dexsuite/dex-urdf

DexSuite

DexSuite is a comprehensive package that includes related resources for dexterous robotic hands. It encompasses models of dexterous hands, compatible object models for these hands, and resources for retargeting and teleoperation specifically designed for multi-fingered dexterous hands.

dex-urdf's Issues

How to attach hand on robot arm

Hi! Thanks for your exciting work. I want to know how to attach hand on robot arm. Is it just a matter of stitching together the URDF files? Can you provide some tutorials?

Which version of sapien is used?

error info

File "generate_sapien_collision_mesh.py", line 100, in <module>
   tyro.cli(main)
 File "/home/zhanghaoyang/.conda/envs/sapien/lib/python3.8/site-packages/tyro/_cli.py", line 184, in cli
   output = _cli_impl(
 File "/home/zhanghaoyang/.conda/envs/sapien/lib/python3.8/site-packages/tyro/_cli.py", line 446, in _cli_impl
   out, consumed_keywords = _calling.call_from_args(
 File "/home/zhanghaoyang/.conda/envs/sapien/lib/python3.8/site-packages/tyro/_calling.py", line 241, in call_from_args
   return unwrapped_f(*positional_args, **kwargs), consumed_keywords  # type: ignore
 File "generate_sapien_collision_mesh.py", line 93, in main
   parse_urdf(
 File "generate_sapien_collision_mesh.py", line 64, in parse_urdf
   if isinstance(collision_shape, sapien.physx.PhysxCollisionShapeConvexMesh):
AttributeError: module 'sapien.core' has no attribute 'physx'

It seems the version of sapien is not lateset. Could you help me with this? Thank you.

Can you provide left shadow-hand robot files please.

Could you provide the UR10e assets corresponding to Sapien?

Hi, @yzqin,

Could you provide the UR10e assets corresponding to Sapien? When I load the UR10e assets from Isaacgym, they blow up but can run well in Isaacgym.

Could you help me solve the problem? Thanks for any questions :)

About inspire hand support

I'm excited to see that you updated the inspire hand commit yesterday ! Is it available on dex-retargeting now ?
Thanks for your amazing job :)

Training speed is very slow by using shadow_hand_right.urdf

Hi, @yzqin

I try to use the [shadow_hand_right.urdf](https://github.com/dexsuite/dex-urdf/blob/main/robots/hands/shadow_hand/shadow_hand_right.urdf) with ur10e.urdf in Sapine Simulator for dexterous manipulation. However, I found when I use shadow_hand_right.urdf with ur10e.urdf as my robot, the training speed is very low! This is very strange!

But when I use xarm6_allegro_wrist_mounted_rotate.urdf in Project [dexart-release](https://github.com/Kami-code/dexart-release) as my robot, the training speed is very fast!

I didn't change any RL setting, but it is very slow caused by replacing the robot :(

Since the urdf files and meshes are larger than 25MB, I will send you ShadowHand_with_UR10e.zip and corresponding setting env/rl_env/base.py and utils/common_robot_utils.py like [dexart-release](https://github.com/Kami-code/dexart-release) and dex-hand-teleop by Email.

Thanks for any help!