Rotate Dice

Task key: rotatedice.

rotatedice spawns a dice mesh and lets the robot interact with it.

Goal

• Interact with the dice (reward/success is currently not defined).

Quickstart

Task keys are case-insensitive; the underlying decorator uses "rotateDice", but ds.make normalizes keys to lowercase.

import dexsuite as ds

env = ds.make(
    "rotatedice",
    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

• dice: rigid dice mesh.

Extra Observations

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

Termination

Success/reward logic is not implemented yet; episodes end by horizon truncation.

Simulation Settings

• SIM_DT = 0.01

• SUBSTEPS = 2

• HORIZON = 40000 control steps

Source

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