Cable Routing#

Task key: cable_routing.

cable_routing is a single-arm deformable-object task focused on routing a cable across fixtures.

../../_images/placeholder_env.svg

Status#

This task has not yet been migrated to the current options-first BaseEnv API and is not runnable via ds.make in the current codebase.

Goal#

  • Route the cable across the clip fixtures on the board.

Task Entities#

  • board: fixed peg board mesh (visual) + board_col (collision box).

  • clip_neg / clip_mid / clip_pos: fixed clips.

  • cable: cable entity.

Extra Observations#

This task currently does not add extra observations beyond robot state.

Termination#

Success/reward logic is not implemented yet; episodes typically end by horizon truncation once the task is migrated.

Simulation Settings#

  • SIM_DT = 0.01

  • SUBSTEPS = 1

  • HORIZON = 2000000 control steps

Source#

  • Dexsuite/dexsuite/environments/single/prototypes/cable_routing.py