Isaac Gym Objects

该数据集由Isaac Gym提供的基本几何形状（包括不同大小和质量的胶囊体和长方体）组成，用于训练具有不同触觉观测值的策略。此外，数据集还包括分布外质量的对象以及一系列具有均匀和非均匀形状的未见对象。规模上，数据集包含多个具有不同属性的对象，包括重物和未见对象。所涉及的任务是手中物体的旋转。

This dataset comprises basic geometric shapes (capsules and cuboids with diverse sizes and masses) provided by Isaac Gym, and is designed for training policies with varied tactile observations. Additionally, the dataset incorporates objects with out-of-distribution masses, as well as a collection of unseen objects featuring both uniform and non-uniform shapes. In terms of scale, the dataset contains a large number of objects with distinct attributes, including heavy-weight objects and unseen entities. The core task involved in this dataset is in-hand object rotation.