Full-body articulated model in pybullet

[zq-chen22]

Hi!

Thanks for your great job to set up both a benchmark for handover task and a training environment of learning-based handover policies. My research group have done some work based on handoversim, like GenH2R(https://genh2r.github.io/). Now to further deal with more complex handover tasks which may includes full-body human motion, I wish to involve full-body model (like smpl+h or smplx) in the simulator. I notice that handoversim uses mano-pybullet as an articulated model, but I cannot find any substitutes for smpl currently.

Have you ever thought about full-body models in pybullet? I would appreciate it if you could provide any information or hints.

[ychao-nvidia]

That would be an interesting direction. We have not looked much into that space yet.