search

kelvin34501 / OakInk2-SimEnv-IsaacGym

10 stars 0 forks source link

test_env_pour doesn't show a connected full motion #1

Closed giesth39 closed 2 months ago

giesth39 commented 3 months ago

Hello, I ran the test_env_pour.py, but i've got segmented motions in different tables in Isaac Gym. Is this the right result? it seems different from README example.

Screenshot from 2024-07-05 14-19-35

Screenshot from 2024-07-05 14-20-46

kelvin34501 commented 3 months ago

This is the right result. The observation and reward functions in test_env_pour.py are empty placeholders; no action will be applied in the example script.

The animation in README is an example of the demo trajectory provided as part of the assets. These trajectories are directly transferred from the interactions in OakInk2 dataset; they are kinematically noisy and probably dynamically implausible. Utilizing these trajectories (including the hands and objects) to synthesize physically plausible hand-object interactions is part of the challenge.

Visit the wiki page for more information.

Hope this reply helps you. If you have any further questions or need further explanations feel free to ask here.