Franka Tabletop Grasp¶

simple/FrankaTabletopGraspMP-v0 — a Franka FR3 must grasp and lift a target object from a tabletop. This is the smallest end-to-end example in SIMPLE and the one used in Motion Planning.


Task class	`FrankaTabletopGraspTaskMP` (`tasks/franka_tabletop_grasp_mp.py`)
Environment	`TabletopGraspEnv`
Robot	`franka_fr3`, controller `pd_joint_pos`
Target	`graspnet1b:5`, randomized by `TargetDR`
Cameras	Realsense D415 (`eye_on_base`), Logitech C930e (`eye_in_hand`)
Success	Target lifted 2 cm above its initial height (`_LIFT_HEIGHT = 0.02`)

compute_reward() returns the lift progress clipped to [0, 1]; check_success() fires at 1.0.

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

A related variant, simple/FrankaTabletopPickNPlaceMP-v0, adds a container the object must be placed into.