@HarryXu12 The SMPL/SMPLx humanoid would fit perfectly. With the codebase I wish to simplify the process to work with them + hands! Using the smplx humanoid would give access to lots of existing mocap with fingers! Works in both Isaac Gym and MuJoCo Tweet added by Zhengyi “Zen” Luo @zhengyiluo

Zhengyi “Zen” Luo

5 months

@HarryXu12 The SMPL/SMPLx humanoid would fit perfectly. With the codebase I wish to simplify the process to work with them + hands! Using the smplx humanoid would give access to lots of existing mocap with fingers! Works in both Isaac Gym and MuJoCo

GitHub - ZhengyiLuo/SMPLSim: Simulating SMPL humanoid, supporting PHC/PHC-MJX/PULSE/SimXR code...

Simulating SMPL humanoid, supporting PHC/PHC-MJX/PULSE/SimXR code bases. - GitHub - ZhengyiLuo/SMPLSim: Simulating SMPL humanoid, supporting PHC/PHC-MJX/PULSE/SimXR code bases.

github.com

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Huazhe Harry Xu

@HarryXu12

5 months

I have a question: seems many people are working on humanoid robots, but what is the go-to humanoid simulator for benchmarking algorithms? Don't tell me it's the humanoid in Mujoco.. At least it should have dex hands, right?

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Chen Tessler

@ChenTessler

5 months

@zhengyiluo @HarryXu12 When you add hands, does it still nail crawling and cartwheels?

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Zhengyi “Zen” Luo

@zhengyiluo

5 months

@ChenTessler @HarryXu12 Of course! Working on that. Fingers might be too strong...

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