Code for real-to-sim system identification

[qq456cvb]

First, thanks for sharing the code! May I ask if the optimization code for real-to-sim system identification is available somehow?

[Si-Lynnn]

Hi! Thanks for asking! We will push the codes of real2sim soon.

[swannaiden]

Hi @Si-Lynnn! Any update on the release of this portion of the code ?

[trubby22]

I would be interested in the real2sim code too. I have my custom implementation now but the gradient isn't properly propagated through the fem_sensor.extract_markers function.

My custom real2sim implementation is here (branch: compute-marker-loss-minimal-example-bug-reproduction, commit hash: f3cfd22ad4f8c91a5ee552e41455d70e0a4ba722, file: difftactile/tasks/object_repose.py).

I would be grateful if someone could take a look at suggest why the gradient flow breaks at fem_sensor.extract_markers function (fem_sensor.predict_markers variable).