Pick up the named object (RoboDojo general_pickup, ARX X5 bimanual, Isaac Sim 5.1)
robodojo-general-pickuprobodojoARX X5 bimanualManipulationeasy
Instruction
RoboDojo task general_pickup, capability dimension open, evaluation layout 0.
RoboDojo's instruction: "Pick up the mint green scissors by 10 cm."
You control RoboDojo's simulated ARX X5 bimanual platform in NVIDIA Isaac Sim 5.1: two 6-joint ARX X5 arms, each with a two-finger parallel gripper (about 9 cm fully open), mounted side by side at the near edge of a table, 0.6 m apart. World frame (metres): +x points to the robots' right, +y away from the robots across the table, +z up; the left arm's base is at about (-0.3, -0.45) and the right arm's at (0.3, -0.45), both 0.765 m above the floor, level with the table top (z = 0.765). Objects on the left half of the table (x < 0) are easiest for the left arm, those on the right half for the right arm.
Goal. One object stands on the table. Pick it up and lift it by more than 10 cm.
Success. The object's centre is more than 10 cm higher than where it started (RoboDojo's is_lift with a 0.1 m threshold). The episode ends as solved the moment that happens; the arms need not go home. This is RoboDojo's own run_reward() for general_pickup, checked after every step.
Controls. robo act takes 16 numbers, RoboDojo's own end-effector action: for the left arm, then the right arm, the absolute target pose of the end-effector link (link6) as x y z and a quaternion qw qx qy qz, then the gripper opening (0 closed, 1 fully open). RoboDojo solves each target with its cuRobo inverse kinematics; a target the arm cannot reach leaves that arm where it is (the step result's ik field says Fail). One step is one RoboDojo policy step: 40 ms, 10 physics steps of 4 ms, with RoboDojo's interpolation. The skills are easier to use; each runs as a series of such steps and every step counts against the budget:
robo skill move ARM X Y Z [PITCH] [YAW] [SPEED]: move the grasp point of one gripper (between the fingertips, 14.5 cm along the fingers fromlink6) in a straight line to (X, Y, Z); the other arm holds still. PITCH is how far below horizontal the fingers point (default 90: straight down) and YAW is the compass heading of the finger direction (default 90); with the fingers pointing down, the fingers close along the horizontal direction (-sin YAW, cos YAW, 0), so YAW = 90 closes them along x and YAW = 0 along y. SPEED is the most it moves per step (default 0.012 m).robo skill grip ARM OPEN [STEPS]: set one gripper's opening (0 closed .. 1 open) and hold for STEPS steps (default 12).robo skill home [ARM]: move one arm or both (default) back to the starting pose.robo skill wait [STEPS]: hold both arms still.
ARM is left or right. A skill call returns after at most 90 s of wall time; if it has not finished, its result says stopped and the same call continues from where the arm is.
Observation. robo observe reports, per arm under robot: ee_pos / ee_quat (the end-effector link pose), ee_axes (its x axis is the finger direction, its y axis the closing direction), tcp_pos (the grasp point), gripper_open (0..1), joints, and home_pos / home_quat (the starting pose). Under objects, every task object with its RoboDojo label, category, description, centre pos, quat (w, x, y, z), up_axis (the object's local z axis in the world), yaw_deg, its axis-aligned bounding box bbox_min / bbox_max and its size in its own frame; articulated objects (buttons, lids) also list their joints. instruction is RoboDojo's instruction for this episode, and steps / step_lim / stages_left show progress (stages_left counts RoboDojo's remaining success stages, which must be passed in order). robo observe --image saves RoboDojo's head camera (cam_head); --camera cam_left_wrist and --camera cam_right_wrist give the wrist cameras.
The step budget is RoboDojo's step_lim for this task: 200 steps (8 s of simulated time).
How the robot is controlled and scored
You are controlling a simulated robot. Read the task below, then solve it by running the robo command in your shell (start with robo info and robo observe). Keep going until the task is done, then call robo done once. Do not stop to ask questions; there is no human to answer.
How to control the robot
You are the robot's policy. You act only through the robo command in your shell. There is no other way to move the robot, and you cannot read or change the simulator, the scoring, or other files to succeed; the episode server judges the final physical state itself.
robo info # the robot, its sensors, action groups, skills and step budget
robo observe # robot and scene state as numbers
robo observe --image [--camera C] # also saves a camera image and prints its path (open it to look)
robo act V1 V2 ... [--repeat N] # one low-level action (the action groups under Controls), applied N times (N <= 50)
robo skill NAME ARG ... # run a skill listed by `robo info`; it runs until it finishes and reports the result
robo done "short summary" # end the episode and ask for scoring
robo give-up "reason" # end the episode without claiming success- Positions are in metres in the world frame (+z up); angles are in degrees unless a field says otherwise.
- The episode has a fixed step budget (see
robo info); every simulated control step counts, including the steps a skill runs. - Skills are ordinary controllers: they can fail, stop early or be blocked by the scene. Read what they report and re-observe.
- This suite uses RoboDojo's own protocol: the episode ends as solved the first time RoboDojo's success check passes, and ends unsolved when the step budget runs out or a forbidden event happens (see Success).
robo donebefore that scores 0. - Call
robo doneexactly once when finished.
Run this task
robouse run \
--task tasks/robodojo/robodojo-general-pickup \
--harness oracle \
--out runs/robodojo-general-pickupPinned to robohub commit e472b1a1e041. The verifier and the reference solution are not published.