DIGIT Simulator

Introduction

This is a DIGIT-modified version of GelSight simulator in MUJOCO.

Requirements

We have tested the codes in Ubuntu 18.04, and the python libs we use are as following:

mujoco == 2.2.2;  
gym == 0.25.0;
numpy == 1.23.3;
scipy == 1.8.1;

Usage

To test the env we build and show the offscreen render image, e.g. python env_test.py

Citating Our Paper

If you use our codes in your research, please cite:

@article{ZHAO2022104321,
title = {Skill generalization of tubular object manipulation with tactile sensing and Sim2Real learning},
journal = {Robotics and Autonomous Systems},
pages = {104321}, 
year = {2022},
issn = {0921-8890},
doi = {https://doi.org/10.1016/j.robot.2022.104321}.
}