priyasundaresan/diffcloud_real2sim

DiffCloud: Deformable Real-to-sim from Point Clouds

Priya Sundaresan, Rika Antonova, Jeannette Bohg

[Project] [arXiv]

Description

• This repo provides a framework for differentiable real-to-sim parameter estimation of deformable objects from real robot manipulation.
• It is organized into
  • real: scripts for interfacing with a real Kinova robot + RealSense cameras for executing trajectories and recording point clouds
  • sim: scripts for performing real-to-sim optimizations with differentiable and nondifferentiable methods (TODO).
• Please see the details of our DiffCloud implementation here
• Note, this is heavily built on DiffSim

diffcloud_real2sim's Issues

question about arcsim

Hi

This is David who is really interested in your paper "Diffcloud". I was trying to follow your github instructions to try to run your code. However, I faced some difficulties about installing ARCsim. I think the arcsim code in your folder has different structures compared to offical ARCsim code. When I tried to run "make" in your arcsim folder, there are errors saying that no "build" folder in the code. The "build" folder is in official ARCsim and I tested out that official one works. Please let me know if I miss anything and how should I install ARCsim correctly when you are free. Thank you so much. Have a wonderful day.😁

Sincerely
Best Wishes

Yingdong Ru