.

  • Truncation: episode reaches the horizon.

Simulation Settings#

  • SIM_DT = 0.01

  • SUBSTEPS = 1

  • HORIZON = 500 control steps

Source#

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