Cut Butter#

Task key: cut_butter.

cut_butter is a single-arm deformable-object task that uses an MPM butter block and knife props.

../../_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#

  • Cut the butter block using the knife.

Task Entities#

  • board: cutting board mesh.

  • butter: MPM deformable block.

  • knife: rigid knife mesh.

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 = 0.005

  • SUBSTEPS = 20

  • HORIZON = 2000000 control steps

Source#

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