MPM Sponge Drop#

Task key: mpm_sponge_drop.

mpm_sponge_drop is a minimal single-arm deformable-object scene that drops a soft sponge mesh.

../../_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#

  • Interact with a deformable sponge.

Task Entities#

  • sponge: deformable sponge mesh.

Extra Observations#

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

Termination#

The current file returns a zero reward and never reports success.

Simulation Settings#

  • SIM_DT = 0.005

  • SUBSTEPS = 10

  • HORIZON = 5000 control steps

Source#

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