bessim

BusbarSeat — placing a copper busbar across the terminal studs of two battery modules

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A dual peg-in-hole task from BESS (battery energy storage) pack assembly, built as a MuJoCo task family with a proposal-and-gate pipeline.

Why this task

Three line vendors independently describe the same split. Autowell names "power cable and electrical system assembly" and "wire harness connection" as discrete stations; Indygreen lists "busbar connection, wiring"; xmacey sells an "automated module line with configurable manual PACK assembly stations".

Module stage automated, pack stage people. Busbar placement is the pack-stage operation you can watch a human do.

Why it is hard: dual peg-in-hole — two pegs constrain position and yaw, and they couple.

Run

python taskgate.py -n 60 --seed 11 --solve   # propose -> gate -> solve
python montage.py --n 6 --out bess_demo.mp4  # demo reel of the survivors
python render.py --seed 1                    # one episode

Reuses the roomsim environment — no new install.

License

Apache-2.0.