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PKU-MARL / DexterousHands

This is a library that provides dual dexterous hand manipulation tasks through Isaac Gym
https://pku-marl.github.io/DexterousHands/
Apache License 2.0
665 stars 83 forks source link

How to simulate eggs and how realistic they are？ #11

Closed JackMa-coder closed 2 years ago

JackMa-coder commented 2 years ago

Does this have real scenario testing?

cypypccpy commented 2 years ago

Dear @JackMa-coder ,

For How to simulate eggs and how realistic they are?, we use the egg in the YCB dataset, and then use the convex decomposition in Issac Gym to calculate the collision mesh. The relevant physical parameters (e.g. mass) can be customized or randomized during the training process, in the hope of better simulating the real objects.

For Does this have real scenario testing?, while such dexterous manipulation tasks are hard in the real world, we are now working hard in this direction (sim2real transfer). You are also welcome to study sim2real transfer with bi-dexhands.

Hope this can help you.

JackMa-coder commented 2 years ago

Thanks, this is interesting question, looking forward to your future work!