Simulation

DexSuite is a modular simulation framework and benchmark for multi-fingered hands, standardizing observations, actions, and evaluation across 20+ arm–hand configurations, single-arm and bimanual tasks, and rigid, articulated, and deformable objects. It ships with a Manus-glove teleoperation toolchain and an expert demonstration dataset.

How I built a common Isaac Sim setup for MOVO and my Jaco table, cleaned up URDFs, aligned ROS2 interfaces, and created a shared playground where the same policies can run in sim and on the real hardware.