A task for a humanoid robot. It is assumed that the robot has already been trained to recognize, want, grasp, and eat cookies. Mapping reward to an object in the world saves the user from having to implement complicated loss functions.
The cookies in this task are within cages, and the cage covers are locked with nuts and bolts. The robot must learn to use a wrench and his fingers to remove the cover and get the cookie.
The current version is not stable yet, the simulation will explode. See the discussion http://mujoco.org/forum/index.php?threads/the-jumping-contact-normal-bug.3364/ in the HAPTIX Bugs forum.