Taccel Examples¶
Peg-Insertion¶
python -m examples.peg --num_envs NUM_ENVS
Under 64 environments, for the peg-insertion benchmark, our testing results:
GPU |
FP64:32 |
FPS |
|---|---|---|
3090 |
1:64 |
50.58 |
A800 |
1:2 |
Pending |
H100 |
1:2 |
Pending |
Deformable Object Grasping with Tactile Sensors¶
We will once again demonstrate the deformable object grasping example, but with the robotic hand integrated with 3 tactile sensers at the tips. This is specified by the --tactile flag:
python -m examples.grasp_soft_teddy --num_envs 2 --viz
Tac-Man Series: Tactile-informed Manipulation¶
To run the Tac-Man examples, run the script:
python -m examples.tac_man --joint_type JOINT_TYPE --seed SEED
Available JOINT_TYPE options:
revolute: Revolute joint.prismatic: Prismatic joint.helical: A bolt-and-nut set.