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clvrai / furniture

IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks
https://clvrai.com/furniture
MIT License
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Modifying the environment for Contact-rich manipulation #44

Closed kamiradi closed 1 year ago

kamiradi commented 1 year ago

Hi,

First of all freat work on setting up this benchmark.

I had a question on using this benchmark to standardise fine-motion strategies for contact-rich manipulation. Correct me if I am wrong, but as it stands now, the benchmark assumes an automagic connection between parts based on some pre-defined distances. Is there any way to modify the environment and actually use the contact dynamics to ask robotics questions around insertion and connection strategies?

youngwoon commented 1 year ago

We have recently developed the contact-rich version and we will soon release it. Stay tuned for our next version of the furniture benchmark!

youngwoon commented 1 year ago

FurnitureSim is now available at https://clvrai.com/furniture-bench

Hope you find it useful for your research!