dexsuite 0.1.4

DexSuite: a robotics simulation suite built on Genesis.

DexSuite: A Modular Framework for Dexterous Manipulation

DexSuite is a powerful, modular, and easy-to-use robot learning framework designed for complex robotic dexterous manipulation tasks.

Key Features

• Modular Robot API: Easily define and swap manipulators, grippers, and controllers to create custom robot configurations for your research.
• Bimanual & Single-Arm Support: Built from the ground up to support both single-arm and challenging bimanual coordination tasks.
• Diverse & Challenging Task Suite: An expanding collection of benchmarks, from foundational skills like stack and reach to complex, long-horizon challenges such as pick_and_place_pan and fold_shirt.
• Massively Parallel Environments: Featuring highly-efficient, GPU-accelerated environments for rapid, large-scale reinforcement learning and policy training.
• Flexible Teleoperation: Built-in support for multiple teleoperation devices, allowing for intuitive human-in-the-loop control and data collection for imitation learning.
• High-Fidelity Simulation: Powered by Genesis, enabling realistic physics and interactions for robust sim-to-real transfer.

Quick Installation

Get started with DexSuite by installing the latest version from PyPI.

pip install dexsuite

For the latest development version, clone this repository and install it in editable mode:

git clone https://github.com/dexsuiteorg/dexsuite.git
cd dexsuite
pip install -e .

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Getting Started

Creating and interacting with a DexSuite environment is simple. Here’s a quick example of how to load the stack task with a Franka robot.

import dexsuite as ds
import gymnasium as gym

env = ds.make(
    "stack",
    manipulator="franka",
    gripper="robotiq",
    render_mode="human" # Use "rgb_array" for headless rendering
)

# Standard Gymnasium API loop
obs, info = env.reset()
for _ in range(1000):
    action = env.action_space.sample()  # Your agent's action here
    obs, reward, terminated, truncated, info = env.step(action)

    if terminated or truncated:
        obs, info = env.reset()

env.close()

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Resources & Documentation

• Official Website: dexsuiteorg.github.io
• Full Documentation: dexsuite.readthedocs.io
• Report an Issue: Found a bug or have a feature request? Open an issue.

Contributing

We welcome contributions from the community! If you'd like to contribute, please fork the repository and submit a pull request. Check out our CONTRIBUTING.md file for more details on how to get started.