About the RL or Custom Algo (With tactile or visual pointcloud)

[Junyu-Zhu]

Hi, thank you for open source of this project, and I'm researching grasp with tactile sensors in simulation.
When I tried the second training example which shows the custom algorithm of tactile, it shows this project lack some files or directory, there is no files of custom, like /cfg/train/custom/.....
Can you updates and upload these files, thanks a lot.
And are there any materials or papers show how the tactile sensor works in this project, it will realy help if you share some.

[NathanWu7]

For the custom part, you can directly copy and rename other algorithms or reinforcement learning environments for modification. The tactile simulation is based on the depth camera, and certain modifications have been made to the URDF file to make the visual model of the contact part transparent while retaining the collision model. The reason for doing this is that Isaac Gym does not support translucent materials. We've noticed that there have been some works on tactile simulation in Isaac Gym recently, and in the future, we will refer to these works to update this project.