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ir-lab / bimanual-imitation

Code for paper, "A Comparison of Imitation Learning Algorithms for Bimanual Manipulation" (Drolet et al., 2024)
MIT License
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Source files of NIST model #4

Closed zichunxx closed 3 weeks ago

zichunxx commented 4 weeks ago

Hi!

I want to apply the methods mentioned in your paper to the real robot.

So, I need to 3D print the male and female NIST models. However, based on the required open width to grab the NIST model, it seems that the size of your NIST model is different from the model I get from this web.

Would you mind sharing your source model file? These separate STL files are hard to print.

Thanks for your time!

mdrolet01 commented 3 weeks ago

Hi,

Unfortunately, I don't recall the website I got the CAD model from, but I believe I scaled it down in blender. The NIST model is very tedious to change, but you might find the VHACD library useful to decompose the stl you found: https://github.com/kmammou/v-hacd

Best, Michael