DefGraspSim: Simulation-based grasping of 3D deformable objects
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Tucker Hermans, Dieter Fox
Overview
This website contains the following supplementary information for our submission:
Additional videos of simulated and real experiments
The codebase developed for our simulations, which can be used to simulate and evaluate grasps on arbitrary 3D deformable objects
The datasets containing measured grasp features and performance metrics on object primitives and complex objects
Interactive visualizations of grasp results on object primitives
Additional videos
Simulated grasp tests (left), and real-world validation experiments (right)
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Isaac Gym and Code Release
The preview release of Isaac Gym is now live: https://developer.nvidia.com/isaac-gym
Access the code used in these experiments: https://github.com/NVlabs/defgraspsim
A video tutorial on how to get started with the code is here: https://youtu.be/Caj0AtsKKVI
Datasets
The live dataset on object primitives and complex objects will be continually updated. Click here for details on the contents of each file.
Interactive Visualizations
Click here to interactively visualize grasps and performance metrics on 9 different object primitives.