Spready Butter#

Task key: spready_butter.

spready_butter is a single-arm deformable-object task intended to spread an MPM butter block using a knife prop.

../../_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#

  • Spread the butter over the toast.

Task Entities#

  • toast: fixed toast mesh.

  • butter: MPM deformable block.

  • knife: rigid knife 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 = 20

  • HORIZON = 2000000 control steps

Notes#

  • The task key is spelled spready_butter in the current registry.

Source#

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