Why adding identical asset

[ameliacode]

Hi,
I have noticed that your mjcf robot is identical.
I don't understand why you loaded each assets.
Does reusing asset has problem in isaac gym?

[cypypccpy]

Hi @ameliacode ,

Very meticulous observation. Yes, we use the identical asset, but isaacgym is fine to reuse the asset, so we can also just use one mjcf file in bi-dexhands.

As for why we use another identical mjcf in bi-dexhands, it is because we want to distinguish different robots by name.

For example, in https://github.com/PKU-MARL/DexterousHands/blob/main/bi-dexhands/tasks/shadow_hand_over.py:

The official ShadowHand mjcf define the hand as robot0:

so we rewrote a copy of the same mjcf ourselves, the difference is that the prefix is changed to robot1, so we can better distinguish them in the code.

Hope this can help you.