Bimanual Robots

Bimanual robots are a configuration of two single-arm robots operating in the same scene. Each side can be either modular or integrated, and the two robot bases are placed using a layout preset.

Quickstart (flat API)

import dexsuite as ds

env = ds.make(
    "bimanual_reach",
    manipulator=("franka", "franka"),
    gripper=("robotiq", "robotiq"),
    layout="side_by_side",
    arm_control="osc_pose",
    gripper_control="joint_position",
    render_mode="human",
)

obs, info = env.reset()

Layouts

Common layout presets:

• side_by_side

• face_to_face

• right_angle

If you need full control over base poses, use RobotOptions with explicit PoseOptions.