FF Master Cut Watermelon Workflow

[BOLT232]

Registration UUID (required) · 参赛 UUID（必填）

Registration UUID: 63731519-ad75-4874-be78-71ec0e0bc957

Obtain your UUID from the official Robothon platform, and use the same UUID in submissions/<your-project>/registration.json.
从官方 Robothon 平台获取 UUID，并在 submissions/<你的项目>/registration.json 中填写同一个 UUID。

Project Summary · 项目说明

• Project name · 项目名称: FF Master Cut Watermelon Workflow
• Robot platform · 机器人平台: MuJoCo 3.x
• Task goal · 任务目标: Use the FF Master humanoid robot to perform a complete chef-style watermelon workflow: grasp a knife with a five-finger hand, cut a whole watermelon in half, reposition, cut again into quarters, and serve one quarter to a plate with stable whole-body coordination and physically grounded fracture dynamics.
• Technical approach · 技术方案: This project is a MuJoCo-based whole-body manipulation benchmark built around a 17-phase autonomous controller and a 15-DOF five-finger hand. The right arm executes a sensor-adaptive cutting sequence (APPROACH → ALIGN → CONTACT → SLICE → RETRACT, repeated for two cuts), while the hand uses real finger–handle contact physics, proximal tactile sensing, knife axial compliance, and a closed-loop grip servo. The watermelon uses an 8-layer predefined fracture path with Griffith-style per-layer energy accumulation, a continuous crack-front HUD, and cohesive-zone-style release logic; fracture release and slab separation are driven by accumulated cut energy and depth-scaled impulse rather than a simple kinematic threshold. The full episode ends with quarter serving to a garnished plate, with episode-level logging, offscreen rendering, and summary metrics.
• Core features · 核心功能:
  • 15-DOF five-finger knife grasp with biomimetic rolling closure.
  • Real finger–handle contact physics with proximal grip-force sensing.
  • Closed-loop grip servo with knife axial compliance.
  • Sensor-adaptive dual-cut controller with 17 distinct phases.
  • Work-integral cut trigger and live blade/contact sensing.
  • 8-layer progressive fracture system with Griffith-style energy criterion.
  • Continuous crack-front HUD and cohesive-zone-style fracture release.
  • Whole-body coordination with waist lean, head gaze, and left-arm stabilization gesture.
  • Quarter serving workflow with weld-stabilized plating animation.
  • Offscreen demo video rendering, episode logging, and optional per-step CSV export.
• Highlights · 亮点:
  • Complete kitchen-style workflow in one episode: whole watermelon → halves → quarters → plated serving.
  • Fracture is no longer a single instant release; it progresses through an 8-layer predefined crack path with per-layer energy accumulation.
  • The knife is held by a physically grounded five-finger grasp with tactile feedback and adaptive grip control.
  • ALIGN → CONTACT transitions are sensor-adaptive rather than purely time-based.
  • The submission is fully reproducible from the provided code, scene assets, and rendering script.
• Current limitations · 当前局限:
  • The crack path is predefined; this is not free-topology FEM tearing.
  • The knife is still position-actuated rather than simulated as a fully deformable cutting tool.
  • Fracture is modeled as an energy-based layered rigid-body proxy, not continuous material failure.
• Future improvements · 未来改进:
  • Extend from predefined fracture layers to more flexible crack-path evolution.
  • Add richer perception outputs, such as segmentation or depth data, to the data-collection pipeline.
  • Expand the kitchen workflow to additional food-prep tasks and stronger bimanual interaction.
  • Compare the current 15-DOF hand against alternative dexterous hand models.

How to Run · 如何运行

conda activate robothon

# Install dependencies
pip install -r requirements.txt

# Record demo video
python3 scripts/record_robot_video.py

# Optional: collect per-step CSVs and summary JSON
python3 scripts/record_robot_video.py --collect

# Optional: change rendering settings
python3 scripts/record_robot_video.py --fps 60 --width 1280 --height 720

Demo Video · 演示视频

• Demo video is included in the submission folder · 演示视频已包含在提交文件夹中
• Demo video link · 演示视频链接:

Checklist · 检查清单

• submissions/<your-project>/registration.json contains my UUID · 已包含我的 UUID
• PR description contains the same UUID · PR 描述中填写了同一个 UUID
• Code runs from documented instructions · 代码可按文档说明运行
• Demo video was generated by the submitted code · 演示视频由提交的代码生成