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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
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Why adding identical asset #16

Closed ameliacode closed 1 year ago

ameliacode commented 1 year ago

Hi, I have noticed that your mjcf robot is identical. I don't understand why you loaded each assets. Does reusing asset has problem in isaac gym?

cypypccpy commented 1 year ago

Hi @ameliacode ,

Very meticulous observation. Yes, we use the identical asset, but isaacgym is fine to reuse the asset, so we can also just use one mjcf file in bi-dexhands.

As for why we use another identical mjcf in bi-dexhands, it is because we want to distinguish different robots by name.

For example, in https://github.com/PKU-MARL/DexterousHands/blob/main/bi-dexhands/tasks/shadow_hand_over.py:

image

The official ShadowHand mjcf define the hand as robot0:

image

so we rewrote a copy of the same mjcf ourselves, the difference is that the prefix is changed to robot1, so we can better distinguish them in the code.

Hope this can help you.