What this suite supports

30 scripted bimanual manipulation tasks on the YAM arm in Isaac Lab, built on RoboTwin 2.0 assets. Not a policy — every task ships a scripted solver, so it produces demonstrations and a pass/fail signal you can trust.

capability	what it means
Skill families	pick-and-place · multi-object · stacking · sorting · insertion · pushing (single and relay) · bimanual lift · handover · tool use (sweep, wipe) · pouring · constrained pull · articulated fixtures · deformable chain
Both arms	either arm alone, or both on one motion profile (`move_both`) — driving them in sequence parks the first in the second's path
Randomization	every object, fixture, container and marker takes `xy_jitter` / `yaw_jitter`; `--seed` reproduces an episode exactly. 52 of 56 spawn calls are randomized
Articulated props	SAPIEN mobility URDFs — hinged doors, sliding drawers, lids, toggles. Joint values are first-class state and can be success conditions
Chains / rope	a rope as a jointed chain, judged on its own geometry (end-to-end span) rather than on a placement
Configuration	class attribute → per-task YAML → `--set key=value`, resolved before the simulator starts
Asset pipeline	rigid → USD, hollow containers, articulated URDFs, plus procedurally generated meshes (ring, rope, pot lid)
Agentic verification	rendered contact sheets + review prompts for a vision agent, verdicts fed back into concrete parameter fixes, and task proposal from the asset library — `scripts/yam_agent_loop.py`
Verification	strict numeric conditions plus the visual check above; `scripts/status.py` regenerates the status table from run logs
Outputs	per-episode MP4 with an action/state HUD, contact sheets, single-frame scene renders