[asset-badge]: https://img.shields.io/badge/download%20asset-yes-blue.svg
[dense-reward-badge]: https://img.shields.io/badge/dense%20reward-yes-green.svg
[sparse-reward-badge]: https://img.shields.io/badge/sparse%20reward-yes-green.svg
[no-dense-reward-badge]: https://img.shields.io/badge/dense%20reward-no-red.svg
[no-sparse-reward-badge]: https://img.shields.io/badge/sparse%20reward-no-red.svg
[demos-badge]: https://img.shields.io/badge/demos-yes-green.svg
# Mobile Manipulation Tasks
These are tasks where a mobile manipulator is used to manipulate objects. This cateogry primarily uses robots with mobile bases like Fetch or Stretch robots.
For additional tasks, including scene-level mobile manipulation, please check out the [external benchmarks/tasks page](../external/index.md).
The document here has both a high-level overview/list of all tasks in a table as well as detailed task cards with video demonstrations after.
## Task Table
Table of all tasks/environments in this category. Task column is the environment ID, Preview is a thumbnail pair of the first and last frames of an example success demonstration. Max steps is the task's default max episode steps, generally tuned for RL workflows.
## OpenCabinetDrawer-v1
![dense-reward][dense-reward-badge]
![sparse-reward][sparse-reward-badge]
![asset-badge][asset-badge]
:::{dropdown} Task Card
:icon: note
:color: primary
**Task Description:**
Use the Fetch mobile manipulation robot to move towards a target cabinet and open the target drawer out.
**Randomizations:**
- Robot is randomly initialized 1.6 to 1.8 meters away from the cabinet and positioned to face it
- Robot's base orientation is randomized by -9 to 9 degrees
- The cabinet selected to manipulate is randomly sampled from all PartnetMobility cabinets that have drawers
- The drawer to open is randomly sampled from all drawers available to open
**Success Conditions:**
- The drawer is open at least 90% of the way, and the angular/linear velocities of the drawer link are small
**Goal Specification:**
- 3D goal position centered at the center of mass of the handle mesh on the drawer to open (also visualized in human renders with a sphere).
:::
