Faive Gym

srl-ethz

Isaac Gym environments and training tools for the Faive hand.

What you can explore

Explore policy training, export, logging and the documented process for loading another hand model.

Before you use it

The stack uses legacy Isaac Gym and Python 3.8. Models that work in MuJoCo may need changes because Isaac Gym does not support every modeling feature.

Original contributors

Yasunori Toshimitsu, Benedek Forrai and ETH Zürich SRL collaborators

License / access: Code: Apache 2.0 · check external data, models and hardware terms separately

Original code & documentation

Research paper

Editorial reference · checked 2026-09-22