Pour Water#

Task key: pour_water.

pour_water is a single-arm fluid task intended to pour water from a bottle into a cup using SPH simulation.

../../_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#

  • Pour water from the bottle into the cup.

Extra Observations#

The current implementation exposes (under obs["state"]["other"]):

  • bottle_pos (shape (n_envs, 3))

  • cup_pos (shape (n_envs, 3))

Termination#

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

Simulation Settings#

  • SIM_DT = 0.01

  • SUBSTEPS = 20

  • HORIZON = 40000 control steps

Source#

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