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Denys88 / rl_games

RL implementations
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Allegro Hand In-hand Manipulation Example Env Source Code #82

Closed Lucky7Chess closed 3 years ago

Lucky7Chess commented 3 years ago

On the bottom left of the example gif for Isaac Gym on the root readme on the master branch, there is a in-hand manipulation result on the Allegro Hand. Where is the source for that env? Was that created for use in rl_games? I would like to recreate those results and add to that experiment if possible. Thanks!

ViktorM commented 3 years ago

The source code will be released with the next Isaac Gym release around September. But reproducing these results is pretty straightforward - in the Shadow Hand environment, you just replace Shadow Hand with Allegro and only need to slightly modify observations and actions to take into account a smaller number of degrees of freedom of Allegro Hand.

Lucky7Chess commented 3 years ago

Cool yeah, I've done that swap already, just struggling to get it to actually train correctly so I was just hoping I could see that code to see what tweak I was missing.

Lucky7Chess commented 3 years ago

If there's any way we can get a prerelease beta version that could be helpful as well 😊

ViktorM commented 3 years ago

Hi @Lucky7Chess,

Sorry I've been on vacation. Replied to you in the email.