Aloha Tabletop Grasp

simple/AlohaTabletopGraspMP-v0 — the bimanual Aloha arms must grasp and lift a target object from a tabletop.

Task class	AlohaTabletopGraspTaskMP (tasks/aloha_tabletop_grasp_mp.py)
Environment	TabletopGraspEnv
Robot	aloha (dual-arm, CuRoboMixin, wrist cameras)
Target	graspnet1b:63, randomized by TargetDR
Cameras	Realsense D415 (eye_on_base), Logitech C930e per wrist (eye_in_hand)
Success	Target lifted 2 cm above its initial height (_LIFT_HEIGHT = 0.02)

uv run datagen simple/AlohaTabletopGraspMP-v0 --headless --num-episodes 10

Related Aloha environments: simple/AlohaTabletopHandoverMP-v0 (pass the object between arms) and simple/AlohaTabletopFindNGraspMP-v0 (locate the target first).