https://github.com/vikashplus/simhive
A collection of MuJoCo simulation models
https://github.com/vikashplus/simhive
Last synced: 3 months ago
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A collection of MuJoCo simulation models
- Host: GitHub
- URL: https://github.com/vikashplus/simhive
- Owner: vikashplus
- License: apache-2.0
- Created: 2023-04-26T18:52:01.000Z (about 2 years ago)
- Default Branch: main
- Last Pushed: 2025-02-09T04:39:41.000Z (4 months ago)
- Last Synced: 2025-02-09T05:19:29.594Z (4 months ago)
- Language: Python
- Size: 11.7 KB
- Stars: 3
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# SimHive
SimHive is the physics simulation library of [RoboHive](https://sites.google.com/view/robohive). It consists of a diverse collection of MuJoCo simulation models designed with care for physical realism.
Usage instructions
### Usage instructions
To benefit from `SimHive`, we strongly encourage our users to -
- use *SimHive* via [RoboHive](https://sites.google.com/view/robohive)
- If direct access is required, use [git submodule](https://git-scm.com/book/en/v2/Git-Tools-Submodules) link to SimHive (or its subcomponents), instead of copying it over. Submodules allow you to keep *SimHive* as a fully functional repository as a subdirectory to your git repository. Amongst numerous benefits, the ability to easily pull upstream changes from SimHive tops the chart. Its as easy as -
``` bash
# Add entire SimHive as submodule
git submodule add https://github.com/vikashplus/simhive.git
# Add selected module(s): franka_sim
git submodule add https://github.com/vikashplus/franka_sim.git
```
The latter example shows how to selectively add modules. See [gitmodules](.gitmodules) files for individual links.
Citations
### Citation
If you find `SimHive` useful in your research,
- please consider supporting the project by providing a [star ⭐](https://github.com/vikashplus/robohive/stargazers)
- please consider citing our [arXiv paper](https://arxiv.org/abs/2205.13600) by using the following BibTeX entry:
```BibTeX
@inproceedings{ RoboHive,
title = {RoboHive -- A Unified Framework for Robot Learning},
author = {Vikash Kumar, Rutav Shah, Gaoyue Zhou, Vincent Moens, Vittorio Caggiano, Jay Vakil, Abhishek Gupta, Aravind Rajeswaran}
booktitle = {NeurIPS: Conference on Neural Information Processing Systems},
year = {2023},
url = {https://sites.google.com/view/robohive},
eprint = {https://arxiv.org/abs/2310.06828},
}
```
# Simulation Models
## [adroit_sim](https://github.com/vikashplus/adroit_sim)
[](https://vikashplus.github.io/)
## [YCB_sim](https://github.com/vikashplus/YCB_sim)
[](https://vikashplus.github.io/)
## [fetch_sim](https://github.com/vikashplus/fetch_sim)
fetch_pole.xml | fetch_maneuver.xml |teleOp_boxes.xml | teleOp_objects.xml
:-------------------------:|:-------------------------:|:-------------------------:|:-------------------------:
 |  |  | 
## [franka_sim](https://github.com/vikashplus/franka_sim)
Franka panda Mujoco models
franka_panda.xml
bi-franka_panda.xml
## [furniture_sim](https://github.com/vikashplus/furniture_sim)
MuJoCo simulation for common furnitures
ventionTable.xml | simpleTable.xml | studyTable.xml | kettle.xml |
:-------------------------:|:-------------------------:|:-------------------------:|:-------------------------:
 |  |  |  |
hingecabinet.xml | slidecabinet.xml | microwave.xml | bin.xml|
:-------------------------:|:-------------------------:|:-------------------------:|:-------------------------:
 |  |  | |
kitchen.xml | oven.xml | counters.xml | bin.xml |
:-------------------------:|:-------------------------:|:-------------------------:|:-------------------------:
 |  |  |  |