That's cool. I think though that framing the overall problem as starting from pushing and pulling an irregularly shaped object over irregular ground would be mu

That's cool. I think though that framing the overall problem as starting from pushing and pulling an irregularly shaped object over irregular ground would be much more interesting. "Discovering" sliding, and "discovering" tipping and then rounding would be a nice hack. That seems like a reachable problem in today's RL if you score "the game" in terms of net exerted force, and if you represent both the shape of the ground and shape of the object as mutable ...