Fold Shirt#

Task key: foldshirt.

foldshirt is a single-arm cloth task that spawns a T-shirt mesh as a deformable object.

../../_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#

  • Fold the cloth shirt.

Task Entities#

  • tshirt: cloth mesh entity.

Extra Observations#

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

Termination#

This file does not currently implement reward or success conditions.

Simulation Settings#

  • SIM_DT = 0.01

  • SUBSTEPS = 10

  • HORIZON = 150 control steps

Source#

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