Questions about deformable asset conversion and trajectory collection

[fanzhenxuan]

Hi, thanks for releasing SoftVTBench!

I have two questions about the dataset construction:

1. How were the original EXTWIN 3D assets converted into PhysX FEM deformable objects? Are the conversion scripts or detailed steps available?

2. Were the expert trajectories collected through teleoperation? If so, what teleoperation device or interface was used?

Thank you!

[Bowen12137]

1. Our soft assets are the PhysX FEM deformable objects. We don't have the convert step
2. All demonstrations come from a scripted expert with privileged simulator state.

[fanzhenxuan]

Thanks for the clarification! Do you plan to release the scripted expert code used to generate the demonstrations?

[Bowen12137]

Thanks for asking!

Our current controller is based on inverse dynamics and does not yet include motion planning or obstacle avoidance, so it can be a bit difficult to use in practice.

We are planning to integrate a motion planner such as cuRobo, as well as a teleoperation interface for the robotic arm, before open-sourcing it.

[fanzhenxuan]

Thanks again! I have one more question about the soft assets. Were the assets downloaded directly from EXTWIN already provided as PhysX FEM deformable objects and ready to use without any additional processing?