Warp-IPC Examples

Deformable Object Grasping

We provide a deformable object grasping example, where a RobotiQ-3Finger robot at the tips grasps a soft teddy bear on the ground. The implementation is parallelized, so you can run multiple environments by NUM_ENVS at the same time:

Note that this tasks shows an example of using Y-up coordinate.

python -m examples.grasp_soft_teddy --num_envs NUM_ENVS