Reach

Task key: reach.

reach is a single-arm baseline task. A fixed, non-colliding sphere is spawned as a target, and the agent must move the tool center point (TCP) to the target position.

Goal

• Move the TCP to the target sphere.

Quickstart

import dexsuite as ds

env = ds.make(
    "reach",
    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

• target_sphere: a fixed, non-colliding sphere (visual marker).

Extra Observations

Reach adds (under obs["state"]["other"]):

• target_pos (shape (n_envs, 3))

• target_quat (shape (n_envs, 4), wxyz convention)

Termination

• Success: TCP is within 3 cm of the target.

• Failure: none beyond horizon truncation.

Simulation Settings

• SIM_DT = 0.01

• SUBSTEPS = 1

• HORIZON = 100 control steps

Source

• Dexsuite/dexsuite/environments/single/baselines/reach.py