Benchmark / Dynamic 2D / DynScoopPour2D

DynScoopPour2D

Environment demonstration

Description

A 2D physics-based tool-use environment where a robot must use an L-shaped hook to scoop small objects from the left side of a middle wall and pour them onto the right side. The middle wall is half the height of the world, allowing objects to be scooped over it.

The robot has a movable circular base and an extendable arm with gripper fingers. The hook is a kinematic object that can be grasped and used as a tool to scoop the small objects. Small objects are dynamic and follow PyMunk physics, but they cannot be grasped directly by the robot.

All objects include physics properties like mass, moment of inertia, and color information for rendering.

Variants

This environment has 4 variant(s).

DynScoopPour2D-o10

This variant has 10 small objects (5 circles, 5 squares).

DynScoopPour2D-o20

This variant has 20 small objects (10 circles, 10 squares).

DynScoopPour2D-o30

This variant has 30 small objects (15 circles, 15 squares).

DynScoopPour2D-o50

This variant has 50 small objects (25 circles, 25 squares).

References

This is loosely inspired by the Kitchen2D environment from "Active model learning and diverse action sampling for task and motion planning" (Wang et al., 2018).

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